2025-10-27T00:15:04.988Z,1761524104.988 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-10-27T00:15:04.988Z,1761524104.988 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-10-27T00:15:05.005Z,1761524105.005 [CommandExec](IMPORTANT): got command restart logs
2025-10-27T00:15:05.294Z,1761524105.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993688,0.100011,-0.050809],[-0.098511,0.994646,0.031213],[0.053658,-0.026010,0.998221]]
2025-10-27T00:15:05.390Z,1761524105.390 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-10-27T00:15:05.404Z,1761524105.404 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-10-27T00:15:05.698Z,1761524105.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989948,0.126197,-0.063852],[-0.118449,0.986479,0.113270],[0.077283,-0.104568,0.991510]]
2025-10-27T00:15:06.102Z,1761524106.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994586,0.103847,0.003903],[-0.103283,0.983634,0.147639],[0.011493,-0.147243,0.989034]]
2025-10-27T00:15:06.514Z,1761524106.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996305,0.085842,0.002897],[-0.085377,0.986106,0.142496],[0.009375,-0.142217,0.989791]]
2025-10-27T00:15:06.977Z,1761524106.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993249,0.115214,-0.013525],[-0.113147,0.987890,0.106167],[0.025593,-0.103920,0.994256]]
2025-10-27T00:15:07.757Z,1761524107.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986493,0.162180,-0.022993],[-0.163101,0.985518,-0.046400],[0.015135,0.049524,0.998658]]
2025-10-27T00:15:08.161Z,1761524108.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993265,0.107419,-0.043421],[-0.109834,0.992274,-0.057696],[0.036888,0.062076,0.997389]]
2025-10-27T00:15:08.566Z,1761524108.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995466,0.095029,-0.004174],[-0.095118,0.994799,-0.036439],[0.000690,0.036671,0.999327]]
2025-10-27T00:15:08.969Z,1761524108.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991731,0.124762,0.030085],[-0.123461,0.991469,-0.041788],[-0.035041,0.037728,0.998673]]
2025-10-27T00:15:09.397Z,1761524109.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978374,0.199566,-0.054379],[-0.202704,0.977398,-0.060034],[0.041169,0.069759,0.996714]]
2025-10-27T00:15:09.778Z,1761524109.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964266,0.253338,-0.077530],[-0.260721,0.959376,-0.107809],[0.047068,0.124170,0.991144]]
2025-10-27T00:15:10.182Z,1761524110.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972752,0.231724,-0.007567],[-0.229453,0.957515,-0.174690],[-0.033234,0.171666,0.984595]]
2025-10-27T00:15:10.585Z,1761524110.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983738,0.179500,0.006189],[-0.177172,0.975481,-0.130566],[-0.029474,0.127347,0.991420]]
2025-10-27T00:15:10.990Z,1761524110.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987817,0.150517,-0.039520],[-0.149971,0.988554,0.016440],[0.041542,-0.010312,0.999084]]
2025-10-27T00:15:11.411Z,1761524111.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982862,0.179676,-0.041222],[-0.171278,0.972761,0.156202],[0.068165,-0.146464,0.986865]]
2025-10-27T00:15:11.798Z,1761524111.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976189,0.212505,0.043553],[-0.216922,0.956485,0.195144],[-0.000189,-0.199945,0.979807]]
2025-10-27T00:15:12.202Z,1761524112.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976078,0.186499,0.111760],[-0.201012,0.969968,0.136951],[-0.082862,-0.156139,0.984253]]
2025-10-27T00:15:12.614Z,1761524112.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990387,0.127612,0.053378],[-0.132481,0.986058,0.100685],[-0.039786,-0.106789,0.993485]]
2025-10-27T00:15:13.078Z,1761524113.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984482,0.155827,-0.080703],[-0.148562,0.984858,0.089352],[0.093404,-0.075976,0.992725]]
2025-10-27T00:15:13.478Z,1761524113.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966016,0.226464,-0.124611],[-0.219151,0.973196,0.069734],[0.137063,-0.040055,0.989752]]
2025-10-27T00:15:13.880Z,1761524113.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967432,0.248685,-0.047235],[-0.245487,0.967250,0.064532],[0.061736,-0.050834,0.996797]]
2025-10-27T00:15:14.273Z,1761524114.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976740,0.211328,0.036316],[-0.213618,0.973689,0.079348],[-0.018592,-0.085260,0.996185]]
2025-10-27T00:15:14.678Z,1761524114.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986272,0.164348,0.016045],[-0.164947,0.975970,0.142388],[0.007742,-0.143080,0.989681]]
2025-10-27T00:15:15.088Z,1761524115.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975185,0.196543,-0.101910],[-0.171542,0.961787,0.213401],[0.139958,-0.190623,0.971635]]
2025-10-27T00:15:15.482Z,1761524115.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947957,0.265230,-0.176158],[-0.237565,0.957545,0.163312],[0.211994,-0.112964,0.970720]]
2025-10-27T00:15:15.494Z,1761524115.494 [NAL9602](INFO): SBD MO Status=0, MOMSN=3002, MT Status=0, MTMSN=0
2025-10-27T00:15:15.494Z,1761524115.494 [NAL9602](INFO): No messages in MT queue
2025-10-27T00:15:15.890Z,1761524115.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947436,0.275768,-0.162225],[-0.279962,0.960006,-0.003126],[0.154875,0.048378,0.986749]]
2025-10-27T00:15:16.290Z,1761524116.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968522,0.236467,-0.077772],[-0.242362,0.967057,-0.077860],[0.056799,0.094258,0.993926]]
2025-10-27T00:15:16.694Z,1761524116.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975865,0.194398,-0.099479],[-0.199121,0.979163,-0.039894],[0.089650,0.058739,0.994240]]
2025-10-27T00:15:17.098Z,1761524117.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971355,0.189440,-0.143460],[-0.185021,0.981764,0.043666],[0.149116,-0.015872,0.988692]]
2025-10-27T00:15:17.502Z,1761524117.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964761,0.211014,-0.157189],[-0.190295,0.972115,0.137042],[0.181723,-0.102300,0.978014]]
2025-10-27T00:15:17.927Z,1761524117.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943773,0.275991,-0.181994],[-0.245844,0.953965,0.171792],[0.221029,-0.117391,0.968176]]
2025-10-27T00:15:18.365Z,1761524118.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942806,0.253491,-0.216468],[-0.227959,0.964106,0.136141],[0.243209,-0.079009,0.966751]]
2025-10-27T00:15:18.742Z,1761524118.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943150,0.269966,-0.193871],[-0.253098,0.961446,0.107534],[0.215427,-0.052353,0.975116]]
2025-10-27T00:15:19.389Z,1761524119.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932276,0.306525,-0.192102],[-0.290405,0.950812,0.107806],[0.215698,-0.044717,0.975436]]
2025-10-27T00:15:20.521Z,1761524120.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881472,0.362808,-0.302288],[-0.340180,0.931824,0.126418],[0.327544,-0.008602,0.944797]]
2025-10-27T00:15:20.925Z,1761524120.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838158,0.430071,-0.335456],[-0.409875,0.902416,0.132843],[0.359853,0.026152,0.932643]]
2025-10-27T00:15:21.330Z,1761524121.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814031,0.490895,-0.310445],[-0.474048,0.870359,0.133243],[0.335607,0.038702,0.941207]]
2025-10-27T00:15:21.737Z,1761524121.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810030,0.531788,-0.247087],[-0.492672,0.845715,0.205037],[0.318002,-0.044353,0.947052]]
2025-10-27T00:15:22.138Z,1761524122.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807254,0.561027,-0.183276],[-0.482013,0.805883,0.343826],[0.340595,-0.189213,0.920974]]
2025-10-27T00:15:22.542Z,1761524122.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789096,0.597106,-0.144190],[-0.500462,0.761045,0.412732],[0.356180,-0.253524,0.899367]]
2025-10-27T00:15:22.970Z,1761524122.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779203,0.614829,-0.121766],[-0.529020,0.749334,0.398291],[0.336124,-0.245933,0.909141]]
2025-10-27T00:15:23.778Z,1761524123.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778903,0.602736,-0.173259],[-0.517262,0.773641,0.365950],[0.354612,-0.195419,0.914364]]
2025-10-27T00:15:24.182Z,1761524124.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764144,0.598631,-0.240260],[-0.522818,0.792947,0.312885],[0.377816,-0.113477,0.918901]]
2025-10-27T00:15:24.587Z,1761524124.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751190,0.609824,-0.252643],[-0.541168,0.788117,0.293272],[0.377957,-0.083581,0.922043]]
2025-10-27T00:15:24.990Z,1761524124.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747361,0.622079,-0.233386],[-0.550795,0.776523,0.306000],[0.371587,-0.100145,0.922981]]
2025-10-27T00:15:25.394Z,1761524125.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757807,0.613444,-0.222296],[-0.533745,0.778780,0.329572],[0.375293,-0.131103,0.917588]]
2025-10-27T00:15:25.798Z,1761524125.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756639,0.618814,-0.211107],[-0.507512,0.759421,0.407077],[0.412224,-0.200871,0.888663]]
2025-10-27T00:15:26.202Z,1761524126.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736200,0.632176,-0.241583],[-0.499302,0.748337,0.436680],[0.456844,-0.200861,0.866573]]
2025-10-27T00:15:27.010Z,1761524127.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720566,0.608123,-0.333125],[-0.512303,0.790671,0.335240],[0.467259,-0.070902,0.881273]]
2025-10-27T00:15:27.414Z,1761524127.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727244,0.605818,-0.322647],[-0.507588,0.791108,0.341324],[0.462029,-0.084454,0.882835]]
2025-10-27T00:15:27.818Z,1761524127.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721611,0.625857,-0.295940],[-0.499299,0.766607,0.403751],[0.479560,-0.143589,0.865681]]
2025-10-27T00:15:28.222Z,1761524128.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708290,0.643894,-0.289352],[-0.509097,0.749875,0.422501],[0.489024,-0.151945,0.858934]]
2025-10-27T00:15:28.626Z,1761524128.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708097,0.647796,-0.280994],[-0.514548,0.745901,0.422934],[0.483569,-0.154893,0.861492]]
2025-10-27T00:15:29.030Z,1761524129.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710662,0.646466,-0.277563],[-0.505695,0.743668,0.437300],[0.489114,-0.170410,0.855411]]
2025-10-27T00:15:29.434Z,1761524129.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709663,0.648327,-0.275773],[-0.499943,0.739195,0.451273],[0.496423,-0.182381,0.848706]]
2025-10-27T00:15:29.848Z,1761524129.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710298,0.646406,-0.278633],[-0.499670,0.741835,0.447226],[0.495789,-0.178439,0.849913]]
2025-10-27T00:15:30.659Z,1761524130.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707016,0.641136,-0.298450],[-0.499465,0.751462,0.431092],[0.500662,-0.155724,0.851521]]
2025-10-27T00:15:31.050Z,1761524131.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704859,0.640130,-0.305625],[-0.485911,0.749613,0.449411],[0.516782,-0.168265,0.839419]]
2025-10-27T00:15:31.456Z,1761524131.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697576,0.635359,-0.331220],[-0.470917,0.754951,0.456384],[0.540022,-0.162385,0.825837]]
2025-10-27T00:15:31.866Z,1761524131.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687373,0.625602,-0.368971],[-0.465088,0.769326,0.437984],[0.557863,-0.129454,0.819775]]
2025-10-27T00:15:32.261Z,1761524132.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680754,0.614550,-0.398624],[-0.469487,0.783771,0.406553],[0.562277,-0.089614,0.822079]]
2025-10-27T00:15:32.666Z,1761524132.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680544,0.610895,-0.404558],[-0.475977,0.788367,0.389773],[0.557051,-0.072698,0.827290]]
2025-10-27T00:15:33.071Z,1761524133.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682835,0.615876,-0.392980],[-0.476657,0.783214,0.399217],[0.553655,-0.085283,0.828368]]
2025-10-27T00:15:33.473Z,1761524133.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682459,0.623179,-0.381966],[-0.471393,0.774634,0.421581],[0.558604,-0.107655,0.822418]]
2025-10-27T00:15:33.877Z,1761524133.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677758,0.629754,-0.379545],[-0.468635,0.767732,0.437000],[0.566592,-0.118312,0.815461]]
2025-10-27T00:15:34.700Z,1761524134.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676908,0.642457,-0.359227],[-0.482359,0.755815,0.442802],[0.555990,-0.126460,0.821512]]
2025-10-27T00:15:35.090Z,1761524135.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682596,0.648897,-0.336149],[-0.488942,0.747373,0.449855],[0.543138,-0.142712,0.827426]]
2025-10-27T00:15:35.493Z,1761524135.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683680,0.656317,-0.319107],[-0.493200,0.737824,0.460836],[0.537899,-0.157681,0.828131]]
2025-10-27T00:15:35.897Z,1761524135.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678072,0.664533,-0.314029],[-0.499060,0.729934,0.467050],[0.539591,-0.159975,0.826590]]
2025-10-27T00:15:35.914Z,1761524135.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:15:35.921Z,1761524135.921 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:15:35.921Z,1761524135.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:15:36.172Z,1761524136.172 [DAT](INFO): DAT read: user:8>

2025-10-27T00:15:36.173Z,1761524136.173 [DAT](INFO): DAT read: Tx time:00:15:37.5500

2025-10-27T00:15:36.173Z,1761524136.173 [DAT](INFO): Ping request sent.
2025-10-27T00:15:36.173Z,1761524136.173 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:15:36.173Z,1761524136.173 [DAT](INFO): publishing transmit ping time
2025-10-27T00:15:36.174Z,1761524136.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-27T00:15:36.304Z,1761524136.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667518,0.676421,-0.311248],[-0.510257,0.719984,0.470384],[0.542271,-0.155174,0.825750]]
2025-10-27T00:15:36.428Z,1761524136.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254406
2025-10-27T00:15:36.676Z,1761524136.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502918
2025-10-27T00:15:36.712Z,1761524136.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659764,0.686475,-0.305717],[-0.522399,0.711421,0.470085],[0.540196,-0.150439,0.827984]]
2025-10-27T00:15:36.928Z,1761524136.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754932
2025-10-27T00:15:37.180Z,1761524137.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006854
2025-10-27T00:15:37.208Z,1761524137.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658891,0.694574,-0.288843],[-0.530712,0.701344,0.475879],[0.533112,-0.160260,0.830728]]
2025-10-27T00:15:37.433Z,1761524137.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259818
2025-10-27T00:15:37.603Z,1761524137.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654984,0.698578,-0.288071],[-0.529312,0.696225,0.484871],[0.539283,-0.165103,0.825782]]
2025-10-27T00:15:37.685Z,1761524137.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511361
2025-10-27T00:15:37.938Z,1761524137.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764910
2025-10-27T00:15:38.020Z,1761524138.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646204,0.705498,-0.291022],[-0.530648,0.689434,0.493046],[0.548483,-0.164178,0.819886]]
2025-10-27T00:15:38.188Z,1761524138.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014895
2025-10-27T00:15:38.443Z,1761524138.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269250
2025-10-27T00:15:38.692Z,1761524138.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519251
2025-10-27T00:15:38.830Z,1761524138.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628213,0.722116,-0.289650],[-0.543346,0.673640,0.500983],[0.556887,-0.157344,0.815549]]
2025-10-27T00:15:38.944Z,1761524138.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770898
2025-10-27T00:15:39.196Z,1761524139.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022963
2025-10-27T00:15:39.226Z,1761524139.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622393,0.730342,-0.281473],[-0.551052,0.664258,0.505077],[0.555850,-0.159250,0.815886]]
2025-10-27T00:15:39.448Z,1761524139.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274824
2025-10-27T00:15:39.629Z,1761524139.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618086,0.738246,-0.270115],[-0.557081,0.653776,0.512091],[0.554644,-0.166040,0.815353]]
2025-10-27T00:15:39.700Z,1761524139.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527487
2025-10-27T00:15:39.952Z,1761524139.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778931
2025-10-27T00:15:40.033Z,1761524140.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617170,0.742578,-0.260152],[-0.558952,0.646475,0.519271],[0.553781,-0.175066,0.814051]]
2025-10-27T00:15:40.204Z,1761524140.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030879
2025-10-27T00:15:40.459Z,1761524140.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285111
2025-10-27T00:15:40.490Z,1761524140.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619190,0.742255,-0.256244],[-0.556936,0.645167,0.523051],[0.553558,-0.181156,0.812869]]
2025-10-27T00:15:40.708Z,1761524140.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535466
2025-10-27T00:15:40.848Z,1761524140.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619246,0.741653,-0.257847],[-0.555002,0.645723,0.524419],[0.555434,-0.181639,0.811480]]
2025-10-27T00:15:40.960Z,1761524140.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787218
2025-10-27T00:15:41.212Z,1761524141.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039239
2025-10-27T00:15:41.245Z,1761524141.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617282,0.743066,-0.258487],[-0.555162,0.644203,0.526115],[0.557456,-0.181259,0.810177]]
2025-10-27T00:15:41.464Z,1761524141.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290939
2025-10-27T00:15:41.650Z,1761524141.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615041,0.746240,-0.254657],[-0.557782,0.640041,0.528419],[0.557318,-0.182957,0.809891]]
2025-10-27T00:15:41.716Z,1761524141.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543423
2025-10-27T00:15:41.968Z,1761524141.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794900
2025-10-27T00:15:42.054Z,1761524142.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614317,0.749110,-0.247889],[-0.562091,0.635938,0.528806],[0.553775,-0.185518,0.811736]]
2025-10-27T00:15:42.220Z,1761524142.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046948
2025-10-27T00:15:42.475Z,1761524142.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301118
2025-10-27T00:15:42.494Z,1761524142.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617100,0.749351,-0.240126],[-0.566449,0.634855,0.525447],[0.546189,-0.188234,0.816238]]
2025-10-27T00:15:42.726Z,1761524142.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552593
2025-10-27T00:15:42.861Z,1761524142.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623653,0.746338,-0.232456],[-0.569842,0.637625,0.518377],[0.535104,-0.190824,0.822952]]
2025-10-27T00:15:42.977Z,1761524142.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804133
2025-10-27T00:15:43.228Z,1761524143.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054885
2025-10-27T00:15:43.266Z,1761524143.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632534,0.740673,-0.226504],[-0.572469,0.644059,0.507412],[0.521708,-0.191289,0.831402]]
2025-10-27T00:15:43.480Z,1761524143.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307157
2025-10-27T00:15:43.670Z,1761524143.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641697,0.733253,-0.224866],[-0.574348,0.653731,0.492708],[0.508281,-0.187018,0.840639]]
2025-10-27T00:15:43.732Z,1761524143.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559073
2025-10-27T00:15:43.984Z,1761524143.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810893
2025-10-27T00:15:44.073Z,1761524144.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647773,0.727518,-0.226071],[-0.577393,0.662421,0.477300],[0.496998,-0.178650,0.849162]]
2025-10-27T00:15:44.236Z,1761524144.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062801
2025-10-27T00:15:44.488Z,1761524144.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314914
2025-10-27T00:15:44.499Z,1761524144.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651684,0.722951,-0.229454],[-0.580917,0.670239,0.461860],[0.487691,-0.167694,0.856759]]
2025-10-27T00:15:44.740Z,1761524144.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566873
2025-10-27T00:15:44.882Z,1761524144.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654958,0.718427,-0.234290],[-0.583218,0.677732,0.447812],[0.480506,-0.156656,0.862886]]
2025-10-27T00:15:44.992Z,1761524144.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819151
2025-10-27T00:15:45.244Z,1761524145.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070947
2025-10-27T00:15:45.496Z,1761524145.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322827
2025-10-27T00:15:45.698Z,1761524145.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659607,0.710729,-0.244508],[-0.580908,0.688495,0.434190],[0.476933,-0.144358,0.867004]]
2025-10-27T00:15:45.749Z,1761524145.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575603
2025-10-27T00:15:45.000Z,1761524146.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826886
2025-10-27T00:15:46.093Z,1761524146.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658550,0.708052,-0.254898],[-0.577731,0.692740,0.431669],[0.482222,-0.137013,0.865268]]
2025-10-27T00:15:46.100Z,1761524146.100 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-27T00:15:46.252Z,1761524146.252 [DAT](INFO): Reached modem response timeout
2025-10-27T00:15:46.497Z,1761524146.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654353,0.708001,-0.265626],[-0.575202,0.694047,0.432945],[0.490883,-0.130510,0.861395]]
2025-10-27T00:15:46.901Z,1761524146.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651842,0.706042,-0.276780],[-0.571582,0.697273,0.432555],[0.498393,-0.123754,0.858073]]
2025-10-27T00:15:47.318Z,1761524147.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652230,0.701441,-0.287362],[-0.566848,0.703022,0.429469],[0.503269,-0.117222,0.856142]]
2025-10-27T00:15:47.714Z,1761524147.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652962,0.697213,-0.295862],[-0.563046,0.708119,0.426083],[0.506576,-0.111632,0.854938]]
2025-10-27T00:15:47.735Z,1761524147.735 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:15:48.113Z,1761524148.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654061,0.693465,-0.302174],[-0.560206,0.712489,0.422527],[0.508303,-0.107078,0.854495]]
2025-10-27T00:15:48.518Z,1761524148.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655339,0.691529,-0.303839],[-0.558456,0.714444,0.421542],[0.508584,-0.106572,0.854391]]
2025-10-27T00:15:48.520Z,1761524148.520 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:15:48.520Z,1761524148.520 [DAT](INFO): response not received
2025-10-27T00:15:48.520Z,1761524148.520 [DAT](ERROR): No response from remote modem.
2025-10-27T00:15:48.924Z,1761524148.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656945,0.690949,-0.301683],[-0.557466,0.714566,0.422644],[0.507598,-0.109476,0.854611]]
2025-10-27T00:15:49.334Z,1761524149.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658781,0.690749,-0.298117],[-0.556651,0.714099,0.424503],[0.506110,-0.113707,0.854941]]
2025-10-27T00:15:49.731Z,1761524149.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660681,0.690751,-0.293877],[-0.555596,0.713222,0.427349],[0.504791,-0.119065,0.854991]]
2025-10-27T00:15:50.134Z,1761524150.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662175,0.691396,-0.288956],[-0.554691,0.711520,0.431344],[0.503828,-0.125344,0.854662]]
2025-10-27T00:15:50.540Z,1761524150.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663374,0.692828,-0.282709],[-0.554090,0.708724,0.436686],[0.502911,-0.133040,0.854038]]
2025-10-27T00:15:50.941Z,1761524150.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664502,0.695226,-0.274038],[-0.554224,0.704480,0.443333],[0.501271,-0.142717,0.853440]]
2025-10-27T00:15:51.345Z,1761524151.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665880,0.697655,-0.264350],[-0.555338,0.700111,0.448826],[0.498200,-0.152061,0.853624]]
2025-10-27T00:15:51.750Z,1761524151.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667545,0.700427,-0.252559],[-0.557498,0.695032,0.454011],[0.493539,-0.162272,0.854452]]
2025-10-27T00:15:52.155Z,1761524152.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670286,0.701723,-0.241458],[-0.559398,0.691571,0.456950],[0.487638,-0.171216,0.856092]]
2025-10-27T00:15:52.558Z,1761524152.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672859,0.701886,-0.233702],[-0.561348,0.690182,0.456659],[0.481819,-0.176079,0.858398]]
2025-10-27T00:15:52.961Z,1761524152.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675102,0.701287,-0.228983],[-0.562628,0.690202,0.455051],[0.477166,-0.178374,0.860520]]
2025-10-27T00:15:53.372Z,1761524153.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676689,0.699374,-0.230146],[-0.562829,0.692887,0.450700],[0.474674,-0.175451,0.862497]]
2025-10-27T00:15:53.772Z,1761524153.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677290,0.696624,-0.236631],[-0.562107,0.697484,0.444468],[0.474673,-0.168021,0.863976]]
2025-10-27T00:15:54.173Z,1761524154.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676227,0.694547,-0.245606],[-0.561281,0.701673,0.438883],[0.477160,-0.158931,0.864326]]
2025-10-27T00:15:54.579Z,1761524154.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673464,0.693689,-0.255425],[-0.560966,0.704616,0.434550],[0.481419,-0.149369,0.863669]]
2025-10-27T00:15:54.982Z,1761524154.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669004,0.694618,-0.264460],[-0.561839,0.705554,0.431892],[0.486591,-0.140354,0.862282]]
2025-10-27T00:15:55.387Z,1761524155.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666055,0.694171,-0.272941],[-0.561672,0.707541,0.428847],[0.490810,-0.132333,0.861158]]
2025-10-27T00:15:55.800Z,1761524155.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666098,0.690850,-0.281140],[-0.559592,0.712091,0.424008],[0.493123,-0.125107,0.860917]]
2025-10-27T00:15:56.194Z,1761524156.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667155,0.687460,-0.286883],[-0.556898,0.716070,0.420842],[0.494740,-0.121002,0.860576]]
2025-10-27T00:15:57.406Z,1761524157.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670650,0.681325,-0.293301],[-0.549264,0.721875,0.420957],[0.498535,-0.121216,0.858353]]
2025-10-27T00:15:58.617Z,1761524158.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672192,0.681682,-0.288907],[-0.545957,0.719954,0.428484],[0.500090,-0.130292,0.856116]]
2025-10-27T00:15:59.021Z,1761524159.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671673,0.683441,-0.285942],[-0.546036,0.717546,0.432403],[0.500699,-0.134299,0.855140]]
2025-10-27T00:15:59.426Z,1761524159.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670795,0.685955,-0.281956],[-0.546362,0.714151,0.437581],[0.501520,-0.139477,0.853829]]
2025-10-27T00:15:59.830Z,1761524159.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669677,0.688458,-0.278493],[-0.546683,0.710808,0.442595],[0.502663,-0.144148,0.852380]]
2025-10-27T00:16:00.664Z,1761524160.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668471,0.693086,-0.269774],[-0.547454,0.704067,0.452310],[0.503429,-0.154667,0.850081]]
2025-10-27T00:16:01.042Z,1761524161.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668417,0.695033,-0.264855],[-0.548248,0.701036,0.456040],[0.502636,-0.159619,0.849635]]
2025-10-27T00:16:01.452Z,1761524161.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668866,0.696791,-0.259037],[-0.549279,0.698043,0.459379],[0.500910,-0.164979,0.849630]]
2025-10-27T00:16:01.851Z,1761524161.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669420,0.698727,-0.252303],[-0.550765,0.694715,0.462632],[0.498532,-0.170735,0.849891]]
2025-10-27T00:16:02.254Z,1761524162.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670327,0.700226,-0.245651],[-0.552350,0.691886,0.464976],[0.495551,-0.176001,0.850560]]
2025-10-27T00:16:02.657Z,1761524162.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671557,0.701329,-0.239058],[-0.553776,0.689427,0.466929],[0.492284,-0.181185,0.851369]]
2025-10-27T00:16:03.061Z,1761524163.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672412,0.702338,-0.233631],[-0.555447,0.687424,0.467897],[0.489225,-0.184850,0.852344]]
2025-10-27T00:16:03.473Z,1761524163.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673654,0.701504,-0.232555],[-0.556672,0.688616,0.464676],[0.486113,-0.183574,0.854397]]
2025-10-27T00:16:03.869Z,1761524163.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675659,0.699128,-0.233891],[-0.557003,0.691957,0.459285],[0.482942,-0.180042,0.856943]]
2025-10-27T00:16:04.279Z,1761524164.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677905,0.695488,-0.238206],[-0.556577,0.697234,0.451759],[0.480278,-0.173670,0.859751]]
2025-10-27T00:16:04.678Z,1761524164.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679840,0.690967,-0.245729],[-0.555757,0.704037,0.442114],[0.478489,-0.164001,0.862643]]
2025-10-27T00:16:05.082Z,1761524165.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680974,0.685915,-0.256505],[-0.554840,0.711864,0.430583],[0.477940,-0.150896,0.865334]]
2025-10-27T00:16:05.485Z,1761524165.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680696,0.681406,-0.268957],[-0.554425,0.719163,0.418829],[0.478817,-0.135979,0.867320]]
2025-10-27T00:16:05.889Z,1761524165.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678443,0.679219,-0.279957],[-0.555228,0.723599,0.410033],[0.481079,-0.122744,0.868042]]
2025-10-27T00:16:06.301Z,1761524166.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675062,0.678484,-0.289742],[-0.556550,0.726140,0.403699],[0.484297,-0.111266,0.867800]]
2025-10-27T00:16:06.703Z,1761524166.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671907,0.678619,-0.296679],[-0.557747,0.727176,0.400168],[0.487299,-0.103404,0.867092]]
2025-10-27T00:16:07.101Z,1761524167.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669998,0.679151,-0.299762],[-0.558340,0.727120,0.399442],[0.489244,-0.100256,0.866365]]
2025-10-27T00:16:07.508Z,1761524167.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669479,0.679930,-0.299153],[-0.558346,0.726222,0.401062],[0.489946,-0.101472,0.865827]]
2025-10-27T00:16:07.916Z,1761524167.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669757,0.681708,-0.294447],[-0.558247,0.723704,0.405725],[0.489678,-0.107363,0.865268]]
2025-10-27T00:16:08.314Z,1761524168.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670692,0.684609,-0.285452],[-0.558232,0.719298,0.413507],[0.488415,-0.117987,0.864598]]
2025-10-27T00:16:08.722Z,1761524168.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672240,0.687377,-0.274965],[-0.558399,0.714630,0.421301],[0.486091,-0.129676,0.864234]]
2025-10-27T00:16:09.122Z,1761524169.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674169,0.689684,-0.264258],[-0.558889,0.710287,0.427943],[0.482844,-0.140815,0.864311]]
2025-10-27T00:16:09.533Z,1761524169.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676425,0.690981,-0.254940],[-0.559218,0.707105,0.432757],[0.479297,-0.150160,0.864712]]
2025-10-27T00:16:09.942Z,1761524169.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678520,0.691534,-0.247774],[-0.559534,0.705088,0.435628],[0.475954,-0.156944,0.865354]]
2025-10-27T00:16:10.334Z,1761524170.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679480,0.692900,-0.241240],[-0.560726,0.702470,0.438317],[0.473174,-0.162558,0.865841]]
2025-10-27T00:16:10.738Z,1761524170.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679623,0.694826,-0.235222],[-0.562692,0.699512,0.440523],[0.470628,-0.167031,0.866378]]
2025-10-27T00:16:11.143Z,1761524171.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679237,0.696847,-0.230308],[-0.565132,0.696820,0.441664],[0.468255,-0.169840,0.867117]]
2025-10-27T00:16:11.556Z,1761524171.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678533,0.698821,-0.226366],[-0.567979,0.694538,0.441607],[0.465824,-0.171074,0.868183]]
2025-10-27T00:16:11.970Z,1761524171.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675413,0.704275,-0.218666],[-0.575852,0.688927,0.440198],[0.460665,-0.171396,0.870868]]
2025-10-27T00:16:12.358Z,1761524172.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673294,0.707468,-0.214859],[-0.580706,0.685861,0.438607],[0.457663,-0.170541,0.872617]]
2025-10-27T00:16:13.168Z,1761524173.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668463,0.714397,-0.206868],[-0.591131,0.679127,0.435144],[0.451355,-0.168592,0.876274]]
2025-10-27T00:16:13.570Z,1761524173.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666312,0.717147,-0.204275],[-0.596017,0.676833,0.432043],[0.448098,-0.166124,0.878414]]
2025-10-27T00:16:13.976Z,1761524173.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664376,0.719765,-0.201353],[-0.600343,0.674396,0.429858],[0.445188,-0.164707,0.880159]]
2025-10-27T00:16:14.783Z,1761524174.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661065,0.723864,-0.197522],[-0.606759,0.670583,0.426805],[0.441403,-0.162297,0.882509]]
2025-10-27T00:16:15.181Z,1761524175.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659454,0.724935,-0.198971],[-0.608871,0.670308,0.424221],[0.440905,-0.158607,0.883429]]
2025-10-27T00:16:15.585Z,1761524175.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658388,0.725048,-0.202066],[-0.610074,0.671293,0.420923],[0.440835,-0.153856,0.884304]]
2025-10-27T00:16:15.848Z,1761524175.848 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.535404
2025-10-27T00:16:15.994Z,1761524175.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658897,0.723557,-0.205719],[-0.609897,0.673936,0.416937],[0.440319,-0.149251,0.885350]]
2025-10-27T00:16:16.011Z,1761524176.011 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-10-27T00:16:16.011Z,1761524176.011 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-10-27T00:16:16.012Z,1761524176.012 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-10-27T00:16:16.012Z,1761524176.012 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-10-27T00:16:16.012Z,1761524176.012 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-10-27T00:16:16.396Z,1761524176.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661150,0.719829,-0.211487],[-0.608186,0.679279,0.410719],[0.439306,-0.142923,0.886895]]
2025-10-27T00:16:16.798Z,1761524176.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664482,0.715082,-0.217076],[-0.605738,0.685499,0.403945],[0.437659,-0.136923,0.888654]]
2025-10-27T00:16:16.853Z,1761524176.853 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:16:17.201Z,1761524177.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668045,0.710849,-0.220021],[-0.603258,0.690477,0.399151],[0.435656,-0.133921,0.890095]]
2025-10-27T00:16:17.606Z,1761524177.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671549,0.707066,-0.221540],[-0.601059,0.694679,0.395157],[0.433302,-0.132208,0.891499]]
2025-10-27T00:16:18.023Z,1761524178.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675073,0.703582,-0.221919],[-0.599094,0.698351,0.391654],[0.430538,-0.131445,0.892950]]
2025-10-27T00:16:18.434Z,1761524178.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678544,0.700943,-0.219675],[-0.597947,0.700774,0.389069],[0.426658,-0.132647,0.894633]]
2025-10-27T00:16:18.902Z,1761524178.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682100,0.698972,-0.214891],[-0.597327,0.702087,0.387651],[0.421829,-0.136057,0.896409]]
2025-10-27T00:16:19.302Z,1761524179.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685678,0.696832,-0.210408],[-0.597027,0.703749,0.385093],[0.416419,-0.138430,0.898572]]
2025-10-27T00:16:19.712Z,1761524179.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688089,0.696373,-0.203954],[-0.597498,0.703237,0.385298],[0.411739,-0.143257,0.899971]]
2025-10-27T00:16:20.110Z,1761524180.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688685,0.697454,-0.198171],[-0.599176,0.701354,0.386122],[0.408290,-0.147177,0.900909]]
2025-10-27T00:16:20.513Z,1761524180.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688588,0.699032,-0.192873],[-0.601071,0.698994,0.387454],[0.405660,-0.150866,0.901487]]
2025-10-27T00:16:20.917Z,1761524180.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688022,0.700538,-0.189400],[-0.602929,0.697068,0.388037],[0.403859,-0.152783,0.901973]]
2025-10-27T00:16:21.322Z,1761524181.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687493,0.701679,-0.187083],[-0.604423,0.695699,0.388169],[0.402524,-0.153786,0.902399]]
2025-10-27T00:16:21.735Z,1761524181.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686840,0.702284,-0.187214],[-0.605616,0.695415,0.386817],[0.401846,-0.152301,0.902953]]
2025-10-27T00:16:22.131Z,1761524182.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686551,0.702177,-0.188666],[-0.606084,0.696033,0.384968],[0.401633,-0.149953,0.903441]]
2025-10-27T00:16:22.534Z,1761524182.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686930,0.700773,-0.192468],[-0.605401,0.698325,0.381880],[0.402016,-0.145805,0.903949]]
2025-10-27T00:16:22.938Z,1761524182.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687618,0.698975,-0.196507],[-0.604004,0.700863,0.379435],[0.402940,-0.142216,0.904109]]
2025-10-27T00:16:23.342Z,1761524183.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688708,0.696455,-0.201571],[-0.601902,0.704200,0.376586],[0.404221,-0.138032,0.904186]]
2025-10-27T00:16:23.752Z,1761524183.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689909,0.693782,-0.206619],[-0.599516,0.707571,0.374063],[0.405716,-0.134199,0.904094]]
2025-10-27T00:16:24.150Z,1761524184.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690917,0.691412,-0.211145],[-0.597162,0.710450,0.372369],[0.407468,-0.131188,0.903747]]
2025-10-27T00:16:24.564Z,1761524184.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691819,0.689600,-0.214100],[-0.594895,0.712393,0.372286],[0.409252,-0.130187,0.903086]]
2025-10-27T00:16:24.958Z,1761524184.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692579,0.688191,-0.216166],[-0.592813,0.713754,0.372998],[0.410983,-0.130185,0.902300]]
2025-10-27T00:16:25.363Z,1761524185.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693056,0.687414,-0.217108],[-0.590862,0.714214,0.375208],[0.412985,-0.131759,0.901157]]
2025-10-27T00:16:25.765Z,1761524185.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692800,0.687419,-0.217907],[-0.589528,0.713920,0.377855],[0.415313,-0.133316,0.899857]]
2025-10-27T00:16:26.180Z,1761524186.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692586,0.687347,-0.218813],[-0.587923,0.713648,0.380858],[0.417937,-0.135132,0.898370]]
2025-10-27T00:16:26.579Z,1761524186.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692162,0.687162,-0.220727],[-0.586257,0.713670,0.383376],[0.420967,-0.135956,0.896829]]
2025-10-27T00:16:26.980Z,1761524186.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691916,0.686644,-0.223096],[-0.584269,0.714063,0.385673],[0.424125,-0.136505,0.895256]]
2025-10-27T00:16:27.382Z,1761524187.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691844,0.685673,-0.226285],[-0.581870,0.715005,0.387551],[0.427528,-0.136456,0.893644]]
2025-10-27T00:16:27.786Z,1761524187.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692412,0.683864,-0.229994],[-0.578762,0.716790,0.388903],[0.430814,-0.136169,0.892108]]
2025-10-27T00:16:28.189Z,1761524188.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693418,0.680766,-0.236071],[-0.574871,0.720220,0.388338],[0.434390,-0.133570,0.890766]]
2025-10-27T00:16:28.609Z,1761524188.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695000,0.676721,-0.242948],[-0.570051,0.724535,0.387416],[0.438197,-0.130762,0.889317]]
2025-10-27T00:16:28.998Z,1761524188.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697389,0.670722,-0.252546],[-0.564002,0.731032,0.384050],[0.442210,-0.125396,0.888103]]
2025-10-27T00:16:29.402Z,1761524189.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700312,0.663805,-0.262537],[-0.556848,0.738124,0.380909],[0.446634,-0.120562,0.886557]]
2025-10-27T00:16:29.515Z,1761524189.515 [Radio_Surface](INFO): Powering down
2025-10-27T00:16:29.806Z,1761524189.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703465,0.656214,-0.272984],[-0.548859,0.745600,0.377935],[0.451543,-0.116035,0.884672]]
2025-10-27T00:16:30.221Z,1761524190.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707051,0.648135,-0.282844],[-0.540205,0.753147,0.375431],[0.456353,-0.112655,0.882639]]
2025-10-27T00:16:30.618Z,1761524190.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710481,0.640450,-0.291618],[-0.531754,0.760025,0.373629],[0.460928,-0.110387,0.880546]]
2025-10-27T00:16:31.017Z,1761524191.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713910,0.633037,-0.299329],[-0.523380,0.766373,0.372486],[0.465195,-0.109259,0.878440]]
2025-10-27T00:16:31.422Z,1761524191.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717074,0.626486,-0.305485],[-0.515717,0.771734,0.372107],[0.468872,-0.109284,0.876479]]
2025-10-27T00:16:31.825Z,1761524191.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719697,0.620179,-0.312112],[-0.509176,0.777080,0.369983],[0.471991,-0.107356,0.875042]]
2025-10-27T00:16:32.231Z,1761524192.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721995,0.614974,-0.317064],[-0.503776,0.781360,0.368357],[0.474271,-0.106223,0.873947]]
2025-10-27T00:16:32.638Z,1761524192.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723737,0.611301,-0.320180],[-0.499681,0.784238,0.367818],[0.475945,-0.106215,0.873038]]
2025-10-27T00:16:33.038Z,1761524193.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724787,0.610106,-0.320086],[-0.496940,0.784722,0.370488],[0.477216,-0.109461,0.871942]]
2025-10-27T00:16:33.444Z,1761524193.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724739,0.610915,-0.318647],[-0.495619,0.783483,0.374857],[0.478660,-0.113746,0.870601]]
2025-10-27T00:16:33.846Z,1761524193.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723458,0.613748,-0.316104],[-0.495672,0.780491,0.380975],[0.480539,-0.118936,0.868871]]
2025-10-27T00:16:34.250Z,1761524194.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721617,0.617264,-0.313457],[-0.496229,0.776908,0.387518],[0.482728,-0.124093,0.866934]]
2025-10-27T00:16:34.670Z,1761524194.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719295,0.621495,-0.310416],[-0.497219,0.772625,0.394745],[0.485168,-0.129594,0.864765]]
2025-10-27T00:16:35.064Z,1761524195.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716367,0.625911,-0.308308],[-0.498434,0.768291,0.401612],[0.488244,-0.134030,0.862354]]
2025-10-27T00:16:35.466Z,1761524195.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713331,0.630451,-0.306089],[-0.499435,0.763695,0.409065],[0.491654,-0.138927,0.859637]]
2025-10-27T00:16:35.869Z,1761524195.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710479,0.634463,-0.304428],[-0.500028,0.759545,0.416009],[0.495169,-0.143343,0.856890]]
2025-10-27T00:16:36.274Z,1761524196.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707556,0.636882,-0.306181],[-0.500214,0.757445,0.419600],[0.499150,-0.143734,0.854511]]
2025-10-27T00:16:36.290Z,1761524196.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:16:36.408Z,1761524196.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:16:36.408Z,1761524196.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:16:36.660Z,1761524196.660 [DAT](INFO): DAT read: user:9>

2025-10-27T00:16:36.661Z,1761524196.661 [DAT](INFO): DAT read: Tx time:00:16:38.0499

2025-10-27T00:16:36.661Z,1761524196.661 [DAT](INFO): Ping request sent.
2025-10-27T00:16:36.661Z,1761524196.661 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:16:36.661Z,1761524196.661 [DAT](INFO): publishing transmit ping time
2025-10-27T00:16:36.662Z,1761524196.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-27T00:16:36.695Z,1761524196.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705128,0.638065,-0.309303],[-0.499269,0.756506,0.422409],[0.503514,-0.143427,0.851999]]
2025-10-27T00:16:36.912Z,1761524196.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250778
2025-10-27T00:16:37.081Z,1761524197.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703498,0.637528,-0.314083],[-0.496894,0.757189,0.423982],[0.508120,-0.142205,0.849465]]
2025-10-27T00:16:37.164Z,1761524197.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502909
2025-10-27T00:16:37.416Z,1761524197.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754892
2025-10-27T00:16:37.486Z,1761524197.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702491,0.635052,-0.321272],[-0.493274,0.759866,0.423421],[0.513017,-0.138974,0.847053]]
2025-10-27T00:16:37.669Z,1761524197.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007686
2025-10-27T00:16:37.889Z,1761524197.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702279,0.631097,-0.329424],[-0.488675,0.763851,0.421578],[0.517687,-0.135084,0.844838]]
2025-10-27T00:16:37.920Z,1761524197.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258965
2025-10-27T00:16:38.173Z,1761524198.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511882
2025-10-27T00:16:38.293Z,1761524198.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702465,0.626026,-0.338577],[-0.483329,0.768806,0.418724],[0.522432,-0.130495,0.842636]]
2025-10-27T00:16:38.427Z,1761524198.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765026
2025-10-27T00:16:38.677Z,1761524198.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016081
2025-10-27T00:16:38.718Z,1761524198.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703355,0.619863,-0.347938],[-0.477282,0.774549,0.415061],[0.526776,-0.125871,0.840633]]
2025-10-27T00:16:38.928Z,1761524198.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266916
2025-10-27T00:16:39.103Z,1761524199.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704778,0.613008,-0.357084],[-0.470983,0.780717,0.410679],[0.530531,-0.121257,0.838948]]
2025-10-27T00:16:39.184Z,1761524199.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522259
2025-10-27T00:16:39.432Z,1761524199.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770799
2025-10-27T00:16:39.505Z,1761524199.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706386,0.606631,-0.364716],[-0.465297,0.786253,0.406578],[0.533402,-0.117500,0.837661]]
2025-10-27T00:16:39.685Z,1761524199.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023411
2025-10-27T00:16:39.910Z,1761524199.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708139,0.601018,-0.370563],[-0.460195,0.790905,0.403348],[0.535499,-0.115095,0.836656]]
2025-10-27T00:16:39.936Z,1761524199.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274816
2025-10-27T00:16:40.189Z,1761524200.189 [DAT](INFO): DAT read: Rx Time:00:16:41.2278

2025-10-27T00:16:40.190Z,1761524200.190 [DAT](INFO): Rx dataTimestamp_ set to:1761524200.189183
2025-10-27T00:16:40.191Z,1761524200.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529485
2025-10-27T00:16:40.313Z,1761524200.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710057,0.596370,-0.374382],[-0.456016,0.794588,0.400849],[0.536534,-0.113902,0.836156]]
2025-10-27T00:16:40.443Z,1761524200.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781145
2025-10-27T00:16:40.693Z,1761524200.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032008
2025-10-27T00:16:40.771Z,1761524200.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712022,0.593207,-0.375673],[-0.452579,0.796786,0.400381],[0.536840,-0.115058,0.835802]]
2025-10-27T00:16:40.950Z,1761524200.950 [DAT](INFO): DAT read: 00:16:41.2278 LVL= 21488, 12273, 12658, 20963, AGC= 74, IDX=  96,-0.04,-1.422, 0.250, 1.128, 0.229, PHS=-1.549, 0.066, 0.855, RAW= 251.2,   6.0, CAL= 248.9,   5.6, ROT= 261.1,  -5.6

2025-10-27T00:16:40.951Z,1761524200.951 [DAT](INFO): got valid direction response:
 00:16:41.2278 LVL= 21488, 12273, 12658, 20963, AGC= 74, IDX=  96,-0.04,-1.422, 0.250, 1.128, 0.229, PHS=-1.549, 0.066, 0.855, RAW= 251.2,   6.0, CAL= 248.9,   5.6, ROT= 261.1,  -5.6

2025-10-27T00:16:40.952Z,1761524200.952 [DAT](INFO): DAT read: Bearing 135.3, -66.5 (Local)

2025-10-27T00:16:40.952Z,1761524200.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.3, -66.5 (Local)

2025-10-27T00:16:40.954Z,1761524200.954 [DAT](INFO): DAT read: Range 11 to 50 : 580.3 m  (Round-trip  773.8 ms) speed -0.3 m/s

2025-10-27T00:16:40.954Z,1761524200.954 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:16:40.956Z,1761524200.956 [DAT](INFO): direction in FSK: [-0.153972,-0.983245,0.097583]
2025-10-27T00:16:40.956Z,1761524200.956 [DAT](INFO): publishing direction and range info
2025-10-27T00:16:41.121Z,1761524201.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714214,0.591320,-0.374486],[-0.449745,0.797677,0.401798],[0.536310,-0.118546,0.835655]]
2025-10-27T00:16:41.525Z,1761524201.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716573,0.590173,-0.371778],[-0.447509,0.797836,0.403972],[0.535032,-0.123101,0.835815]]
2025-10-27T00:16:41.930Z,1761524201.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718935,0.589583,-0.368137],[-0.445901,0.797496,0.406415],[0.533203,-0.128033,0.836243]]
2025-10-27T00:16:42.335Z,1761524202.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721404,0.589672,-0.363130],[-0.445017,0.796501,0.409324],[0.530600,-0.133689,0.837013]]
2025-10-27T00:16:42.737Z,1761524202.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723495,0.590608,-0.357405],[-0.444924,0.794794,0.412729],[0.527824,-0.139590,0.837805]]
2025-10-27T00:16:43.142Z,1761524203.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725405,0.591366,-0.352242],[-0.445209,0.793386,0.415124],[0.524954,-0.144311,0.838807]]
2025-10-27T00:16:43.545Z,1761524203.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727116,0.592048,-0.347537],[-0.445901,0.792200,0.416643],[0.521991,-0.147980,0.840016]]
2025-10-27T00:16:43.951Z,1761524203.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728873,0.591398,-0.344951],[-0.446490,0.792547,0.415351],[0.519028,-0.148721,0.841720]]
2025-10-27T00:16:44.353Z,1761524204.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730597,0.590027,-0.343651],[-0.446897,0.793718,0.412668],[0.516247,-0.147917,0.843569]]
2025-10-27T00:16:44.757Z,1761524204.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732346,0.588374,-0.342763],[-0.447339,0.795226,0.409273],[0.513379,-0.146398,0.845583]]
2025-10-27T00:16:45.170Z,1761524205.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734141,0.585957,-0.343061],[-0.447532,0.797545,0.404521],[0.510639,-0.143445,0.847745]]
2025-10-27T00:16:45.567Z,1761524205.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736032,0.583052,-0.343959],[-0.447572,0.800339,0.398920],[0.507875,-0.139671,0.850032]]
2025-10-27T00:16:45.970Z,1761524205.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738237,0.579377,-0.345439],[-0.447158,0.803758,0.392458],[0.505031,-0.135261,0.852437]]
2025-10-27T00:16:46.373Z,1761524206.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740509,0.575156,-0.347624],[-0.446509,0.807652,0.385135],[0.502271,-0.129979,0.854885]]
2025-10-27T00:16:46.782Z,1761524206.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742805,0.570574,-0.350266],[-0.445522,0.811772,0.377540],[0.499751,-0.124387,0.857191]]
2025-10-27T00:16:46.971Z,1761524206.971 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:16:47.184Z,1761524207.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745161,0.566114,-0.352492],[-0.444135,0.815568,0.370936],[0.497473,-0.119853,0.859160]]
2025-10-27T00:16:47.585Z,1761524207.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747731,0.561013,-0.355194],[-0.442253,0.819787,0.363815],[0.495288,-0.114951,0.861090]]
2025-10-27T00:16:47.602Z,1761524207.602 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-27T00:16:47.975Z,1761524207.975 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-27T00:16:47.975Z,1761524207.975 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:16:47.997Z,1761524207.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752917,0.551744,-0.358742],[-0.437793,0.826902,0.352946],[0.491380,-0.108684,0.864137]]
2025-10-27T00:16:48.404Z,1761524208.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755604,0.547132,-0.360151],[-0.435128,0.830241,0.348374],[0.489619,-0.106521,0.865406]]
2025-10-27T00:16:48.810Z,1761524208.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758475,0.542679,-0.360854],[-0.432126,0.833272,0.344856],[0.487836,-0.105630,0.866521]]
2025-10-27T00:16:49.206Z,1761524209.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760998,0.539534,-0.360256],[-0.429345,0.835143,0.343801],[0.486358,-0.106958,0.867189]]
2025-10-27T00:16:49.610Z,1761524209.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763748,0.536336,-0.359210],[-0.426177,0.836907,0.343453],[0.484831,-0.109225,0.867761]]
2025-10-27T00:16:50.011Z,1761524210.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766712,0.533353,-0.357334],[-0.422719,0.838324,0.344270],[0.483179,-0.112904,0.868211]]
2025-10-27T00:16:50.432Z,1761524210.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769733,0.530184,-0.355551],[-0.419180,0.839852,0.344871],[0.481455,-0.116418,0.868705]]
2025-10-27T00:16:50.817Z,1761524210.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772719,0.526499,-0.354548],[-0.415718,0.841873,0.344136],[0.479671,-0.118529,0.869406]]
2025-10-27T00:16:51.222Z,1761524211.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775795,0.522328,-0.353999],[-0.412232,0.844305,0.342364],[0.477709,-0.119675,0.870329]]
2025-10-27T00:16:51.631Z,1761524211.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778915,0.518539,-0.352717],[-0.408812,0.846341,0.341439],[0.475568,-0.121757,0.871212]]
2025-10-27T00:16:52.032Z,1761524212.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781864,0.514289,-0.352414],[-0.405618,0.848890,0.338911],[0.473459,-0.122037,0.872321]]
2025-10-27T00:16:52.472Z,1761524212.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784992,0.509507,-0.352407],[-0.402159,0.851801,0.335713],[0.471228,-0.121808,0.873560]]
2025-10-27T00:16:52.838Z,1761524212.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788023,0.505234,-0.351795],[-0.398927,0.854274,0.333275],[0.468911,-0.122288,0.874739]]
2025-10-27T00:16:53.242Z,1761524213.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790852,0.500997,-0.351503],[-0.396093,0.856834,0.330070],[0.466544,-0.121809,0.876070]]
2025-10-27T00:16:53.654Z,1761524213.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793778,0.496716,-0.350985],[-0.393340,0.859403,0.326665],[0.463897,-0.121243,0.877553]]
2025-10-27T00:16:54.051Z,1761524214.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796190,0.493941,-0.349434],[-0.391341,0.860869,0.325202],[0.461448,-0.122174,0.878715]]
2025-10-27T00:16:54.484Z,1761524214.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798054,0.492167,-0.347680],[-0.390155,0.861743,0.324313],[0.459227,-0.123170,0.879739]]
2025-10-27T00:16:54.859Z,1761524214.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799548,0.491096,-0.345757],[-0.389383,0.862159,0.324134],[0.457278,-0.124529,0.880562]]
2025-10-27T00:16:55.263Z,1761524215.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800476,0.490922,-0.343852],[-0.389425,0.862094,0.324255],[0.455617,-0.125654,0.881263]]
2025-10-27T00:16:55.666Z,1761524215.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800906,0.491421,-0.342133],[-0.390297,0.861751,0.324119],[0.454112,-0.126055,0.881982]]
2025-10-27T00:16:56.070Z,1761524216.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800883,0.492213,-0.341047],[-0.391839,0.861434,0.323099],[0.452823,-0.125129,0.882776]]
2025-10-27T00:16:56.489Z,1761524216.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800417,0.493939,-0.339641],[-0.393869,0.860479,0.323177],[0.451884,-0.124902,0.883290]]
2025-10-27T00:16:56.878Z,1761524216.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799595,0.496291,-0.338147],[-0.396393,0.859149,0.323628],[0.451132,-0.124733,0.883698]]
2025-10-27T00:16:57.281Z,1761524217.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798628,0.498744,-0.336821],[-0.398860,0.857733,0.324354],[0.450672,-0.124694,0.883938]]
2025-10-27T00:16:57.693Z,1761524217.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797445,0.502247,-0.334409],[-0.401365,0.855351,0.327537],[0.450541,-0.126973,0.883680]]
2025-10-27T00:16:58.092Z,1761524218.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795761,0.505623,-0.333332],[-0.403589,0.853124,0.330599],[0.451532,-0.128549,0.882946]]
2025-10-27T00:16:58.497Z,1761524218.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794543,0.508427,-0.331969],[-0.405174,0.851127,0.333792],[0.452257,-0.130706,0.882258]]
2025-10-27T00:16:58.898Z,1761524218.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793735,0.510819,-0.330227],[-0.406231,0.849252,0.337265],[0.452727,-0.133550,0.881591]]
2025-10-27T00:16:59.301Z,1761524219.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793010,0.512394,-0.329526],[-0.406934,0.848064,0.339399],[0.453365,-0.135051,0.881034]]
2025-10-27T00:16:59.711Z,1761524219.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792821,0.512642,-0.329597],[-0.406509,0.847740,0.340715],[0.454077,-0.136142,0.880499]]
2025-10-27T00:17:00.122Z,1761524220.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793085,0.511515,-0.330708],[-0.405084,0.848394,0.340784],[0.454887,-0.136306,0.880056]]
2025-10-27T00:17:00.513Z,1761524220.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793970,0.508531,-0.333177],[-0.402352,0.850365,0.339105],[0.455768,-0.135185,0.879773]]
2025-10-27T00:17:00.918Z,1761524220.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795206,0.504781,-0.335922],[-0.398774,0.852731,0.337385],[0.456757,-0.134334,0.879390]]
2025-10-27T00:17:01.322Z,1761524221.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796504,0.500942,-0.338582],[-0.394743,0.855001,0.336379],[0.457995,-0.134275,0.878755]]
2025-10-27T00:17:01.737Z,1761524221.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798101,0.496231,-0.341746],[-0.390168,0.857851,0.334455],[0.459134,-0.133590,0.878265]]
2025-10-27T00:17:02.132Z,1761524222.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800086,0.490543,-0.345297],[-0.384853,0.861271,0.331815],[0.460163,-0.132592,0.877878]]
2025-10-27T00:17:02.533Z,1761524222.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802243,0.483839,-0.349724],[-0.379192,0.865433,0.327476],[0.461108,-0.130103,0.877755]]
2025-10-27T00:17:02.945Z,1761524222.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804334,0.475912,-0.355743],[-0.373682,0.870658,0.319870],[0.461961,-0.124347,0.878140]]
2025-10-27T00:17:03.343Z,1761524223.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806318,0.470146,-0.358907],[-0.368686,0.873984,0.316579],[0.462517,-0.122940,0.878045]]
2025-10-27T00:17:03.746Z,1761524223.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807893,0.465473,-0.361446],[-0.364633,0.876638,0.313925],[0.462981,-0.121823,0.877956]]
2025-10-27T00:17:04.150Z,1761524224.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809432,0.461029,-0.363692],[-0.360962,0.879161,0.311099],[0.463170,-0.120534,0.878035]]
2025-10-27T00:17:04.554Z,1761524224.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810733,0.457832,-0.364832],[-0.357856,0.880789,0.310082],[0.463305,-0.120836,0.877922]]
2025-10-27T00:17:04.960Z,1761524224.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811338,0.456653,-0.364964],[-0.356011,0.881173,0.311111],[0.463666,-0.122485,0.877503]]
2025-10-27T00:17:05.361Z,1761524225.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811383,0.456519,-0.365032],[-0.355705,0.881196,0.311396],[0.463822,-0.122818,0.877374]]
2025-10-27T00:17:05.765Z,1761524225.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811128,0.457046,-0.364940],[-0.355976,0.880876,0.311991],[0.464061,-0.123155,0.877200]]
2025-10-27T00:17:06.169Z,1761524226.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810439,0.458201,-0.365022],[-0.356677,0.880230,0.313013],[0.464726,-0.123482,0.876802]]
2025-10-27T00:17:06.573Z,1761524226.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809395,0.460072,-0.364983],[-0.357731,0.879140,0.314868],[0.465733,-0.124287,0.876154]]
2025-10-27T00:17:06.981Z,1761524226.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808079,0.462874,-0.364356],[-0.359225,0.877416,0.317960],[0.466867,-0.126051,0.875298]]
2025-10-27T00:17:07.381Z,1761524227.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806311,0.467296,-0.362624],[-0.361387,0.874533,0.323406],[0.468253,-0.129718,0.874021]]
2025-10-27T00:17:07.786Z,1761524227.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804380,0.472048,-0.360753],[-0.363788,0.871409,0.329098],[0.469713,-0.133482,0.872670]]
2025-10-27T00:17:08.189Z,1761524228.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802504,0.477234,-0.358100],[-0.366266,0.867830,0.335739],[0.470996,-0.138272,0.871231]]
2025-10-27T00:17:08.601Z,1761524228.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800721,0.481464,-0.356423],[-0.368531,0.864998,0.340535],[0.472261,-0.141320,0.870057]]
2025-10-27T00:17:08.997Z,1761524228.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799136,0.485398,-0.354641],[-0.370655,0.862308,0.345021],[0.473282,-0.144269,0.869017]]
2025-10-27T00:17:09.403Z,1761524229.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797671,0.489340,-0.352516],[-0.372674,0.859501,0.349818],[0.474168,-0.147667,0.867963]]
2025-10-27T00:17:09.807Z,1761524229.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796446,0.492183,-0.351326],[-0.374294,0.857552,0.352858],[0.474951,-0.149533,0.867215]]
2025-10-27T00:17:10.209Z,1761524230.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795732,0.493637,-0.350902],[-0.375136,0.856580,0.354322],[0.475482,-0.150309,0.866790]]
2025-10-27T00:17:10.614Z,1761524230.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795011,0.494747,-0.350975],[-0.375747,0.855882,0.355359],[0.476205,-0.150636,0.866335]]
2025-10-27T00:17:11.018Z,1761524231.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794976,0.494519,-0.351375],[-0.375145,0.855934,0.355870],[0.476738,-0.151092,0.865963]]
2025-10-27T00:17:11.423Z,1761524231.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795652,0.493238,-0.351645],[-0.373144,0.856377,0.356907],[0.477181,-0.152760,0.865426]]
2025-10-27T00:17:11.825Z,1761524231.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797138,0.490051,-0.352733],[-0.369795,0.858045,0.356385],[0.477308,-0.153649,0.865199]]
2025-10-27T00:17:12.229Z,1761524232.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799222,0.485051,-0.354923],[-0.365297,0.860946,0.354019],[0.477287,-0.153287,0.865275]]
2025-10-27T00:17:12.634Z,1761524232.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801890,0.477878,-0.358614],[-0.359674,0.865383,0.348922],[0.477081,-0.150812,0.865823]]
2025-10-27T00:17:13.040Z,1761524233.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804813,0.469614,-0.362957],[-0.353495,0.870494,0.342462],[0.476777,-0.147315,0.866592]]
2025-10-27T00:17:13.442Z,1761524233.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807830,0.460186,-0.368293],[-0.347132,0.876437,0.333703],[0.476351,-0.141729,0.867757]]
2025-10-27T00:17:13.846Z,1761524233.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810837,0.449618,-0.374681],[-0.340739,0.883151,0.322399],[0.475857,-0.133745,0.869294]]
2025-10-27T00:17:14.250Z,1761524234.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813546,0.438950,-0.381399],[-0.334760,0.889836,0.310046],[0.475477,-0.124559,0.870865]]
2025-10-27T00:17:14.655Z,1761524234.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815896,0.429916,-0.386634],[-0.329589,0.895220,0.299919],[0.475063,-0.117273,0.872102]]
2025-10-27T00:17:15.064Z,1761524235.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817650,0.422693,-0.390870],[-0.325529,0.899419,0.291680],[0.474847,-0.111253,0.873008]]
2025-10-27T00:17:15.461Z,1761524235.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818818,0.417892,-0.393577],[-0.322609,0.902086,0.286644],[0.474826,-0.107738,0.873460]]
2025-10-27T00:17:15.866Z,1761524235.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819396,0.415637,-0.394761],[-0.321066,0.903278,0.284616],[0.474876,-0.106469,0.873589]]
2025-10-27T00:17:16.271Z,1761524236.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819726,0.415619,-0.394093],[-0.320429,0.903093,0.285917],[0.474735,-0.108094,0.873465]]
2025-10-27T00:17:16.673Z,1761524236.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819511,0.417722,-0.392312],[-0.320954,0.901711,0.289665],[0.474752,-0.111470,0.873032]]
2025-10-27T00:17:17.081Z,1761524237.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818971,0.421483,-0.389407],[-0.322334,0.899324,0.295496],[0.474750,-0.116484,0.872379]]
2025-10-27T00:17:17.482Z,1761524237.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818284,0.425967,-0.385957],[-0.324185,0.896466,0.302081],[0.474674,-0.122066,0.871656]]
2025-10-27T00:17:17.887Z,1761524237.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817304,0.431083,-0.382337],[-0.326533,0.893220,0.309087],[0.474753,-0.127773,0.870795]]
2025-10-27T00:17:18.095Z,1761524238.095 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:17:18.289Z,1761524238.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816357,0.436406,-0.378300],[-0.329005,0.889738,0.316420],[0.474676,-0.133850,0.869924]]
2025-10-27T00:17:18.698Z,1761524238.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815492,0.441220,-0.374563],[-0.331195,0.886491,0.323177],[0.474639,-0.139495,0.869056]]
2025-10-27T00:17:19.097Z,1761524239.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814676,0.446037,-0.370612],[-0.333264,0.883103,0.330249],[0.474592,-0.145534,0.868091]]
2025-10-27T00:17:19.099Z,1761524239.099 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:17:19.504Z,1761524239.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814104,0.450117,-0.366917],[-0.335089,0.880147,0.336238],[0.474288,-0.150783,0.867361]]
2025-10-27T00:17:19.906Z,1761524239.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813666,0.453597,-0.363590],[-0.336515,0.877510,0.341663],[0.474032,-0.155646,0.866642]]
2025-10-27T00:17:20.309Z,1761524240.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813225,0.455794,-0.361825],[-0.337581,0.875922,0.344672],[0.474030,-0.158151,0.866189]]
2025-10-27T00:17:20.735Z,1761524240.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813025,0.456767,-0.361047],[-0.338144,0.875245,0.345839],[0.473972,-0.159090,0.866049]]
2025-10-27T00:17:21.119Z,1761524241.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813013,0.456268,-0.361703],[-0.338241,0.875758,0.344443],[0.473922,-0.157694,0.866331]]
2025-10-27T00:17:21.528Z,1761524241.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813169,0.454940,-0.363023],[-0.338043,0.876901,0.341718],[0.473797,-0.155157,0.866858]]
2025-10-27T00:17:21.925Z,1761524241.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813467,0.452648,-0.365214],[-0.337685,0.878833,0.337078],[0.473540,-0.150874,0.867754]]
2025-10-27T00:17:22.733Z,1761524242.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813815,0.448957,-0.368976],[-0.337404,0.881995,0.329003],[0.473143,-0.143253,0.869261]]
2025-10-27T00:17:23.138Z,1761524243.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813996,0.447263,-0.370629],[-0.337554,0.883490,0.324812],[0.472724,-0.139288,0.870133]]
2025-10-27T00:17:23.553Z,1761524243.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814247,0.446090,-0.371491],[-0.337270,0.884366,0.322716],[0.472494,-0.137478,0.870545]]
2025-10-27T00:17:23.948Z,1761524243.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814466,0.445853,-0.371296],[-0.337321,0.884532,0.322207],[0.472080,-0.137180,0.870817]]
2025-10-27T00:17:24.349Z,1761524244.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814865,0.445703,-0.370598],[-0.337115,0.884501,0.322508],[0.471538,-0.137867,0.871002]]
2025-10-27T00:17:24.754Z,1761524244.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815455,0.445985,-0.368959],[-0.336690,0.883976,0.324386],[0.470822,-0.140297,0.871001]]
2025-10-27T00:17:25.159Z,1761524245.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816067,0.446275,-0.367251],[-0.336046,0.883363,0.326716],[0.470221,-0.143209,0.870852]]
2025-10-27T00:17:25.566Z,1761524245.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816703,0.447233,-0.364662],[-0.335202,0.882063,0.331065],[0.469718,-0.148146,0.870298]]
2025-10-27T00:17:25.966Z,1761524245.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817313,0.447946,-0.362414],[-0.334103,0.880878,0.335303],[0.469440,-0.152964,0.869614]]
2025-10-27T00:17:26.370Z,1761524246.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817625,0.448262,-0.361317],[-0.332762,0.880045,0.338806],[0.469849,-0.156784,0.868712]]
2025-10-27T00:17:26.774Z,1761524246.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817966,0.447581,-0.361389],[-0.331144,0.880035,0.340414],[0.470398,-0.158776,0.868053]]
2025-10-27T00:17:27.179Z,1761524247.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818171,0.445441,-0.363563],[-0.329322,0.881364,0.338741],[0.471320,-0.157419,0.867800]]
2025-10-27T00:17:27.587Z,1761524247.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818347,0.442573,-0.366657],[-0.327550,0.883372,0.335209],[0.472249,-0.154219,0.867869]]
2025-10-27T00:17:27.985Z,1761524247.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818511,0.439228,-0.370295],[-0.325434,0.885667,0.331190],[0.473426,-0.150576,0.867868]]
2025-10-27T00:17:28.390Z,1761524248.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818989,0.435347,-0.373806],[-0.322597,0.888077,0.327491],[0.474540,-0.147623,0.867767]]
2025-10-27T00:17:29.198Z,1761524249.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820052,0.427934,-0.379984],[-0.315884,0.892129,0.322992],[0.477214,-0.144839,0.866769]]
2025-10-27T00:17:29.604Z,1761524249.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820868,0.422598,-0.384169],[-0.311703,0.895150,0.318665],[0.478557,-0.141835,0.866525]]
2025-10-27T00:17:30.010Z,1761524250.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821636,0.417028,-0.388590],[-0.307547,0.898310,0.313773],[0.479926,-0.138297,0.866340]]
2025-10-27T00:17:30.420Z,1761524250.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822358,0.411336,-0.393102],[-0.303193,0.901444,0.308987],[0.481457,-0.134912,0.866024]]
2025-10-27T00:17:31.218Z,1761524251.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823591,0.398149,-0.403948],[-0.294789,0.908934,0.294853],[0.484558,-0.123759,0.865960]]
2025-10-27T00:17:31.626Z,1761524251.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823890,0.391793,-0.409516],[-0.290919,0.912470,0.287689],[0.486385,-0.117888,0.865755]]
2025-10-27T00:17:32.030Z,1761524252.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823985,0.385269,-0.415471],[-0.287195,0.916067,0.279892],[0.488433,-0.111306,0.865473]]
2025-10-27T00:17:32.475Z,1761524252.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823498,0.377117,-0.423832],[-0.280638,0.920059,0.273375],[0.493044,-0.106181,0.863500]]
2025-10-27T00:17:33.237Z,1761524253.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822787,0.375627,-0.426529],[-0.277959,0.920540,0.274491],[0.495743,-0.107291,0.861817]]
2025-10-27T00:17:33.649Z,1761524253.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821158,0.373567,-0.431447],[-0.272957,0.921002,0.277938],[0.501193,-0.110464,0.858256]]
2025-10-27T00:17:34.054Z,1761524254.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820225,0.372973,-0.433731],[-0.270837,0.921049,0.279849],[0.503864,-0.112068,0.856482]]
2025-10-27T00:17:34.484Z,1761524254.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819273,0.372982,-0.435518],[-0.268990,0.920768,0.282545],[0.506395,-0.114331,0.854689]]
2025-10-27T00:17:34.858Z,1761524254.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818388,0.372979,-0.437182],[-0.267592,0.920583,0.284467],[0.508563,-0.115818,0.853200]]
2025-10-27T00:17:35.261Z,1761524255.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817299,0.373608,-0.438679],[-0.266903,0.920177,0.286421],[0.510672,-0.117007,0.851777]]
2025-10-27T00:17:35.668Z,1761524255.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816312,0.375864,-0.438589],[-0.266659,0.918787,0.291072],[0.512374,-0.120652,0.850245]]
2025-10-27T00:17:36.065Z,1761524256.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815083,0.379179,-0.438022],[-0.267457,0.916953,0.296080],[0.513913,-0.124178,0.848807]]
2025-10-27T00:17:36.493Z,1761524256.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813957,0.383171,-0.436638],[-0.268651,0.914706,0.301894],[0.515073,-0.128425,0.847471]]
2025-10-27T00:17:36.543Z,1761524256.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:17:36.640Z,1761524256.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:17:36.640Z,1761524256.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:17:36.879Z,1761524256.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812775,0.387576,-0.434951],[-0.270447,0.912290,0.307548],[0.515999,-0.132336,0.846305]]
2025-10-27T00:17:36.892Z,1761524256.892 [DAT](INFO): DAT read: user:10>

2025-10-27T00:17:36.893Z,1761524256.893 [DAT](INFO): DAT read: Tx time:00:17:38.2498

2025-10-27T00:17:36.893Z,1761524256.893 [DAT](INFO): Ping request sent.
2025-10-27T00:17:36.893Z,1761524256.893 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:17:36.893Z,1761524256.893 [DAT](INFO): publishing transmit ping time
2025-10-27T00:17:36.894Z,1761524256.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-10-27T00:17:37.144Z,1761524257.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250827
2025-10-27T00:17:37.277Z,1761524257.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811740,0.392644,-0.432330],[-0.272701,0.909439,0.313935],[0.516442,-0.136937,0.845302]]
2025-10-27T00:17:37.396Z,1761524257.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502888
2025-10-27T00:17:37.650Z,1761524257.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756627
2025-10-27T00:17:37.684Z,1761524257.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810758,0.398747,-0.428570],[-0.275343,0.905844,0.321921],[0.516583,-0.142997,0.844212]]
2025-10-27T00:17:37.900Z,1761524257.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006850
2025-10-27T00:17:38.085Z,1761524258.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810314,0.404030,-0.424442],[-0.277644,0.902557,0.329096],[0.516048,-0.148827,0.843531]]
2025-10-27T00:17:38.152Z,1761524258.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259191
2025-10-27T00:17:38.404Z,1761524258.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887
2025-10-27T00:17:38.656Z,1761524258.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763112
2025-10-27T00:17:38.893Z,1761524258.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809397,0.414569,-0.415943],[-0.282979,0.895952,0.342335],[0.514586,-0.159382,0.842495]]
2025-10-27T00:17:38.908Z,1761524258.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015035
2025-10-27T00:17:39.161Z,1761524259.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267602
2025-10-27T00:17:39.297Z,1761524259.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808840,0.418978,-0.412596],[-0.285815,0.893318,0.346832],[0.513895,-0.162605,0.842301]]
2025-10-27T00:17:39.412Z,1761524259.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518992
2025-10-27T00:17:39.664Z,1761524259.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770893
2025-10-27T00:17:39.713Z,1761524259.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808603,0.422357,-0.409605],[-0.288390,0.891340,0.349778],[0.512828,-0.164706,0.842544]]
2025-10-27T00:17:39.916Z,1761524259.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022882
2025-10-27T00:17:40.108Z,1761524260.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808320,0.424690,-0.407746],[-0.291082,0.890284,0.350236],[0.511752,-0.164415,0.843254]]
2025-10-27T00:17:40.168Z,1761524260.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274835
2025-10-27T00:17:40.423Z,1761524260.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529374
2025-10-27T00:17:40.515Z,1761524260.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808100,0.427294,-0.405457],[-0.293837,0.888987,0.351230],[0.510524,-0.164690,0.843945]]
2025-10-27T00:17:40.672Z,1761524260.672 [DAT](INFO): DAT read: Rx Time:00:17:41.4579

2025-10-27T00:17:40.672Z,1761524260.672 [DAT](INFO): Rx dataTimestamp_ set to:1761524260.672140
2025-10-27T00:17:40.673Z,1761524260.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779923
2025-10-27T00:17:40.914Z,1761524260.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807815,0.429928,-0.403233],[-0.296820,0.887739,0.351876],[0.509247,-0.164563,0.844740]]
2025-10-27T00:17:40.924Z,1761524260.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030950
2025-10-27T00:17:41.185Z,1761524261.185 [DAT](INFO): DAT read: 00:17:41.4579 LVL= 28128, 19729, 18818, 28883, AGC= 76, IDX= 229,-0.12, 2.801,-1.424,-1.580,-1.726, PHS=-1.654, 0.346, 0.102, RAW= 276.4,  12.7, CAL= 275.5,  18.7, ROT= 234.5, -18.7

2025-10-27T00:17:41.186Z,1761524261.186 [DAT](INFO): got valid direction response:
 00:17:41.4579 LVL= 28128, 19729, 18818, 28883, AGC= 76, IDX= 229,-0.12, 2.801,-1.424,-1.580,-1.726, PHS=-1.654, 0.346, 0.102, RAW= 276.4,  12.7, CAL= 275.5,  18.7, ROT= 234.5, -18.7

2025-10-27T00:17:41.188Z,1761524261.188 [DAT](INFO): DAT read: Bearing 258.6, -80.4 (Local)

2025-10-27T00:17:41.188Z,1761524261.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.6, -80.4 (Local)

2025-10-27T00:17:41.189Z,1761524261.189 [DAT](INFO): DAT read: Range 11 to 50 : 603.0 m  (Round-trip  804.0 ms) speed -0.3 m/s

2025-10-27T00:17:41.190Z,1761524261.190 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:17:41.200Z,1761524261.200 [DAT](INFO): direction in FSK: [-0.550048,-0.771139,0.320613]
2025-10-27T00:17:41.200Z,1761524261.200 [DAT](INFO): publishing direction and range info
2025-10-27T00:17:41.318Z,1761524261.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807620,0.431724,-0.401702],[-0.299649,0.887137,0.350997],[0.507899,-0.163102,0.845835]]
2025-10-27T00:17:41.730Z,1761524261.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807518,0.433448,-0.400046],[-0.302264,0.886495,0.350376],[0.506508,-0.162016,0.846877]]
2025-10-27T00:17:42.125Z,1761524262.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807337,0.434626,-0.399133],[-0.304802,0.886323,0.348608],[0.505275,-0.159788,0.848036]]
2025-10-27T00:17:42.530Z,1761524262.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807495,0.434586,-0.398857],[-0.306490,0.886845,0.345790],[0.504000,-0.156979,0.849319]]
2025-10-27T00:17:42.934Z,1761524262.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807797,0.434103,-0.398772],[-0.307568,0.887514,0.343104],[0.502859,-0.154508,0.850447]]
2025-10-27T00:17:43.339Z,1761524263.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808341,0.433099,-0.398762],[-0.307497,0.888211,0.341359],[0.502027,-0.153316,0.851154]]
2025-10-27T00:17:43.741Z,1761524263.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809182,0.431703,-0.398569],[-0.306812,0.888976,0.339984],[0.501090,-0.152823,0.851795]]
2025-10-27T00:17:44.146Z,1761524264.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810317,0.429267,-0.398894],[-0.305577,0.890376,0.337421],[0.500009,-0.151525,0.852661]]
2025-10-27T00:17:44.550Z,1761524264.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811632,0.426915,-0.398745],[-0.304037,0.891558,0.335686],[0.498814,-0.151220,0.853415]]
2025-10-27T00:17:44.957Z,1761524264.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813381,0.424268,-0.398005],[-0.302146,0.892762,0.334192],[0.497111,-0.151570,0.854346]]
2025-10-27T00:17:45.358Z,1761524265.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815789,0.420986,-0.396558],[-0.299816,0.894182,0.332490],[0.494568,-0.152347,0.855682]]
2025-10-27T00:17:45.780Z,1761524265.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818370,0.417051,-0.395396],[-0.297629,0.896130,0.329192],[0.491617,-0.151719,0.857493]]
2025-10-27T00:17:46.178Z,1761524266.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821485,0.412260,-0.393959],[-0.295638,0.898689,0.323970],[0.487606,-0.149667,0.860140]]
2025-10-27T00:17:46.993Z,1761524266.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828002,0.402184,-0.390718],[-0.292337,0.904242,0.311263],[0.478489,-0.143505,0.866288]]
2025-10-27T00:17:47.389Z,1761524267.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831202,0.397649,-0.388559],[-0.291140,0.906718,0.305124],[0.473645,-0.140494,0.869438]]
2025-10-27T00:17:47.794Z,1761524267.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834249,0.393288,-0.386464],[-0.290583,0.909251,0.298033],[0.468606,-0.136334,0.872824]]
2025-10-27T00:17:48.201Z,1761524268.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837329,0.389737,-0.383387],[-0.290249,0.911193,0.292373],[0.463289,-0.133535,0.876089]]
2025-10-27T00:17:49.026Z,1761524269.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842464,0.385599,-0.376255],[-0.291819,0.913664,0.282948],[0.452875,-0.128575,0.882254]]
2025-10-27T00:17:49.225Z,1761524269.225 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:17:49.426Z,1761524269.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844415,0.384565,-0.372925],[-0.293438,0.914483,0.278594],[0.448171,-0.125819,0.885049]]
2025-10-27T00:17:49.829Z,1761524269.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846253,0.384432,-0.368874],[-0.295523,0.914782,0.275391],[0.443308,-0.124039,0.887745]]
2025-10-27T00:17:50.227Z,1761524270.227 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:17:50.235Z,1761524270.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847936,0.384991,-0.364400],[-0.298128,0.914741,0.272705],[0.438320,-0.122599,0.890418]]
2025-10-27T00:17:50.639Z,1761524270.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849452,0.385386,-0.360430],[-0.300626,0.914826,0.269661],[0.433654,-0.120709,0.892958]]
2025-10-27T00:17:51.042Z,1761524271.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850734,0.386559,-0.356123],[-0.303535,0.914489,0.267539],[0.429090,-0.119508,0.895321]]
2025-10-27T00:17:51.454Z,1761524271.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852016,0.387920,-0.351548],[-0.306117,0.913913,0.266560],[0.424689,-0.119499,0.897418]]
2025-10-27T00:17:51.850Z,1761524271.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853197,0.389535,-0.346868],[-0.308551,0.913116,0.266486],[0.420536,-0.120339,0.899260]]
2025-10-27T00:17:52.257Z,1761524272.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854492,0.390788,-0.342239],[-0.310214,0.912337,0.267226],[0.416666,-0.122175,0.900812]]
2025-10-27T00:17:53.061Z,1761524273.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857320,0.392429,-0.333169],[-0.312601,0.911077,0.268735],[0.409002,-0.126243,0.903759]]
2025-10-27T00:17:53.471Z,1761524273.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858964,0.393045,-0.328172],[-0.313662,0.910490,0.269489],[0.404718,-0.128546,0.905361]]
2025-10-27T00:17:53.883Z,1761524273.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860991,0.393435,-0.322341],[-0.314610,0.909929,0.270277],[0.399644,-0.131294,0.907219]]
2025-10-27T00:17:54.286Z,1761524274.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863241,0.393683,-0.315957],[-0.315650,0.909428,0.270749],[0.393929,-0.133990,0.909322]]
2025-10-27T00:17:54.697Z,1761524274.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865858,0.392879,-0.309735],[-0.316300,0.909568,0.269520],[0.387614,-0.135397,0.911824]]
2025-10-27T00:17:55.093Z,1761524275.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868621,0.391389,-0.303827],[-0.316754,0.910179,0.266911],[0.381003,-0.135606,0.914575]]
2025-10-27T00:17:55.497Z,1761524275.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871517,0.389754,-0.297572],[-0.317052,0.910810,0.264390],[0.374079,-0.136075,0.917359]]
2025-10-27T00:17:55.903Z,1761524275.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874227,0.388594,-0.291069],[-0.317574,0.911147,0.262600],[0.367252,-0.137136,0.919957]]
2025-10-27T00:17:56.305Z,1761524276.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876912,0.387682,-0.284126],[-0.318281,0.911318,0.261145],[0.360171,-0.138569,0.922538]]
2025-10-27T00:17:56.714Z,1761524276.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879421,0.386896,-0.277363],[-0.319056,0.911442,0.259761],[0.353301,-0.139945,0.924983]]
2025-10-27T00:17:57.114Z,1761524277.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881706,0.386755,-0.270212],[-0.320102,0.911123,0.259596],[0.346597,-0.142392,0.927144]]
2025-10-27T00:17:57.519Z,1761524277.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883850,0.386351,-0.263708],[-0.321143,0.911082,0.258452],[0.340113,-0.143745,0.929334]]
2025-10-27T00:17:57.940Z,1761524277.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885818,0.386057,-0.257463],[-0.322434,0.911093,0.256798],[0.333712,-0.144461,0.931540]]
2025-10-27T00:17:58.327Z,1761524278.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887680,0.385606,-0.251660],[-0.323900,0.911370,0.253955],[0.327282,-0.143918,0.933903]]
2025-10-27T00:17:59.136Z,1761524279.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890601,0.386193,-0.240176],[-0.327915,0.911229,0.249267],[0.315121,-0.143240,0.938180]]
2025-10-27T00:17:59.952Z,1761524279.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893467,0.385578,-0.230317],[-0.331170,0.911990,0.242075],[0.303386,-0.140012,0.942525]]
2025-10-27T00:18:00.347Z,1761524280.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894859,0.385332,-0.225271],[-0.332813,0.912331,0.238514],[0.297428,-0.138463,0.944650]]
2025-10-27T00:18:01.154Z,1761524281.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897374,0.386043,-0.213755],[-0.336174,0.911870,0.235541],[0.285846,-0.139510,0.948066]]
2025-10-27T00:18:01.558Z,1761524281.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898823,0.385889,-0.207862],[-0.337536,0.911919,0.233396],[0.279618,-0.139620,0.949905]]
2025-10-27T00:18:01.962Z,1761524281.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900079,0.385503,-0.203088],[-0.339240,0.912498,0.228611],[0.273447,-0.136873,0.952099]]
2025-10-27T00:18:02.371Z,1761524282.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901533,0.384755,-0.197995],[-0.340495,0.913149,0.224104],[0.267024,-0.134621,0.954241]]
2025-10-27T00:18:02.769Z,1761524282.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902762,0.384842,-0.192137],[-0.342033,0.913117,0.221878],[0.260832,-0.134586,0.955957]]
2025-10-27T00:18:03.174Z,1761524283.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904119,0.384516,-0.186322],[-0.343332,0.913350,0.218897],[0.254346,-0.133939,0.957793]]
2025-10-27T00:18:03.577Z,1761524283.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905275,0.384485,-0.180691],[-0.344884,0.913484,0.215874],[0.248059,-0.133108,0.959557]]
2025-10-27T00:18:03.988Z,1761524283.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906287,0.384625,-0.175238],[-0.346642,0.913608,0.212510],[0.241835,-0.131850,0.961317]]
2025-10-27T00:18:04.385Z,1761524284.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907179,0.384881,-0.169976],[-0.348535,0.913736,0.208830],[0.235688,-0.130204,0.963067]]
2025-10-27T00:18:04.790Z,1761524284.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907948,0.385387,-0.164641],[-0.350540,0.913696,0.205625],[0.229677,-0.128984,0.964682]]
2025-10-27T00:18:05.194Z,1761524285.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908548,0.386570,-0.158440],[-0.352965,0.913145,0.203918],[0.223507,-0.129346,0.966082]]
2025-10-27T00:18:05.601Z,1761524285.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909317,0.387403,-0.151862],[-0.354848,0.912568,0.203229],[0.217316,-0.130911,0.967283]]
2025-10-27T00:18:06.001Z,1761524286.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909996,0.388449,-0.144961],[-0.356882,0.911816,0.203042],[0.211050,-0.133033,0.968380]]
2025-10-27T00:18:06.452Z,1761524286.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910687,0.389157,-0.138582],[-0.358656,0.911310,0.202189],[0.204975,-0.134428,0.969492]]
2025-10-27T00:18:06.810Z,1761524286.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911525,0.389199,-0.132840],[-0.359857,0.911221,0.200450],[0.199061,-0.134911,0.970656]]
2025-10-27T00:18:07.215Z,1761524287.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912192,0.389616,-0.126906],[-0.361208,0.910801,0.199926],[0.193481,-0.136531,0.971558]]
2025-10-27T00:18:07.617Z,1761524287.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912721,0.390103,-0.121491],[-0.362706,0.910486,0.198644],[0.188107,-0.137242,0.972512]]
2025-10-27T00:18:08.022Z,1761524288.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913198,0.390810,-0.115489],[-0.364209,0.909824,0.198926],[0.182817,-0.139597,0.973186]]
2025-10-27T00:18:09.234Z,1761524289.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914874,0.391246,-0.099665],[-0.367427,0.909137,0.196129],[0.167344,-0.142814,0.975500]]
2025-10-27T00:18:09.637Z,1761524289.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915509,0.390905,-0.095060],[-0.368054,0.909261,0.194374],[0.162417,-0.142964,0.976310]]
2025-10-27T00:18:09.653Z,1761524289.653 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-10-27T00:18:09.654Z,1761524289.654 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-10-27T00:18:09.654Z,1761524289.654 [lineCaptureHoming:InitialDive] Stopped
2025-10-27T00:18:09.654Z,1761524289.654 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-10-27T00:18:09.654Z,1761524289.654 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-10-27T00:18:09.654Z,1761524289.654 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-10-27T00:18:09.654Z,1761524289.654 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-10-27T00:18:09.654Z,1761524289.654 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-10-27T00:18:09.654Z,1761524289.654 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-10-27T00:18:09.655Z,1761524289.655 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-10-27T00:18:09.656Z,1761524289.656 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-10-27T00:18:10.042Z,1761524290.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915993,0.390849,-0.090526],[-0.368970,0.909295,0.192466],[0.157540,-0.142897,0.977119]]
2025-10-27T00:18:10.058Z,1761524290.058 [lineCaptureHoming:RepeatHack] Stopped
2025-10-27T00:18:10.058Z,1761524290.058 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-10-27T00:18:10.058Z,1761524290.058 [lineCaptureHoming:RepeatHack:A] Stopped
2025-10-27T00:18:10.058Z,1761524290.058 [lineCaptureHoming:Lap] Running Loop=1
2025-10-27T00:18:10.059Z,1761524290.059 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-10-27T00:18:10.059Z,1761524290.059 [lineCaptureHoming:Lap:A] Running Loop=1
2025-10-27T00:18:10.504Z,1761524290.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916785,0.390904,-0.081847],[-0.371049,0.909482,0.187522],[0.147741,-0.141548,0.978845]]
2025-10-27T00:18:10.545Z,1761524290.545 [lineCaptureHoming:Lap:A] Stopped
2025-10-27T00:18:10.545Z,1761524290.545 [lineCaptureHoming:Lap:B] Running Loop=1
2025-10-27T00:18:10.545Z,1761524290.545 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-10-27T00:18:10.916Z,1761524290.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916925,0.391538,-0.077114],[-0.372622,0.909207,0.185730],[0.142833,-0.141566,0.979570]]
2025-10-27T00:18:10.946Z,1761524290.946 [lineCaptureHoming:LineCapture] Running Loop=1
2025-10-27T00:18:10.946Z,1761524290.946 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-10-27T00:18:10.946Z,1761524290.946 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-10-27T00:18:10.946Z,1761524290.946 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-10-27T00:18:10.946Z,1761524290.946 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T00:18:10.946Z,1761524290.946 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-27T00:18:10.946Z,1761524290.946 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T00:18:10.946Z,1761524290.946 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-27T00:18:10.947Z,1761524290.947 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T00:18:10.947Z,1761524290.947 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-27T00:18:10.948Z,1761524290.948 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-27T00:18:10.949Z,1761524290.949 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-10-27T00:18:10.950Z,1761524290.950 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-27T00:18:10.950Z,1761524290.950 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-27T00:18:10.950Z,1761524290.950 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-10-27T00:18:10.950Z,1761524290.950 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-10-27T00:18:10.950Z,1761524290.950 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-10-27T00:18:10.950Z,1761524290.950 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-10-27T00:18:10.952Z,1761524290.952 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-10-27T00:18:10.952Z,1761524290.952 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-10-27T00:18:10.952Z,1761524290.952 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T00:18:10.952Z,1761524290.952 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T00:18:10.953Z,1761524290.953 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T00:18:10.953Z,1761524290.953 [lineCaptureHoming:LineCapture:A] Stopped
2025-10-27T00:18:10.953Z,1761524290.953 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-10-27T00:18:11.305Z,1761524291.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916085,0.393829,-0.075418],[-0.376105,0.909130,0.178963],[0.139046,-0.135580,0.980961]]
2025-10-27T00:18:11.323Z,1761524291.323 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-27T00:18:11.323Z,1761524291.323 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-27T00:18:11.323Z,1761524291.323 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-27T00:18:11.324Z,1761524291.324 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 603.000000 m (mode  0.000000 count ).
2025-10-27T00:18:11.325Z,1761524291.325 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-27T00:18:11.325Z,1761524291.325 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-27T00:18:11.328Z,1761524291.328 [lineCaptureHoming:LineCapture:B] Stopped
2025-10-27T00:18:11.328Z,1761524291.328 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-10-27T00:18:11.718Z,1761524291.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916215,0.393845,-0.073734],[-0.377708,0.910342,0.169158],[0.133745,-0.127135,0.982827]]
2025-10-27T00:18:11.735Z,1761524291.735 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-27T00:18:11.736Z,1761524291.736 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-27T00:18:11.736Z,1761524291.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:11.738Z,1761524291.738 [lineCaptureHoming:LineCapture:D] Stopped
2025-10-27T00:18:11.738Z,1761524291.738 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-10-27T00:18:11.964Z,1761524291.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:11.964Z,1761524291.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:12.113Z,1761524292.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916710,0.393340,-0.070192],[-0.378642,0.911309,0.161700],[0.127570,-0.121654,0.984340]]
2025-10-27T00:18:12.140Z,1761524292.140 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-27T00:18:12.141Z,1761524292.141 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-27T00:18:12.143Z,1761524292.143 [lineCaptureHoming:LineCapture:E] Stopped
2025-10-27T00:18:12.143Z,1761524292.143 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-10-27T00:18:12.216Z,1761524292.216 [DAT](INFO): DAT read: user:11>

2025-10-27T00:18:12.217Z,1761524292.217 [DAT](INFO): DAT read: Tx time:00:18:13.5997

2025-10-27T00:18:12.217Z,1761524292.217 [DAT](INFO): Ping request sent.
2025-10-27T00:18:12.217Z,1761524292.217 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:18:12.217Z,1761524292.217 [DAT](INFO): publishing transmit ping time
2025-10-27T00:18:12.218Z,1761524292.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-27T00:18:12.470Z,1761524292.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253072
2025-10-27T00:18:12.518Z,1761524292.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917241,0.392731,-0.066575],[-0.379592,0.912453,0.152773],[0.120745,-0.114858,0.986016]]
2025-10-27T00:18:12.566Z,1761524292.566 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-27T00:18:12.566Z,1761524292.566 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-27T00:18:12.566Z,1761524292.566 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-27T00:18:12.566Z,1761524292.566 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-27T00:18:12.569Z,1761524292.569 [lineCaptureHoming:LineCapture:F] Stopped
2025-10-27T00:18:12.569Z,1761524292.569 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-10-27T00:18:12.569Z,1761524292.569 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-10-27T00:18:12.569Z,1761524292.569 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-10-27T00:18:12.570Z,1761524292.570 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-27T00:18:12.570Z,1761524292.570 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-10-27T00:18:12.570Z,1761524292.570 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-27T00:18:12.570Z,1761524292.570 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-10-27T00:18:12.570Z,1761524292.570 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-10-27T00:18:12.570Z,1761524292.570 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-10-27T00:18:12.570Z,1761524292.570 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-27T00:18:12.571Z,1761524292.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-27T00:18:12.571Z,1761524292.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-27T00:18:12.571Z,1761524292.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-27T00:18:12.571Z,1761524292.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-27T00:18:12.571Z,1761524292.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-27T00:18:12.571Z,1761524292.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-27T00:18:12.572Z,1761524292.572 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-27T00:18:12.572Z,1761524292.572 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-27T00:18:12.572Z,1761524292.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-27T00:18:12.572Z,1761524292.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T00:18:12.572Z,1761524292.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-10-27T00:18:12.572Z,1761524292.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T00:18:12.572Z,1761524292.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-27T00:18:12.572Z,1761524292.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-27T00:18:12.572Z,1761524292.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-27T00:18:12.573Z,1761524292.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-10-27T00:18:12.573Z,1761524292.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-10-27T00:18:12.573Z,1761524292.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-27T00:18:12.573Z,1761524292.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-10-27T00:18:12.573Z,1761524292.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-10-27T00:18:12.573Z,1761524292.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-27T00:18:12.573Z,1761524292.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-27T00:18:12.573Z,1761524292.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-10-27T00:18:12.720Z,1761524292.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502934
2025-10-27T00:18:12.926Z,1761524292.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917961,0.391695,-0.062634],[-0.380110,0.913749,0.143454],[0.113422,-0.107877,0.987673]]
2025-10-27T00:18:12.951Z,1761524292.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-10-27T00:18:12.951Z,1761524292.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-10-27T00:18:12.952Z,1761524292.952 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-10-27T00:18:12.953Z,1761524292.953 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-10-27T00:18:12.954Z,1761524292.954 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.371563 m.
2025-10-27T00:18:12.972Z,1761524292.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754990
2025-10-27T00:18:13.224Z,1761524293.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006867
2025-10-27T00:18:13.326Z,1761524293.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918599,0.390863,-0.058332],[-0.380803,0.914924,0.133802],[0.105667,-0.100697,0.989290]]
2025-10-27T00:18:13.476Z,1761524293.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258876
2025-10-27T00:18:13.728Z,1761524293.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511002
2025-10-27T00:18:13.732Z,1761524293.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918980,0.390681,-0.053328],[-0.381921,0.915569,0.125975],[0.098042,-0.095401,0.990599]]
2025-10-27T00:18:13.778Z,1761524293.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:13.816Z,1761524293.816 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-27T00:18:13.936Z,1761524293.936 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-27T00:18:13.980Z,1761524293.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762788
2025-10-27T00:18:14.134Z,1761524294.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919538,0.390115,-0.047527],[-0.382583,0.916254,0.118782],[0.089885,-0.091041,0.991782]]
2025-10-27T00:18:14.232Z,1761524294.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015122
2025-10-27T00:18:14.486Z,1761524294.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268063
2025-10-27T00:18:14.539Z,1761524294.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920010,0.389702,-0.041403],[-0.383328,0.916830,0.111720],[0.081497,-0.086913,0.992877]]
2025-10-27T00:18:14.736Z,1761524294.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518851
2025-10-27T00:18:14.941Z,1761524294.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920442,0.389280,-0.035321],[-0.383989,0.917409,0.104471],[0.073072,-0.082596,0.993901]]
2025-10-27T00:18:14.988Z,1761524294.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771013
2025-10-27T00:18:15.240Z,1761524295.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022904
2025-10-27T00:18:15.346Z,1761524295.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921079,0.388325,-0.028598],[-0.384037,0.918115,0.097882],[0.064266,-0.079175,0.994787]]
2025-10-27T00:18:15.492Z,1761524295.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274801
2025-10-27T00:18:15.744Z,1761524295.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526875
2025-10-27T00:18:15.752Z,1761524295.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921452,0.387920,-0.021076],[-0.384524,0.918431,0.092875],[0.055385,-0.077475,0.995455]]
2025-10-27T00:18:15.810Z,1761524295.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:15.996Z,1761524295.996 [DAT](INFO): DAT read: Rx Time:00:18:16.8347

2025-10-27T00:18:15.997Z,1761524295.997 [DAT](INFO): Rx dataTimestamp_ set to:1761524295.996289
2025-10-27T00:18:15.997Z,1761524295.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780110
2025-10-27T00:18:16.153Z,1761524296.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921938,0.387098,-0.013634],[-0.384541,0.918935,0.087673],[0.046467,-0.075586,0.996056]]
2025-10-27T00:18:16.248Z,1761524296.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030848
2025-10-27T00:18:16.505Z,1761524296.505 [DAT](INFO): DAT read: 00:18:16.8347 LVL= 32752, 26481, 31362, 32755, AGC= 79, IDX= 184, 0.36, 1.482,-3.029, 3.054, 2.689, PHS=-1.105, 0.610, 0.321, RAW= 279.0,   2.2, CAL= 277.6,  -3.3, ROT= 232.4,   3.3

2025-10-27T00:18:16.506Z,1761524296.506 [DAT](INFO): got valid direction response:
 00:18:16.8347 LVL= 32752, 26481, 31362, 32755, AGC= 79, IDX= 184, 0.36, 1.482,-3.029, 3.054, 2.689, PHS=-1.105, 0.610, 0.321, RAW= 279.0,   2.2, CAL= 277.6,  -3.3, ROT= 232.4,   3.3

2025-10-27T00:18:16.507Z,1761524296.507 [DAT](INFO): DAT read: Bearing 340.9, -54.6 (Local)

2025-10-27T00:18:16.508Z,1761524296.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.9, -54.6 (Local)

2025-10-27T00:18:16.509Z,1761524296.509 [DAT](INFO): DAT read: Range 11 to 50 : 623.1 m  (Round-trip  830.9 ms) speed -0.2 m/s

2025-10-27T00:18:16.510Z,1761524296.510 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:18:16.511Z,1761524296.511 [DAT](INFO): direction in FSK: [-0.609133,-0.790976,-0.057564]
2025-10-27T00:18:16.511Z,1761524296.511 [DAT](INFO): publishing direction and range info
2025-10-27T00:18:16.514Z,1761524296.514 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:16.514Z,1761524296.514 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:16.515Z,1761524296.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:16.558Z,1761524296.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922408,0.386172,-0.005850],[-0.384390,0.919412,0.083218],[0.037515,-0.074512,0.996514]]
2025-10-27T00:18:16.752Z,1761524296.752 [DAT](INFO): DAT read: user:12>

2025-10-27T00:18:16.753Z,1761524296.753 [DAT](INFO): DAT read: Tx time:00:18:18.1497

2025-10-27T00:18:16.753Z,1761524296.753 [DAT](INFO): Ping request sent.
2025-10-27T00:18:16.753Z,1761524296.753 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:18:16.753Z,1761524296.753 [DAT](INFO): publishing transmit ping time
2025-10-27T00:18:16.754Z,1761524296.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-27T00:18:16.962Z,1761524296.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922924,0.384979,0.001801],[-0.383936,0.920057,0.078025],[0.028381,-0.072703,0.996950]]
2025-10-27T00:18:17.004Z,1761524297.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250697
2025-10-27T00:18:17.256Z,1761524297.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502976
2025-10-27T00:18:17.367Z,1761524297.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923374,0.383782,0.009545],[-0.383415,0.920673,0.073169],[0.019293,-0.071222,0.997274]]
2025-10-27T00:18:17.456Z,1761524297.456 [DockingStepper](INFO): Changing to mode: 3
2025-10-27T00:18:17.508Z,1761524297.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755252
2025-10-27T00:18:17.760Z,1761524297.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006823
2025-10-27T00:18:17.772Z,1761524297.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923873,0.382288,0.017726],[-0.382567,0.921347,0.069014],[0.010051,-0.070541,0.997458]]
2025-10-27T00:18:18.012Z,1761524298.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258772
2025-10-27T00:18:18.173Z,1761524298.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924991,0.379157,0.025136],[-0.379989,0.922809,0.063497],[0.000880,-0.068285,0.997665]]
2025-10-27T00:18:18.209Z,1761524298.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:18.264Z,1761524298.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510744
2025-10-27T00:18:18.516Z,1761524298.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762962
2025-10-27T00:18:18.578Z,1761524298.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926162,0.375712,0.032614],[-0.377033,0.924379,0.058053],[-0.008336,-0.066063,0.997781]]
2025-10-27T00:18:18.768Z,1761524298.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015076
2025-10-27T00:18:18.983Z,1761524298.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927009,0.372799,0.040936],[-0.374629,0.925568,0.054566],[-0.017547,-0.065919,0.997671]]
2025-10-27T00:18:19.020Z,1761524299.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266904
2025-10-27T00:18:19.272Z,1761524299.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518734
2025-10-27T00:18:19.400Z,1761524299.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927728,0.369987,0.049293],[-0.372290,0.926719,0.050922],[-0.026840,-0.065593,0.997485]]
2025-10-27T00:18:19.524Z,1761524299.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770779
2025-10-27T00:18:19.776Z,1761524299.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022767
2025-10-27T00:18:19.791Z,1761524299.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928248,0.367463,0.057681],[-0.370220,0.927715,0.047767],[-0.035958,-0.065695,0.997192]]
2025-10-27T00:18:20.028Z,1761524300.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274794
2025-10-27T00:18:20.194Z,1761524300.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928695,0.364980,0.065687],[-0.368103,0.928751,0.043842],[-0.045005,-0.064896,0.996877]]
2025-10-27T00:18:20.210Z,1761524300.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:20.280Z,1761524300.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526734
2025-10-27T00:18:20.355Z,1761524300.355 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:18:20.532Z,1761524300.532 [DAT](INFO): DAT read: Rx Time:00:18:21.3800

2025-10-27T00:18:20.532Z,1761524300.532 [DAT](INFO): Rx dataTimestamp_ set to:1761524300.532162
2025-10-27T00:18:20.533Z,1761524300.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779880
2025-10-27T00:18:20.599Z,1761524300.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929014,0.362657,0.073575],[-0.366118,0.929693,0.040361],[-0.053764,-0.064433,0.996473]]
2025-10-27T00:18:20.784Z,1761524300.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030790
2025-10-27T00:18:21.042Z,1761524301.042 [DAT](INFO): DAT read: 00:18:21.3800 LVL= 27792, 32753, 29826, 32755, AGC= 69, IDX= 377, 0.30, 0.524, 2.396, 1.868, 1.938, PHS=-1.312, 0.503,-0.114, RAW= 289.5,  11.5, CAL= 287.1,  16.6, ROT= 222.9, -16.6

2025-10-27T00:18:21.043Z,1761524301.043 [DAT](INFO): got valid direction response:
 00:18:21.3800 LVL= 27792, 32753, 29826, 32755, AGC= 69, IDX= 377, 0.30, 0.524, 2.396, 1.868, 1.938, PHS=-1.312, 0.503,-0.114, RAW= 289.5,  11.5, CAL= 287.1,  16.6, ROT= 222.9, -16.6

2025-10-27T00:18:21.044Z,1761524301.044 [DAT](INFO): DAT read: Bearing 310.6, -39.4 (Local)

2025-10-27T00:18:21.044Z,1761524301.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.6, -39.4 (Local)

2025-10-27T00:18:21.045Z,1761524301.045 [DAT](INFO): DAT read: Range 11 to 50 : 619.6 m  (Round-trip  826.2 ms) speed -0.3 m/s

2025-10-27T00:18:21.046Z,1761524301.046 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:18:21.047Z,1761524301.047 [DAT](INFO): direction in FSK: [-0.702012,-0.652350,0.285688]
2025-10-27T00:18:21.047Z,1761524301.047 [DAT](INFO): publishing direction and range info
2025-10-27T00:18:21.055Z,1761524301.055 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:21.055Z,1761524301.055 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:21.055Z,1761524301.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:21.288Z,1761524301.288 [DAT](INFO): DAT read: user:13>

2025-10-27T00:18:21.289Z,1761524301.289 [DAT](INFO): DAT read: Tx time:00:18:22.6997

2025-10-27T00:18:21.289Z,1761524301.289 [DAT](INFO): Ping request sent.
2025-10-27T00:18:21.289Z,1761524301.289 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:18:21.289Z,1761524301.289 [DAT](INFO): publishing transmit ping time
2025-10-27T00:18:21.290Z,1761524301.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-10-27T00:18:21.359Z,1761524301.359 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:18:21.411Z,1761524301.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929259,0.358541,0.089035],[-0.362542,0.931374,0.033242],[-0.071007,-0.063169,0.995474]]
2025-10-27T00:18:21.540Z,1761524301.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251063
2025-10-27T00:18:21.792Z,1761524301.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502794
2025-10-27T00:18:21.813Z,1761524301.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929118,0.357105,0.096002],[-0.361219,0.932030,0.028983],[-0.079126,-0.061607,0.994959]]
2025-10-27T00:18:22.044Z,1761524302.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754889
2025-10-27T00:18:22.215Z,1761524302.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929138,0.355076,0.103072],[-0.359258,0.932911,0.024699],[-0.087387,-0.059978,0.994367]]
2025-10-27T00:18:22.231Z,1761524302.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:22.297Z,1761524302.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007582
2025-10-27T00:18:22.548Z,1761524302.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258842
2025-10-27T00:18:22.618Z,1761524302.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928908,0.353656,0.109807],[-0.357791,0.933590,0.019900],[-0.095477,-0.057773,0.993754]]
2025-10-27T00:18:22.800Z,1761524302.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510892
2025-10-27T00:18:23.025Z,1761524303.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928631,0.352122,0.116850],[-0.356264,0.934248,0.015994],[-0.103535,-0.056481,0.993021]]
2025-10-27T00:18:23.052Z,1761524303.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762904
2025-10-27T00:18:23.304Z,1761524303.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014907
2025-10-27T00:18:23.427Z,1761524303.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927438,0.352762,0.124171],[-0.357022,0.934003,0.013169],[-0.111331,-0.056545,0.992173]]
2025-10-27T00:18:23.444Z,1761524303.444 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-27T00:18:23.556Z,1761524303.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266899
2025-10-27T00:18:23.808Z,1761524303.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518824
2025-10-27T00:18:23.830Z,1761524303.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926395,0.353387,0.130036],[-0.357337,0.933945,0.007621],[-0.118753,-0.053527,0.991480]]
2025-10-27T00:18:24.060Z,1761524304.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770833
2025-10-27T00:18:24.234Z,1761524304.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925443,0.353659,0.135941],[-0.357277,0.933995,0.002383],[-0.126125,-0.050774,0.990714]]
2025-10-27T00:18:24.266Z,1761524304.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:24.312Z,1761524304.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023058
2025-10-27T00:18:24.564Z,1761524304.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274736
2025-10-27T00:18:24.637Z,1761524304.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924386,0.353721,0.142799],[-0.357361,0.933966,-0.000166],[-0.133429,-0.050877,0.989752]]
2025-10-27T00:18:24.816Z,1761524304.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526858
2025-10-27T00:18:25.050Z,1761524305.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923345,0.353551,0.149788],[-0.357271,0.933998,-0.002212],[-0.140684,-0.051473,0.988716]]
2025-10-27T00:18:25.068Z,1761524305.068 [DAT](INFO): DAT read: Rx Time:00:18:25.9320

2025-10-27T00:18:25.069Z,1761524305.069 [DAT](INFO): Rx dataTimestamp_ set to:1761524305.068271
2025-10-27T00:18:25.069Z,1761524305.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780063
2025-10-27T00:18:25.320Z,1761524305.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030832
2025-10-27T00:18:25.473Z,1761524305.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922182,0.353768,0.156296],[-0.357416,0.933932,-0.005076],[-0.147765,-0.051182,0.987697]]
2025-10-27T00:18:25.578Z,1761524305.578 [DAT](INFO): DAT read: 00:18:25.9320 LVL= 32752, 23329, 25218, 32755, AGC= 70, IDX= 445,-0.31,-2.209,-0.301,-0.720,-0.820, PHS=-1.287, 0.565, 0.057, RAW= 285.4,   8.1, CAL= 283.5,   7.6, ROT= 226.5,  -7.6

2025-10-27T00:18:25.580Z,1761524305.580 [DAT](INFO): got valid direction response:
 00:18:25.9320 LVL= 32752, 23329, 25218, 32755, AGC= 70, IDX= 445,-0.31,-2.209,-0.301,-0.720,-0.820, PHS=-1.287, 0.565, 0.057, RAW= 285.4,   8.1, CAL= 283.5,   7.6, ROT= 226.5,  -7.6

2025-10-27T00:18:25.581Z,1761524305.581 [DAT](INFO): DAT read: Bearing 321.4, -38.8 (Local)

2025-10-27T00:18:25.581Z,1761524305.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.4, -38.8 (Local)

2025-10-27T00:18:25.583Z,1761524305.583 [DAT](INFO): DAT read: Range 11 to 50 : 621.1 m  (Round-trip  828.2 ms) speed -0.4 m/s

2025-10-27T00:18:25.584Z,1761524305.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:18:25.585Z,1761524305.585 [DAT](INFO): direction in FSK: [-0.682308,-0.719002,0.132256]
2025-10-27T00:18:25.586Z,1761524305.586 [DAT](INFO): publishing direction and range info
2025-10-27T00:18:25.592Z,1761524305.592 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:25.592Z,1761524305.592 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:25.592Z,1761524305.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:25.824Z,1761524305.824 [DAT](INFO): DAT read: user:14>

2025-10-27T00:18:25.825Z,1761524305.825 [DAT](INFO): DAT read: Tx time:00:18:27.1997

2025-10-27T00:18:25.825Z,1761524305.825 [DAT](INFO): Ping request sent.
2025-10-27T00:18:25.825Z,1761524305.825 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:18:25.825Z,1761524305.825 [DAT](INFO): publishing transmit ping time
2025-10-27T00:18:25.826Z,1761524305.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-27T00:18:25.849Z,1761524305.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921117,0.353885,0.162201],[-0.357181,0.933988,-0.009364],[-0.154807,-0.049309,0.986713]]
2025-10-27T00:18:26.076Z,1761524306.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250790
2025-10-27T00:18:26.255Z,1761524306.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920106,0.353836,0.167946],[-0.356711,0.934113,-0.013760],[-0.161749,-0.047248,0.985700]]
2025-10-27T00:18:26.271Z,1761524306.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:26.329Z,1761524306.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503222
2025-10-27T00:18:26.580Z,1761524306.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754853
2025-10-27T00:18:26.658Z,1761524306.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919258,0.353193,0.173835],[-0.355712,0.934431,-0.017509],[-0.168621,-0.045740,0.984619]]
2025-10-27T00:18:26.832Z,1761524306.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006895
2025-10-27T00:18:27.061Z,1761524307.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918326,0.352658,0.179748],[-0.354917,0.934672,-0.020531],[-0.175246,-0.044941,0.983498]]
2025-10-27T00:18:27.084Z,1761524307.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259077
2025-10-27T00:18:27.336Z,1761524307.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510862
2025-10-27T00:18:27.465Z,1761524307.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917406,0.352000,0.185640],[-0.354094,0.934930,-0.022882],[-0.181615,-0.044741,0.982351]]
2025-10-27T00:18:27.588Z,1761524307.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762822
2025-10-27T00:18:27.840Z,1761524307.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014798
2025-10-27T00:18:27.889Z,1761524307.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916500,0.351125,0.191675],[-0.353136,0.935245,-0.024724],[-0.187945,-0.045028,0.981147]]
2025-10-27T00:18:28.092Z,1761524308.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266856
2025-10-27T00:18:28.273Z,1761524308.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915632,0.349977,0.197824],[-0.352100,0.935614,-0.025525],[-0.194021,-0.046282,0.979905]]
2025-10-27T00:18:28.297Z,1761524308.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:28.344Z,1761524308.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518738
2025-10-27T00:18:28.596Z,1761524308.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770703
2025-10-27T00:18:28.678Z,1761524308.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914904,0.348629,0.203490],[-0.350641,0.936112,-0.027290],[-0.200004,-0.046384,0.978697]]
2025-10-27T00:18:28.848Z,1761524308.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022965
2025-10-27T00:18:29.083Z,1761524309.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914262,0.347304,0.208578],[-0.349016,0.936644,-0.029765],[-0.205701,-0.045584,0.977553]]
2025-10-27T00:18:29.100Z,1761524309.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274898
2025-10-27T00:18:29.352Z,1761524309.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527070
2025-10-27T00:18:29.488Z,1761524309.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913954,0.344969,0.213740],[-0.346397,0.937543,-0.031969],[-0.211419,-0.044821,0.976367]]
2025-10-27T00:18:29.604Z,1761524309.604 [DAT](INFO): DAT read: Rx Time:00:18:30.4333

2025-10-27T00:18:29.604Z,1761524309.604 [DAT](INFO): Rx dataTimestamp_ set to:1761524309.604203
2025-10-27T00:18:29.605Z,1761524309.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779955
2025-10-27T00:18:29.857Z,1761524309.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031643
2025-10-27T00:18:29.895Z,1761524309.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913744,0.342096,0.219185],[-0.343511,0.938574,-0.032854],[-0.216961,-0.045272,0.975130]]
2025-10-27T00:18:30.113Z,1761524310.113 [DAT](INFO): DAT read: 00:18:30.4333 LVL= 32752, 26481, 32754, 32755, AGC= 79, IDX= 444, 0.14, 0.712, 2.481, 2.129, 2.011, PHS=-1.196, 0.515, 0.075, RAW= 284.3,   7.9, CAL= 282.5,   7.1, ROT= 227.5,  -7.1

2025-10-27T00:18:30.114Z,1761524310.114 [DAT](INFO): got valid direction response:
 00:18:30.4333 LVL= 32752, 26481, 32754, 32755, AGC= 79, IDX= 444, 0.14, 0.712, 2.481, 2.129, 2.011, PHS=-1.196, 0.515, 0.075, RAW= 284.3,   7.9, CAL= 282.5,   7.1, ROT= 227.5,  -7.1

2025-10-27T00:18:30.115Z,1761524310.115 [DAT](INFO): DAT read: Bearing 323.0, -35.2 (Local)

2025-10-27T00:18:30.115Z,1761524310.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.0, -35.2 (Local)

2025-10-27T00:18:30.117Z,1761524310.117 [DAT](INFO): DAT read: Range 11 to 50 : 622.2 m  (Round-trip  829.6 ms) speed  0.2 m/s

2025-10-27T00:18:30.117Z,1761524310.117 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:18:30.118Z,1761524310.118 [DAT](INFO): direction in FSK: [-0.670410,-0.731624,0.123601]
2025-10-27T00:18:30.119Z,1761524310.119 [DAT](INFO): publishing direction and range info
2025-10-27T00:18:30.122Z,1761524310.122 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:30.122Z,1761524310.122 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:30.122Z,1761524310.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:30.294Z,1761524310.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913616,0.339243,0.224098],[-0.340566,0.939607,-0.033953],[-0.222082,-0.045300,0.973975]]
2025-10-27T00:18:30.361Z,1761524310.361 [DAT](INFO): DAT read: user:15>

2025-10-27T00:18:30.362Z,1761524310.362 [DAT](INFO): DAT read: Tx time:00:18:31.7496

2025-10-27T00:18:30.363Z,1761524310.363 [DAT](INFO): Ping request sent.
2025-10-27T00:18:30.363Z,1761524310.363 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:18:30.364Z,1761524310.364 [DAT](INFO): publishing transmit ping time
2025-10-27T00:18:30.365Z,1761524310.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001349
2025-10-27T00:18:30.612Z,1761524310.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248560
2025-10-27T00:18:30.706Z,1761524310.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913793,0.335718,0.228637],[-0.336733,0.940920,-0.035776],[-0.227140,-0.044298,0.972854]]
2025-10-27T00:18:30.759Z,1761524310.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:30.865Z,1761524310.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501786
2025-10-27T00:18:31.105Z,1761524311.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914128,0.332107,0.232539],[-0.332699,0.942272,-0.037864],[-0.231690,-0.042753,0.971850]]
2025-10-27T00:18:31.116Z,1761524311.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752699
2025-10-27T00:18:31.369Z,1761524311.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005576
2025-10-27T00:18:31.506Z,1761524311.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914513,0.328073,0.236714],[-0.328576,0.943693,-0.038500],[-0.236016,-0.042570,0.970816]]
2025-10-27T00:18:31.621Z,1761524311.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257326
2025-10-27T00:18:31.873Z,1761524311.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509572
2025-10-27T00:18:31.910Z,1761524311.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914968,0.323860,0.240723],[-0.324452,0.945126,-0.038323],[-0.239925,-0.043039,0.969837]]
2025-10-27T00:18:32.124Z,1761524312.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760562
2025-10-27T00:18:32.317Z,1761524312.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915500,0.319825,0.244073],[-0.320397,0.946502,-0.038477],[-0.243322,-0.042975,0.968993]]
2025-10-27T00:18:32.379Z,1761524312.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015029
2025-10-27T00:18:32.628Z,1761524312.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264582
2025-10-27T00:18:32.723Z,1761524312.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916058,0.316092,0.246827],[-0.316574,0.947773,-0.038824],[-0.246208,-0.042574,0.968281]]
2025-10-27T00:18:32.881Z,1761524312.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517663
2025-10-27T00:18:33.125Z,1761524313.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916683,0.312284,0.249340],[-0.312730,0.949045,-0.038890],[-0.248780,-0.042326,0.967635]]
2025-10-27T00:18:33.132Z,1761524313.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769036
2025-10-27T00:18:33.166Z,1761524313.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:33.384Z,1761524313.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020679
2025-10-27T00:18:33.526Z,1761524313.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917229,0.309102,0.251291],[-0.309490,0.950102,-0.039021],[-0.250813,-0.041981,0.967125]]
2025-10-27T00:18:33.636Z,1761524313.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272922
2025-10-27T00:18:33.888Z,1761524313.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524590
2025-10-27T00:18:33.938Z,1761524313.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917724,0.306090,0.253163],[-0.306575,0.951065,-0.038551],[-0.252574,-0.042234,0.966655]]
2025-10-27T00:18:34.140Z,1761524314.140 [DAT](INFO): DAT read: Rx Time:00:18:34.9844

2025-10-27T00:18:34.140Z,1761524314.140 [DAT](INFO): Rx dataTimestamp_ set to:1761524314.140184
2025-10-27T00:18:34.141Z,1761524314.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777711
2025-10-27T00:18:34.333Z,1761524314.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918102,0.303865,0.254469],[-0.304393,0.951776,-0.038305],[-0.253837,-0.042291,0.966322]]
2025-10-27T00:18:34.397Z,1761524314.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033300
2025-10-27T00:18:34.653Z,1761524314.653 [DAT](INFO): DAT read: 00:18:34.9844 LVL= 32752, 29585, 31698, 32755, AGC= 79, IDX= 455,-0.28, 1.282, 3.017, 2.650, 2.480, PHS=-1.096, 0.582, 0.126, RAW= 285.2,   5.2, CAL= 283.5,   0.0, ROT= 226.5,  -0.0

2025-10-27T00:18:34.654Z,1761524314.654 [DAT](INFO): got valid direction response:
 00:18:34.9844 LVL= 32752, 29585, 31698, 32755, AGC= 79, IDX= 455,-0.28, 1.282, 3.017, 2.650, 2.480, PHS=-1.096, 0.582, 0.126, RAW= 285.2,   5.2, CAL= 283.5,   0.0, ROT= 226.5,  -0.0

2025-10-27T00:18:34.655Z,1761524314.655 [DAT](INFO): DAT read: Bearing 332.3, -31.9 (Local)

2025-10-27T00:18:34.656Z,1761524314.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.3, -31.9 (Local)

2025-10-27T00:18:34.657Z,1761524314.657 [DAT](INFO): DAT read: Range 11 to 50 : 623.0 m  (Round-trip  830.7 ms) speed -0.4 m/s

2025-10-27T00:18:34.657Z,1761524314.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:18:34.658Z,1761524314.658 [DAT](INFO): direction in FSK: [-0.688355,-0.725374,0.000000]
2025-10-27T00:18:34.659Z,1761524314.659 [DAT](INFO): publishing direction and range info
2025-10-27T00:18:34.662Z,1761524314.662 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:34.662Z,1761524314.662 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:34.662Z,1761524314.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:34.741Z,1761524314.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918374,0.302242,0.255420],[-0.302820,0.952288,-0.038055],[-0.254736,-0.042397,0.966081]]
2025-10-27T00:18:34.900Z,1761524314.900 [DAT](INFO): DAT read: user:16>

2025-10-27T00:18:34.902Z,1761524314.902 [DAT](INFO): DAT read: Tx time:00:18:36.2996

2025-10-27T00:18:34.902Z,1761524314.902 [DAT](INFO): Ping request sent.
2025-10-27T00:18:34.902Z,1761524314.902 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:18:34.902Z,1761524314.902 [DAT](INFO): publishing transmit ping time
2025-10-27T00:18:34.903Z,1761524314.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001157
2025-10-27T00:18:35.145Z,1761524315.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918612,0.300866,0.256185],[-0.301742,0.952677,-0.036865],[-0.255153,-0.043437,0.965925]]
2025-10-27T00:18:35.152Z,1761524315.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249659
2025-10-27T00:18:35.185Z,1761524315.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:35.404Z,1761524315.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502256
2025-10-27T00:18:35.545Z,1761524315.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918650,0.300267,0.256752],[-0.301449,0.952813,-0.035722],[-0.255362,-0.044581,0.965817]]
2025-10-27T00:18:35.656Z,1761524315.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754379
2025-10-27T00:18:35.908Z,1761524315.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005811
2025-10-27T00:18:35.950Z,1761524315.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918650,0.300255,0.256767],[-0.301472,0.952810,-0.035592],[-0.255337,-0.044711,0.965818]]
2025-10-27T00:18:36.160Z,1761524316.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257846
2025-10-27T00:18:36.364Z,1761524316.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918776,0.300533,0.255988],[-0.301472,0.952774,-0.036541],[-0.254881,-0.043600,0.965989]]
2025-10-27T00:18:36.414Z,1761524316.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511047
2025-10-27T00:18:36.664Z,1761524316.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761817
2025-10-27T00:18:36.758Z,1761524316.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918792,0.301338,0.254984],[-0.301949,0.952577,-0.037725],[-0.254260,-0.042331,0.966209]]
2025-10-27T00:18:36.916Z,1761524316.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014165
2025-10-27T00:18:37.165Z,1761524317.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918801,0.301978,0.254191],[-0.302497,0.952392,-0.038031],[-0.253574,-0.041949,0.966406]]
2025-10-27T00:18:37.168Z,1761524317.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266006
2025-10-27T00:18:37.420Z,1761524317.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517770
2025-10-27T00:18:37.567Z,1761524317.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918934,0.301996,0.253691],[-0.302732,0.952353,-0.037114],[-0.252812,-0.042695,0.966573]]
2025-10-27T00:18:37.583Z,1761524317.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:37.678Z,1761524317.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775781
2025-10-27T00:18:37.928Z,1761524317.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025834
2025-10-27T00:18:37.969Z,1761524317.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919061,0.302193,0.252993],[-0.303149,0.952256,-0.036178],[-0.251847,-0.043445,0.966791]]
2025-10-27T00:18:38.180Z,1761524318.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277842
2025-10-27T00:18:38.378Z,1761524318.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919290,0.302328,0.251999],[-0.303364,0.952205,-0.035709],[-0.250751,-0.043620,0.967068]]
2025-10-27T00:18:38.435Z,1761524318.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532258
2025-10-27T00:18:38.692Z,1761524318.692 [DAT](INFO): DAT read: 00:18:39.5415 LVL= 32752, 26609, 28210, 32755, AGC= 73, IDX= 495, 0.40, 0.834, 2.714, 2.275, 2.106, PHS=-1.171, 0.653, 0.125, RAW= 286.3,   4.9, CAL= 284.6,  -0.2, ROT= 225.4,   0.2

2025-10-27T00:18:38.693Z,1761524318.693 [DAT](INFO): got valid direction response:
 00:18:39.5415 LVL= 32752, 26609, 28210, 32755, AGC= 73, IDX= 495, 0.40, 0.834, 2.714, 2.275, 2.106, PHS=-1.171, 0.653, 0.125, RAW= 286.3,   4.9, CAL= 284.6,  -0.2, ROT= 225.4,   0.2

2025-10-27T00:18:38.694Z,1761524318.694 [DAT](INFO): DAT read: Rx Time:00:18:39.5415

2025-10-27T00:18:38.695Z,1761524318.695 [DAT](INFO): Rx dataTimestamp_ set to:1761524318.694385
2025-10-27T00:18:38.696Z,1761524318.696 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-27T00:18:38.696Z,1761524318.696 [DAT](INFO): Received low SNR in chirp
2025-10-27T00:18:38.707Z,1761524318.707 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:18:38.709Z,1761524318.709 [DAT](INFO): direction in FSK: [-0.702149,-0.712022,-0.003491]
2025-10-27T00:18:38.713Z,1761524318.713 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:38.713Z,1761524318.713 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:38.713Z,1761524318.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:38.783Z,1761524318.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919712,0.302257,0.250540],[-0.303033,0.952283,-0.036446],[-0.249601,-0.042402,0.967420]]
2025-10-27T00:18:38.936Z,1761524318.936 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:38.936Z,1761524318.936 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:38.936Z,1761524318.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:39.185Z,1761524319.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920325,0.302210,0.248335],[-0.302437,0.952404,-0.038197],[-0.248059,-0.039952,0.967921]]
2025-10-27T00:18:39.188Z,1761524319.188 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:39.188Z,1761524319.188 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:39.188Z,1761524319.188 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:39.440Z,1761524319.440 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:39.440Z,1761524319.440 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:39.440Z,1761524319.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:39.586Z,1761524319.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921123,0.301481,0.246255],[-0.301308,0.952716,-0.039327],[-0.246468,-0.037974,0.968407]]
2025-10-27T00:18:39.609Z,1761524319.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:39.692Z,1761524319.692 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:39.692Z,1761524319.692 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:39.692Z,1761524319.692 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:39.944Z,1761524319.944 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:39.944Z,1761524319.944 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:39.944Z,1761524319.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:39.998Z,1761524319.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922032,0.299642,0.245093],[-0.299707,0.953276,-0.037956],[-0.245014,-0.038459,0.968756]]
2025-10-27T00:18:40.196Z,1761524320.196 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:40.196Z,1761524320.196 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:40.196Z,1761524320.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:40.394Z,1761524320.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923097,0.297330,0.243901],[-0.297924,0.953935,-0.035343],[-0.243175,-0.040039,0.969156]]
2025-10-27T00:18:40.450Z,1761524320.450 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:40.450Z,1761524320.450 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:40.451Z,1761524320.451 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:40.700Z,1761524320.700 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:40.700Z,1761524320.700 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:40.700Z,1761524320.700 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:40.811Z,1761524320.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924257,0.295049,0.242269],[-0.295958,0.954613,-0.033503],[-0.241158,-0.040736,0.969630]]
2025-10-27T00:18:40.952Z,1761524320.952 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:40.952Z,1761524320.952 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:40.952Z,1761524320.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:41.204Z,1761524321.204 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:41.204Z,1761524321.204 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:41.204Z,1761524321.204 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:41.210Z,1761524321.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925664,0.292306,0.240214],[-0.293182,0.955490,-0.032920],[-0.239145,-0.039954,0.970161]]
2025-10-27T00:18:41.456Z,1761524321.456 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:41.456Z,1761524321.456 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:41.456Z,1761524321.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:41.606Z,1761524321.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927231,0.288859,0.238333],[-0.289892,0.956541,-0.031503],[-0.237075,-0.039880,0.970672]]
2025-10-27T00:18:41.631Z,1761524321.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:41.708Z,1761524321.708 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:41.709Z,1761524321.709 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:41.709Z,1761524321.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:41.960Z,1761524321.960 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:41.960Z,1761524321.960 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:41.960Z,1761524321.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:42.010Z,1761524322.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928928,0.284755,0.236658],[-0.286390,0.957698,-0.028200],[-0.234677,-0.041580,0.971184]]
2025-10-27T00:18:42.212Z,1761524322.212 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:42.212Z,1761524322.212 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:42.212Z,1761524322.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:42.429Z,1761524322.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930650,0.280805,0.234602],[-0.282977,0.958799,-0.025078],[-0.231978,-0.043048,0.971768]]
2025-10-27T00:18:42.466Z,1761524322.466 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:42.466Z,1761524322.466 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:42.467Z,1761524322.467 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:42.716Z,1761524322.716 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:42.716Z,1761524322.716 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:42.716Z,1761524322.716 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:42.818Z,1761524322.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932461,0.276917,0.232019],[-0.279282,0.959927,-0.023278],[-0.229167,-0.043093,0.972433]]
2025-10-27T00:18:42.970Z,1761524322.970 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:42.970Z,1761524322.970 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:42.970Z,1761524322.970 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:43.220Z,1761524323.220 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:43.220Z,1761524323.220 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:43.220Z,1761524323.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:43.223Z,1761524323.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934325,0.272884,0.229282],[-0.275148,0.961134,-0.022681],[-0.226560,-0.041895,0.973096]]
2025-10-27T00:18:43.472Z,1761524323.472 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:43.472Z,1761524323.472 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:43.472Z,1761524323.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:43.626Z,1761524323.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936145,0.269256,0.226128],[-0.271354,0.962220,-0.022363],[-0.223607,-0.040426,0.973841]]
2025-10-27T00:18:43.641Z,1761524323.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:43.655Z,1761524323.655 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 623.00 m. Transitioning docking module to standby.
2025-10-27T00:18:43.724Z,1761524323.724 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:43.724Z,1761524323.724 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:43.724Z,1761524323.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:43.976Z,1761524323.976 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:43.976Z,1761524323.976 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:43.976Z,1761524323.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:44.036Z,1761524324.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937930,0.265689,0.222926],[-0.267753,0.963248,-0.021491],[-0.220443,-0.039532,0.974598]]
2025-10-27T00:18:44.108Z,1761524324.108 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T00:18:44.228Z,1761524324.228 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:44.228Z,1761524324.228 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:44.228Z,1761524324.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:44.476Z,1761524324.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939654,0.262004,0.220011],[-0.264258,0.964251,-0.019665],[-0.217298,-0.039662,0.975299]]
2025-10-27T00:18:44.480Z,1761524324.480 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:44.481Z,1761524324.481 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:44.481Z,1761524324.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:44.732Z,1761524324.732 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:44.732Z,1761524324.732 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:44.732Z,1761524324.732 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:18:44.846Z,1761524324.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941530,0.257457,0.217340],[-0.260156,0.965424,-0.016607],[-0.214101,-0.040906,0.975955]]
2025-10-27T00:18:44.984Z,1761524324.984 [DAT](INFO): Reached modem response timeout
2025-10-27T00:18:44.984Z,1761524324.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:44.984Z,1761524324.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:45.236Z,1761524325.236 [DAT](INFO): DAT read: 

2025-10-27T00:18:45.236Z,1761524325.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:45.244Z,1761524325.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943497,0.252431,0.214692],[-0.255611,0.966688,-0.013296],[-0.210897,-0.042333,0.976591]]
2025-10-27T00:18:45.488Z,1761524325.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:45.646Z,1761524325.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945044,0.249379,0.211429],[-0.252695,0.967476,-0.011637],[-0.207454,-0.042429,0.977324]]
2025-10-27T00:18:45.663Z,1761524325.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:45.740Z,1761524325.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:45.992Z,1761524325.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:46.051Z,1761524326.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946568,0.246613,0.207824],[-0.249773,0.968238,-0.011324],[-0.204016,-0.041189,0.978101]]
2025-10-27T00:18:46.244Z,1761524326.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:46.485Z,1761524326.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947785,0.244610,0.204621],[-0.247713,0.968774,-0.010719],[-0.200853,-0.040528,0.978783]]
2025-10-27T00:18:46.496Z,1761524326.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:46.748Z,1761524326.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:46.862Z,1761524326.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948752,0.243320,0.201654],[-0.246489,0.969098,-0.009640],[-0.197768,-0.040559,0.979409]]
2025-10-27T00:18:46.000Z,1761524327.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:47.260Z,1761524327.260 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:18:47.260Z,1761524327.260 [DAT](INFO): response not received
2025-10-27T00:18:47.261Z,1761524327.261 [DAT](INFO): DAT read: user:18>Tx time:00:18:48.7496

2025-10-27T00:18:47.261Z,1761524327.261 [DAT](ERROR): No response from remote modem.
2025-10-27T00:18:47.261Z,1761524327.261 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:47.262Z,1761524327.262 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:47.299Z,1761524327.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949495,0.242810,0.198755],[-0.246192,0.969189,-0.007904],[-0.194550,-0.041427,0.980017]]
2025-10-27T00:18:47.504Z,1761524327.504 [DAT](INFO): DAT read: 

2025-10-27T00:18:47.504Z,1761524327.504 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:47.667Z,1761524327.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950128,0.242363,0.196259],[-0.245937,0.969265,-0.006333],[-0.191761,-0.042250,0.980532]]
2025-10-27T00:18:47.695Z,1761524327.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:47.756Z,1761524327.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:48.008Z,1761524328.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:48.069Z,1761524328.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950494,0.242992,0.193688],[-0.246607,0.969099,-0.005601],[-0.189064,-0.042441,0.981047]]
2025-10-27T00:18:48.260Z,1761524328.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:48.512Z,1761524328.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:48.764Z,1761524328.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:48.877Z,1761524328.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950949,0.245715,0.187935],[-0.248828,0.968521,-0.007223],[-0.183794,-0.039895,0.982155]]
2025-10-27T00:18:49.020Z,1761524329.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:49.273Z,1761524329.273 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:49.293Z,1761524329.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951248,0.246432,0.185470],[-0.249452,0.968360,-0.007249],[-0.181388,-0.039370,0.982623]]
2025-10-27T00:18:49.524Z,1761524329.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:49.688Z,1761524329.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951422,0.247149,0.183614],[-0.250336,0.968140,-0.005988],[-0.179244,-0.040269,0.982980]]
2025-10-27T00:18:49.720Z,1761524329.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:49.776Z,1761524329.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:50.028Z,1761524330.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:50.089Z,1761524330.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951485,0.247992,0.182142],[-0.251337,0.967887,-0.004856],[-0.177497,-0.041158,0.983260]]
2025-10-27T00:18:50.136Z,1761524330.136 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-10-27T00:18:50.280Z,1761524330.280 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:50.494Z,1761524330.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951270,0.250183,0.180263],[-0.253508,0.967322,-0.004730],[-0.175556,-0.041199,0.983607]]
2025-10-27T00:18:50.532Z,1761524330.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:50.550Z,1761524330.550 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-10-27T00:18:50.550Z,1761524330.550 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-10-27T00:18:50.550Z,1761524330.550 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-10-27T00:18:50.784Z,1761524330.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:50.899Z,1761524330.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951085,0.252203,0.178412],[-0.255365,0.966830,-0.005399],[-0.173856,-0.040426,0.983941]]
2025-10-27T00:18:50.918Z,1761524330.918 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-10-27T00:18:50.918Z,1761524330.918 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-10-27T00:18:50.918Z,1761524330.918 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-10-27T00:18:51.036Z,1761524331.036 [DAT](INFO): DAT read: Rx Time:00:18:51.9997

2025-10-27T00:18:51.036Z,1761524331.036 [DAT](INFO): Rx dataTimestamp_ set to:1761524331.036137
2025-10-27T00:18:51.037Z,1761524331.037 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:51.288Z,1761524331.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:51.303Z,1761524331.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951123,0.253148,0.176864],[-0.256153,0.966617,-0.006017],[-0.172483,-0.039581,0.984217]]
2025-10-27T00:18:51.348Z,1761524331.348 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-10-27T00:18:51.348Z,1761524331.348 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-27T00:18:51.348Z,1761524331.348 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-10-27T00:18:51.348Z,1761524331.348 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-27T00:18:51.349Z,1761524331.349 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-27T00:18:51.479Z,1761524331.479 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:18:51.551Z,1761524331.551 [DAT](INFO): DAT read: 00:18:51.9997 LVL= 20640, 17585, 19490, 28435, AGC= 79, IDX=  19,-0.48, 0.639, 2.333, 1.975, 1.662, PHS=-0.921, 0.716, 0.269, RAW= 285.3,  -0.9, CAL= 284.4,  -6.1, ROT= 225.6,   6.1

2025-10-27T00:18:51.552Z,1761524331.552 [DAT](INFO): got valid direction response:
 00:18:51.9997 LVL= 20640, 17585, 19490, 28435, AGC= 79, IDX=  19,-0.48, 0.639, 2.333, 1.975, 1.662, PHS=-0.921, 0.716, 0.269, RAW= 285.3,  -0.9, CAL= 284.4,  -6.1, ROT= 225.6,   6.1

2025-10-27T00:18:51.553Z,1761524331.553 [DAT](INFO): DAT read: Bearing 341.1, -34.7 (Local)

2025-10-27T00:18:51.554Z,1761524331.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.1, -34.7 (Local)

2025-10-27T00:18:51.563Z,1761524331.563 [DAT](INFO): DAT read: Range 11 to 50 : 634.4 m  (Round-trip  845.9 ms) speed  0.0 m/s

2025-10-27T00:18:51.564Z,1761524331.564 [DAT](INFO): DAT read: user:19>Tx time:00:18:53.0996

2025-10-27T00:18:51.565Z,1761524331.565 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:18:51.566Z,1761524331.566 [DAT](INFO): direction in FSK: [-0.695702,-0.710427,-0.106264]
2025-10-27T00:18:51.566Z,1761524331.566 [DAT](INFO): publishing direction and range info
2025-10-27T00:18:51.578Z,1761524331.578 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:51.578Z,1761524331.578 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:51.714Z,1761524331.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951387,0.252833,0.175894],[-0.255983,0.966669,-0.004927],[-0.171277,-0.040339,0.984397]]
2025-10-27T00:18:51.746Z,1761524331.746 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-27T00:18:51.747Z,1761524331.747 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-27T00:18:51.747Z,1761524331.747 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-27T00:18:51.747Z,1761524331.747 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-27T00:18:51.747Z,1761524331.747 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-27T00:18:51.747Z,1761524331.747 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-27T00:18:51.747Z,1761524331.747 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-27T00:18:51.747Z,1761524331.747 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-27T00:18:51.748Z,1761524331.748 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-27T00:18:51.748Z,1761524331.748 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-27T00:18:51.748Z,1761524331.748 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-27T00:18:51.748Z,1761524331.748 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-27T00:18:51.749Z,1761524331.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-10-27T00:18:51.749Z,1761524331.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-27T00:18:51.749Z,1761524331.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-10-27T00:18:51.749Z,1761524331.749 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 623.000000 m 
2025-10-27T00:18:51.750Z,1761524331.750 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-10-27T00:18:51.750Z,1761524331.750 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-10-27T00:18:51.751Z,1761524331.751 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )
2025-10-27T00:18:51.751Z,1761524331.751 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-27T00:18:51.751Z,1761524331.751 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-10-27T00:18:51.751Z,1761524331.751 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-10-27T00:18:51.753Z,1761524331.753 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630
2025-10-27T00:18:51.792Z,1761524331.792 [DAT](INFO): DAT read: 

2025-10-27T00:18:51.792Z,1761524331.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:52.044Z,1761524332.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:52.109Z,1761524332.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951690,0.252207,0.175149],[-0.255625,0.966771,-0.003142],[-0.170122,-0.041783,0.984537]]
2025-10-27T00:18:52.148Z,1761524332.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:52.150Z,1761524332.150 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630
2025-10-27T00:18:52.151Z,1761524332.151 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-10-27T00:18:52.152Z,1761524332.152 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-27T00:18:52.152Z,1761524332.152 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-10-27T00:18:52.152Z,1761524332.152 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-27T00:18:52.163Z,1761524332.163 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-10-27T00:18:52.164Z,1761524332.164 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-10-27T00:18:52.164Z,1761524332.164 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-10-27T00:18:52.296Z,1761524332.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:52.484Z,1761524332.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:18:52.513Z,1761524332.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952185,0.250805,0.174474],[-0.254362,0.967107,-0.002035],[-0.169246,-0.042442,0.984660]]
2025-10-27T00:18:52.548Z,1761524332.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:52.562Z,1761524332.562 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-10-27T00:18:52.562Z,1761524332.562 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-10-27T00:18:52.562Z,1761524332.562 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-10-27T00:18:52.564Z,1761524332.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-27T00:18:52.564Z,1761524332.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T00:18:52.564Z,1761524332.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-10-27T00:18:52.564Z,1761524332.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-27T00:18:52.565Z,1761524332.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-10-27T00:18:52.566Z,1761524332.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-27T00:18:52.566Z,1761524332.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-27T00:18:52.566Z,1761524332.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-27T00:18:52.567Z,1761524332.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-10-27T00:18:52.567Z,1761524332.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-27T00:18:52.567Z,1761524332.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-10-27T00:18:52.567Z,1761524332.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-27T00:18:52.567Z,1761524332.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-27T00:18:52.568Z,1761524332.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-10-27T00:18:52.568Z,1761524332.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-10-27T00:18:52.568Z,1761524332.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-10-27T00:18:52.568Z,1761524332.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-10-27T00:18:52.569Z,1761524332.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-10-27T00:18:52.569Z,1761524332.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-10-27T00:18:52.569Z,1761524332.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-10-27T00:18:52.570Z,1761524332.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-10-27T00:18:52.570Z,1761524332.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-27T00:18:52.571Z,1761524332.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-27T00:18:52.571Z,1761524332.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-27T00:18:52.571Z,1761524332.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-27T00:18:52.571Z,1761524332.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-27T00:18:52.571Z,1761524332.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-27T00:18:52.571Z,1761524332.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-27T00:18:52.571Z,1761524332.571 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-27T00:18:52.572Z,1761524332.572 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-10-27T00:18:52.572Z,1761524332.572 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-10-27T00:18:52.800Z,1761524332.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:52.918Z,1761524332.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952371,0.250354,0.174105],[-0.253896,0.967229,-0.001987],[-0.168897,-0.042313,0.984725]]
2025-10-27T00:18:52.950Z,1761524332.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 634.400024 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-27T00:18:52.953Z,1761524332.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 632.086304 m,
      bearing: 210.571367 deg,
      lat: 36.779346 deg,
      lon: -121.859206 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-27T00:18:52.954Z,1761524332.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.09 m.
2025-10-27T00:18:52.985Z,1761524332.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 632.086304 m,
      nav range: 610.166382 m,
      bearing: 207.845477 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 345.043508 deg,
      new cmd heading: 207.845477 deg.

2025-10-27T00:18:52.986Z,1761524332.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627588 target range: 632.086304 and range: 634.40 m.
2025-10-27T00:18:53.052Z,1761524333.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:53.054Z,1761524333.054 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-10-27T00:18:53.054Z,1761524333.054 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-10-27T00:18:53.304Z,1761524333.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:53.396Z,1761524333.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.09 m.
2025-10-27T00:18:53.398Z,1761524333.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 632.086304 m,
      nav range: 610.218201 m,
      bearing: 207.840004 deg,
      approach rate: 0.119336 m/s,
      LOS rate: nan deg/s,
      cmd heading: 207.845484 deg,
      new cmd heading: 207.840004 deg.

2025-10-27T00:18:53.399Z,1761524333.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627492 target range: 632.086304 and range: 634.40 m.
2025-10-27T00:18:53.556Z,1761524333.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:53.763Z,1761524333.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.09 m.
2025-10-27T00:18:53.766Z,1761524333.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 632.086304 m,
      nav range: 610.263489 m,
      bearing: 207.835217 deg,
      approach rate: 0.119061 m/s,
      LOS rate: nan deg/s,
      cmd heading: 207.840006 deg,
      new cmd heading: 207.835217 deg.

2025-10-27T00:18:53.767Z,1761524333.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627409 target range: 632.086304 and range: 634.40 m.
2025-10-27T00:18:53.808Z,1761524333.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:53.842Z,1761524333.842 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-27T00:18:53.960Z,1761524333.960 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-27T00:18:54.060Z,1761524334.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:54.137Z,1761524334.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954231,0.245553,0.170725],[-0.249069,0.968485,-0.000848],[-0.165553,-0.041713,0.985318]]
2025-10-27T00:18:54.157Z,1761524334.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:54.159Z,1761524334.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.09 m.
2025-10-27T00:18:54.162Z,1761524334.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 632.086304 m,
      nav range: 610.310913 m,
      bearing: 207.830264 deg,
      approach rate: 0.119745 m/s,
      LOS rate: nan deg/s,
      cmd heading: 207.835212 deg,
      new cmd heading: 207.830264 deg.

2025-10-27T00:18:54.163Z,1761524334.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627322 target range: 632.086304 and range: 634.40 m.
2025-10-27T00:18:54.314Z,1761524334.314 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:54.538Z,1761524334.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954807,0.243856,0.169936],[-0.247776,0.968815,0.001920],[-0.164169,-0.043940,0.985453]]
2025-10-27T00:18:54.564Z,1761524334.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:54.582Z,1761524334.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.09 m.
2025-10-27T00:18:54.585Z,1761524334.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 632.086304 m,
      nav range: 610.366272 m,
      bearing: 207.827852 deg,
      approach rate: 0.130857 m/s,
      LOS rate: nan deg/s,
      cmd heading: 207.830266 deg,
      new cmd heading: 207.827852 deg.

2025-10-27T00:18:54.586Z,1761524334.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627280 target range: 632.086304 and range: 634.40 m.
2025-10-27T00:18:54.817Z,1761524334.817 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:54.944Z,1761524334.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955452,0.241980,0.168986],[-0.246158,0.969222,0.003904],[-0.162841,-0.045327,0.985611]]
2025-10-27T00:18:54.967Z,1761524334.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.09 m.
2025-10-27T00:18:54.970Z,1761524334.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 632.086304 m,
      nav range: 610.416748 m,
      bearing: 207.825665 deg,
      approach rate: 0.131195 m/s,
      LOS rate: nan deg/s,
      cmd heading: 207.827849 deg,
      new cmd heading: 207.825665 deg.

2025-10-27T00:18:54.970Z,1761524334.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627242 target range: 632.086304 and range: 634.40 m.
2025-10-27T00:18:55.068Z,1761524335.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:55.321Z,1761524335.321 [DAT](INFO): DAT read: Rx Time:00:18:56.3383

2025-10-27T00:18:55.322Z,1761524335.322 [DAT](INFO): Rx dataTimestamp_ set to:1761524335.321410
2025-10-27T00:18:55.323Z,1761524335.323 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:55.411Z,1761524335.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955932,0.240757,0.168019],[-0.244902,0.969539,0.004082],[-0.161918,-0.045051,0.985775]]
2025-10-27T00:18:55.444Z,1761524335.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.09 m.
2025-10-27T00:18:55.446Z,1761524335.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 632.086304 m,
      nav range: 610.479126 m,
      bearing: 207.822971 deg,
      approach rate: 0.131089 m/s,
      LOS rate: nan deg/s,
      cmd heading: 207.825663 deg,
      new cmd heading: 207.822971 deg.

2025-10-27T00:18:55.447Z,1761524335.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627195 target range: 632.086304 and range: 634.40 m.
2025-10-27T00:18:55.572Z,1761524335.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:55.827Z,1761524335.827 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:18:55.899Z,1761524335.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956444,0.239510,0.166884],[-0.243586,0.969871,0.004089],[-0.160876,-0.044561,0.985968]]
2025-10-27T00:18:55.931Z,1761524335.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 632.09 m.
2025-10-27T00:18:55.934Z,1761524335.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 632.086304 m,
      nav range: 610.543213 m,
      bearing: 207.820212 deg,
      approach rate: 0.131258 m/s,
      LOS rate: nan deg/s,
      cmd heading: 207.822972 deg,
      new cmd heading: 207.820212 deg.

2025-10-27T00:18:55.935Z,1761524335.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.627147 target range: 632.086304 and range: 634.40 m.
2025-10-27T00:18:56.081Z,1761524336.081 [DAT](INFO): DAT read: 00:18:56.3383 LVL= 32752, 28257, 30530, 32755, AGC= 76, IDX= 319, 0.08,-1.643, 0.211,-0.421,-0.400, PHS=-1.141, 0.656,-0.065, RAW= 293.5,   7.1, CAL= 291.2,   5.8, ROT= 218.8,  -5.8

2025-10-27T00:18:56.083Z,1761524336.083 [DAT](INFO): got valid direction response:
 00:18:56.3383 LVL= 32752, 28257, 30530, 32755, AGC= 76, IDX= 319, 0.08,-1.643, 0.211,-0.421,-0.400, PHS=-1.141, 0.656,-0.065, RAW= 293.5,   7.1, CAL= 291.2,   5.8, ROT= 218.8,  -5.8

2025-10-27T00:18:56.084Z,1761524336.084 [DAT](INFO): DAT read: Bearing 326.4, -29.6 (Local)

2025-10-27T00:18:56.084Z,1761524336.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.4, -29.6 (Local)

2025-10-27T00:18:56.085Z,1761524336.085 [DAT](INFO): DAT read: Range 11 to 50 : 625.9 m  (Round-trip  834.6 ms) speed -0.1 m/s

2025-10-27T00:18:56.086Z,1761524336.086 [DAT](INFO): DAT read: Tx time:00:18:57.3996

2025-10-27T00:18:56.087Z,1761524336.087 [DAT](INFO): Ping request sent.
2025-10-27T00:18:56.087Z,1761524336.087 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:18:56.087Z,1761524336.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:18:56.088Z,1761524336.088 [DAT](INFO): direction in FSK: [-0.775348,-0.623396,0.101056]
2025-10-27T00:18:56.088Z,1761524336.088 [DAT](INFO): publishing transmit ping time
2025-10-27T00:18:56.089Z,1761524336.089 [DAT](INFO): publishing direction and range info
2025-10-27T00:18:56.092Z,1761524336.092 [DAT](INFO): publishing transmit ping time
2025-10-27T00:18:56.092Z,1761524336.092 [DAT](INFO): publishing direction and range info
2025-10-27T00:18:56.288Z,1761524336.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 625.900024 m,
      deltaT: 4.534868 s,
      deltaX: -8.500000 m,
      approachRate: -1.874365 m/s,
      rangeRepo size: 2

2025-10-27T00:18:56.290Z,1761524336.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 623.617981 m,
      bearing: 205.417114 deg,
      lat: 36.779346 deg,
      lon: -121.859206 deg,
      deltaT: 4.534868 s,
      deltaX: -8.468323 m,
      approachRate: -1.867380 m/s,
      posRepo size: 2

2025-10-27T00:18:56.290Z,1761524336.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:56.300Z,1761524336.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 205.417114 deg.
2025-10-27T00:18:56.300Z,1761524336.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585205 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:18:56.622Z,1761524336.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957307,0.234850,0.168549],[-0.240925,0.970408,0.016245],[-0.159746,-0.056159,0.985559]]
2025-10-27T00:18:56.685Z,1761524336.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:56.694Z,1761524336.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:56.707Z,1761524336.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.634094 m,
      bearing: 207.817181 deg,
      approach rate: 0.114180 m/s,
      LOS rate: -0.002770 deg/s,
      cmd heading: 205.417120 deg,
      new cmd heading: 205.413704 deg.

2025-10-27T00:18:56.716Z,1761524336.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585145 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:18:56.833Z,1761524336.833 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:18:56.833Z,1761524336.833 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:18:56.834Z,1761524336.834 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:18:57.025Z,1761524337.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957329,0.232979,0.171002],[-0.241559,0.969893,0.030918],[-0.158650,-0.070906,0.984786]]
2025-10-27T00:18:57.051Z,1761524337.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:57.054Z,1761524337.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.678955 m,
      bearing: 207.816054 deg,
      approach rate: 0.125468 m/s,
      LOS rate: -0.003153 deg/s,
      cmd heading: 205.413705 deg,
      new cmd heading: 205.410322 deg.

2025-10-27T00:18:57.055Z,1761524337.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585086 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:18:57.089Z,1761524337.089 [DAT](INFO): DAT read: user:20>

2025-10-27T00:18:57.090Z,1761524337.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003143
2025-10-27T00:18:57.343Z,1761524337.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255856
2025-10-27T00:18:57.430Z,1761524337.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957102,0.233205,0.171963],[-0.243641,0.968955,0.042008],[-0.156828,-0.082103,0.984207]]
2025-10-27T00:18:57.456Z,1761524337.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:57.458Z,1761524337.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.725830 m,
      bearing: 207.814834 deg,
      approach rate: 0.115827 m/s,
      LOS rate: -0.003015 deg/s,
      cmd heading: 205.410317 deg,
      new cmd heading: 205.406656 deg.

2025-10-27T00:18:57.476Z,1761524337.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585022 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:18:57.537Z,1761524337.537 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T00:18:57.596Z,1761524337.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509305
2025-10-27T00:18:57.842Z,1761524337.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956775,0.235524,0.170616],[-0.246351,0.968134,0.045035],[-0.154572,-0.085119,0.984308]]
2025-10-27T00:18:57.848Z,1761524337.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761295
2025-10-27T00:18:57.879Z,1761524337.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:57.882Z,1761524337.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.775024 m,
      bearing: 207.813529 deg,
      approach rate: 0.116201 m/s,
      LOS rate: -0.003082 deg/s,
      cmd heading: 205.406656 deg,
      new cmd heading: 205.402741 deg.

2025-10-27T00:18:57.883Z,1761524337.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584954 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:18:58.100Z,1761524338.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013353
2025-10-27T00:18:58.239Z,1761524338.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956309,0.239585,0.167545],[-0.249784,0.967373,0.042397],[-0.151920,-0.082394,0.984952]]
2025-10-27T00:18:58.256Z,1761524338.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:58.260Z,1761524338.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.818848 m,
      bearing: 207.812354 deg,
      approach rate: 0.116165 m/s,
      LOS rate: -0.003113 deg/s,
      cmd heading: 205.402735 deg,
      new cmd heading: 205.399212 deg.

2025-10-27T00:18:58.261Z,1761524338.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584893 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:18:58.352Z,1761524338.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265511
2025-10-27T00:18:58.604Z,1761524338.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517176
2025-10-27T00:18:58.644Z,1761524338.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955738,0.244284,0.163985],[-0.253633,0.966538,0.038395],[-0.149119,-0.078287,0.985715]]
2025-10-27T00:18:58.701Z,1761524338.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:18:58.709Z,1761524338.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:58.723Z,1761524338.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.873657 m,
      bearing: 207.806842 deg,
      approach rate: 0.121319 m/s,
      LOS rate: -0.012200 deg/s,
      cmd heading: 205.399211 deg,
      new cmd heading: 205.382675 deg.

2025-10-27T00:18:58.724Z,1761524338.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584604 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:18:58.856Z,1761524338.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769538
2025-10-27T00:18:59.091Z,1761524339.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954985,0.249231,0.160899],[-0.258189,0.965383,0.037066],[-0.146091,-0.076940,0.986275]]
2025-10-27T00:18:59.108Z,1761524339.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021376
2025-10-27T00:18:59.121Z,1761524339.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:59.124Z,1761524339.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.930298 m,
      bearing: 207.801106 deg,
      approach rate: 0.137912 m/s,
      LOS rate: -0.013966 deg/s,
      cmd heading: 205.382682 deg,
      new cmd heading: 205.365475 deg.

2025-10-27T00:18:59.125Z,1761524339.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584304 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:18:59.361Z,1761524339.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274316
2025-10-27T00:18:59.496Z,1761524339.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954033,0.253962,0.159136],[-0.263358,0.963840,0.040678],[-0.143051,-0.080718,0.986418]]
2025-10-27T00:18:59.516Z,1761524339.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:59.518Z,1761524339.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.981018 m,
      bearing: 207.795896 deg,
      approach rate: 0.128124 m/s,
      LOS rate: -0.013159 deg/s,
      cmd heading: 205.365470 deg,
      new cmd heading: 205.349842 deg.

2025-10-27T00:18:59.519Z,1761524339.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584031 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:18:59.613Z,1761524339.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526030
2025-10-27T00:18:59.864Z,1761524339.864 [DAT](INFO): DAT read: Rx Time:00:19:00.6681

2025-10-27T00:18:59.864Z,1761524339.864 [DAT](INFO): Rx dataTimestamp_ set to:1761524339.864214
2025-10-27T00:18:59.865Z,1761524339.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778363
2025-10-27T00:18:59.898Z,1761524339.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952775,0.259525,0.157690],[-0.269433,0.961980,0.044719],[-0.140089,-0.085094,0.986476]]
2025-10-27T00:18:59.937Z,1761524339.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:18:59.944Z,1761524339.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.034302 m,
      bearing: 207.790340 deg,
      approach rate: 0.126059 m/s,
      LOS rate: -0.013144 deg/s,
      cmd heading: 205.349842 deg,
      new cmd heading: 205.333175 deg.

2025-10-27T00:18:59.945Z,1761524339.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583740 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:00.116Z,1761524340.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029136
2025-10-27T00:19:00.304Z,1761524340.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951382,0.265656,0.155886],[-0.275833,0.960038,0.047358],[-0.137075,-0.088054,0.986639]]
2025-10-27T00:19:00.353Z,1761524340.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:00.361Z,1761524340.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.084717 m,
      bearing: 207.784995 deg,
      approach rate: 0.121258 m/s,
      LOS rate: -0.012855 deg/s,
      cmd heading: 205.333177 deg,
      new cmd heading: 205.317143 deg.

2025-10-27T00:19:00.361Z,1761524340.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583460 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:00.374Z,1761524340.374 [DAT](INFO): DAT read: 00:19:00.6681 LVL= 28784, 29793, 26258, 32755, AGC= 76, IDX= 243,-0.23,-2.722,-0.781,-1.379,-1.411, PHS=-1.208, 0.675,-0.012, RAW= 291.1,   6.7, CAL= 289.0,   4.6, ROT= 221.0,  -4.6

2025-10-27T00:19:00.375Z,1761524340.375 [DAT](INFO): got valid direction response:
 00:19:00.6681 LVL= 28784, 29793, 26258, 32755, AGC= 76, IDX= 243,-0.23,-2.722,-0.781,-1.379,-1.411, PHS=-1.208, 0.675,-0.012, RAW= 291.1,   6.7, CAL= 289.0,   4.6, ROT= 221.0,  -4.6

2025-10-27T00:19:00.376Z,1761524340.376 [DAT](INFO): DAT read: $Error in header

2025-10-27T00:19:00.376Z,1761524340.376 [DAT](INFO): Received a bad header
2025-10-27T00:19:00.387Z,1761524340.387 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:19:00.388Z,1761524340.388 [DAT](INFO): direction in FSK: [-0.752279,-0.653946,0.080199]
2025-10-27T00:19:00.392Z,1761524340.392 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:00.392Z,1761524340.392 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:00.392Z,1761524340.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:00.620Z,1761524340.620 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:00.620Z,1761524340.620 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:00.620Z,1761524340.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:00.847Z,1761524340.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:00.853Z,1761524340.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:00.856Z,1761524340.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.170654 m,
      bearing: 207.773888 deg,
      approach rate: 0.171983 m/s,
      LOS rate: -0.022224 deg/s,
      cmd heading: 205.317139 deg,
      new cmd heading: 205.283824 deg.

2025-10-27T00:19:00.857Z,1761524340.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582879 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:00.872Z,1761524340.872 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:00.872Z,1761524340.872 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:00.872Z,1761524340.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:01.124Z,1761524341.124 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:01.124Z,1761524341.124 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:01.124Z,1761524341.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:01.198Z,1761524341.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948028,0.279015,0.152951],[-0.290034,0.955448,0.054764],[-0.130857,-0.096279,0.986715]]
2025-10-27T00:19:01.216Z,1761524341.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:01.219Z,1761524341.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.233643 m,
      bearing: 207.765475 deg,
      approach rate: 0.173440 m/s,
      LOS rate: -0.023162 deg/s,
      cmd heading: 205.283822 deg,
      new cmd heading: 205.258587 deg.

2025-10-27T00:19:01.220Z,1761524341.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582438 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:01.376Z,1761524341.376 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:01.376Z,1761524341.376 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:01.376Z,1761524341.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:01.594Z,1761524341.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946098,0.285874,0.152231],[-0.297654,0.952740,0.060737],[-0.127673,-0.102776,0.986477]]
2025-10-27T00:19:01.613Z,1761524341.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:01.628Z,1761524341.628 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:01.628Z,1761524341.628 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:01.628Z,1761524341.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:01.630Z,1761524341.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.298828 m,
      bearing: 207.756603 deg,
      approach rate: 0.164197 m/s,
      LOS rate: -0.022346 deg/s,
      cmd heading: 205.258591 deg,
      new cmd heading: 205.231977 deg.

2025-10-27T00:19:01.631Z,1761524341.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581974 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:01.881Z,1761524341.881 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:01.881Z,1761524341.881 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:01.881Z,1761524341.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:02.001Z,1761524342.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944001,0.293218,0.151279],[-0.305672,0.949816,0.066446],[-0.124204,-0.108967,0.986255]]
2025-10-27T00:19:02.019Z,1761524342.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:02.021Z,1761524342.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.364563 m,
      bearing: 207.747478 deg,
      approach rate: 0.162121 m/s,
      LOS rate: -0.022503 deg/s,
      cmd heading: 205.231981 deg,
      new cmd heading: 205.204608 deg.

2025-10-27T00:19:02.022Z,1761524342.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581496 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:02.132Z,1761524342.132 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:02.132Z,1761524342.132 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:02.133Z,1761524342.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:02.384Z,1761524342.384 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:02.384Z,1761524342.384 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:02.384Z,1761524342.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:02.436Z,1761524342.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941793,0.301012,0.149725],[-0.313929,0.946770,0.071241],[-0.120311,-0.114097,0.986158]]
2025-10-27T00:19:02.508Z,1761524342.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:02.510Z,1761524342.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.441895 m,
      bearing: 207.736535 deg,
      approach rate: 0.158074 m/s,
      LOS rate: -0.022367 deg/s,
      cmd heading: 205.204605 deg,
      new cmd heading: 205.171778 deg.

2025-10-27T00:19:02.516Z,1761524342.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580923 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:02.636Z,1761524342.636 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:02.636Z,1761524342.636 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:02.636Z,1761524342.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:02.856Z,1761524342.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939487,0.309013,0.147904],[-0.322348,0.943548,0.076219],[-0.116002,-0.119283,0.986060]]
2025-10-27T00:19:02.896Z,1761524342.896 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:02.896Z,1761524342.896 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:02.896Z,1761524342.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:02.909Z,1761524342.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:02.915Z,1761524342.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:02.918Z,1761524342.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.531738 m,
      bearing: 207.725462 deg,
      approach rate: 0.222746 m/s,
      LOS rate: -0.027446 deg/s,
      cmd heading: 205.171779 deg,
      new cmd heading: 205.138568 deg.

2025-10-27T00:19:02.923Z,1761524342.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580343 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:03.148Z,1761524343.148 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:03.148Z,1761524343.148 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:03.148Z,1761524343.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:03.279Z,1761524343.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936955,0.317611,0.145738],[-0.331314,0.939997,0.081469],[-0.111118,-0.124618,0.985963]]
2025-10-27T00:19:03.304Z,1761524343.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:03.308Z,1761524343.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.622375 m,
      bearing: 207.714090 deg,
      approach rate: 0.231309 m/s,
      LOS rate: -0.029017 deg/s,
      cmd heading: 205.138571 deg,
      new cmd heading: 205.104460 deg.

2025-10-27T00:19:03.310Z,1761524343.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579748 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:03.400Z,1761524343.400 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:03.400Z,1761524343.400 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:03.400Z,1761524343.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:03.652Z,1761524343.652 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:03.652Z,1761524343.652 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:03.652Z,1761524343.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:03.679Z,1761524343.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934424,0.326008,0.143422],[-0.340017,0.936409,0.086757],[-0.106018,-0.129834,0.985852]]
2025-10-27T00:19:03.730Z,1761524343.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:03.737Z,1761524343.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.712646 m,
      bearing: 207.702537 deg,
      approach rate: 0.211472 m/s,
      LOS rate: -0.027062 deg/s,
      cmd heading: 205.104461 deg,
      new cmd heading: 205.069805 deg.

2025-10-27T00:19:03.739Z,1761524343.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579143 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:03.904Z,1761524343.904 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:03.904Z,1761524343.904 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:03.904Z,1761524343.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:04.084Z,1761524344.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931740,0.334602,0.141075],[-0.348884,0.932615,0.092250],[-0.100701,-0.135172,0.985692]]
2025-10-27T00:19:04.103Z,1761524344.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:04.105Z,1761524344.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.800537 m,
      bearing: 207.691080 deg,
      approach rate: 0.235702 m/s,
      LOS rate: -0.030720 deg/s,
      cmd heading: 205.069805 deg,
      new cmd heading: 205.035439 deg.

2025-10-27T00:19:04.106Z,1761524344.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578543 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:04.156Z,1761524344.156 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:04.156Z,1761524344.156 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:04.156Z,1761524344.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:04.408Z,1761524344.408 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:04.408Z,1761524344.408 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:04.408Z,1761524344.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:04.500Z,1761524344.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928788,0.343695,0.138657],[-0.358274,0.928391,0.098640],[-0.094825,-0.141293,0.985416]]
2025-10-27T00:19:04.562Z,1761524344.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:04.569Z,1761524344.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.934021 m,
      bearing: 207.678275 deg,
      approach rate: 0.290673 m/s,
      LOS rate: -0.027877 deg/s,
      cmd heading: 205.035435 deg,
      new cmd heading: 204.997030 deg.

2025-10-27T00:19:04.570Z,1761524344.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577873 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:04.660Z,1761524344.660 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:04.660Z,1761524344.660 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:04.661Z,1761524344.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:04.900Z,1761524344.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925482,0.353524,0.136028],[-0.368308,0.923744,0.105103],[-0.088499,-0.147371,0.985114]]
2025-10-27T00:19:04.912Z,1761524344.912 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:04.912Z,1761524344.912 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:04.912Z,1761524344.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:04.918Z,1761524344.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:04.920Z,1761524344.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:04.923Z,1761524344.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.045044 m,
      bearing: 207.667400 deg,
      approach rate: 0.309932 m/s,
      LOS rate: -0.030354 deg/s,
      cmd heading: 204.997036 deg,
      new cmd heading: 204.964416 deg.

2025-10-27T00:19:04.924Z,1761524344.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577304 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:05.164Z,1761524345.164 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:05.165Z,1761524345.165 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:05.165Z,1761524345.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:05.312Z,1761524345.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922064,0.363360,0.133293],[-0.378312,0.918857,0.112173],[-0.081718,-0.153857,0.984708]]
2025-10-27T00:19:05.334Z,1761524345.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:05.337Z,1761524345.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.167725 m,
      bearing: 207.655127 deg,
      approach rate: 0.296324 m/s,
      LOS rate: -0.029639 deg/s,
      cmd heading: 204.964415 deg,
      new cmd heading: 204.927603 deg.

2025-10-27T00:19:05.338Z,1761524345.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576661 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:05.417Z,1761524345.417 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:05.417Z,1761524345.417 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:05.417Z,1761524345.417 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:05.668Z,1761524345.668 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:05.668Z,1761524345.668 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:05.668Z,1761524345.668 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:05.713Z,1761524345.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918200,0.373949,0.130652],[-0.389013,0.913456,0.119443],[-0.074680,-0.160498,0.984207]]
2025-10-27T00:19:05.747Z,1761524345.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:05.750Z,1761524345.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.286499 m,
      bearing: 207.642975 deg,
      approach rate: 0.287787 m/s,
      LOS rate: -0.029438 deg/s,
      cmd heading: 204.927600 deg,
      new cmd heading: 204.891152 deg.

2025-10-27T00:19:05.751Z,1761524345.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576025 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:05.920Z,1761524345.920 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:05.920Z,1761524345.920 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:05.920Z,1761524345.920 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:06.125Z,1761524346.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914002,0.384922,0.128199],[-0.400072,0.907615,0.127190],[-0.067397,-0.167541,0.983559]]
2025-10-27T00:19:06.147Z,1761524346.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:06.150Z,1761524346.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.401794 m,
      bearing: 207.630895 deg,
      approach rate: 0.288070 m/s,
      LOS rate: -0.030178 deg/s,
      cmd heading: 204.891154 deg,
      new cmd heading: 204.854919 deg.

2025-10-27T00:19:06.151Z,1761524346.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575393 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:06.172Z,1761524346.172 [DAT](INFO): Reached modem response timeout
2025-10-27T00:19:06.172Z,1761524346.172 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:06.172Z,1761524346.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:19:06.428Z,1761524346.428 [DAT](INFO): DAT read: 

2025-10-27T00:19:06.430Z,1761524346.430 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:06.525Z,1761524346.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909569,0.396019,0.125908],[-0.411191,0.901499,0.134989],[-0.060048,-0.174554,0.982815]]
2025-10-27T00:19:06.578Z,1761524346.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:06.581Z,1761524346.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.528870 m,
      bearing: 207.616277 deg,
      approach rate: 0.294950 m/s,
      LOS rate: -0.033922 deg/s,
      cmd heading: 204.854913 deg,
      new cmd heading: 204.811069 deg.

2025-10-27T00:19:06.582Z,1761524346.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574627 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:06.677Z,1761524346.677 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:06.928Z,1761524346.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:06.937Z,1761524346.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904573,0.408083,0.123353],[-0.423088,0.894874,0.142115],[-0.052390,-0.180743,0.982134]]
2025-10-27T00:19:06.958Z,1761524346.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:06.960Z,1761524346.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:06.963Z,1761524346.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.638611 m,
      bearing: 207.603310 deg,
      approach rate: 0.287242 m/s,
      LOS rate: -0.033935 deg/s,
      cmd heading: 204.811063 deg,
      new cmd heading: 204.772168 deg.

2025-10-27T00:19:06.964Z,1761524346.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573949 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:07.180Z,1761524347.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:07.332Z,1761524347.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899213,0.420611,0.120426],[-0.435234,0.888025,0.148267],[-0.044578,-0.185737,0.981588]]
2025-10-27T00:19:07.370Z,1761524347.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:07.377Z,1761524347.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.748840 m,
      bearing: 207.589922 deg,
      approach rate: 0.268661 m/s,
      LOS rate: -0.032624 deg/s,
      cmd heading: 204.772172 deg,
      new cmd heading: 204.732016 deg.

2025-10-27T00:19:07.378Z,1761524347.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573248 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:07.432Z,1761524347.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:07.684Z,1761524347.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:07.739Z,1761524347.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893302,0.433766,0.117721],[-0.447968,0.880558,0.154731],[-0.036543,-0.190957,0.980918]]
2025-10-27T00:19:07.761Z,1761524347.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:07.764Z,1761524347.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.863403 m,
      bearing: 207.575606 deg,
      approach rate: 0.292828 m/s,
      LOS rate: -0.036583 deg/s,
      cmd heading: 204.732011 deg,
      new cmd heading: 204.689073 deg.

2025-10-27T00:19:07.765Z,1761524347.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572498 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:07.936Z,1761524347.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:08.188Z,1761524348.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:08.216Z,1761524348.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879965,0.461164,0.113972],[-0.474601,0.863781,0.169226],[-0.020406,-0.203004,0.978965]]
2025-10-27T00:19:08.251Z,1761524348.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:08.264Z,1761524348.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.989319 m,
      bearing: 207.558832 deg,
      approach rate: 0.257435 m/s,
      LOS rate: -0.034289 deg/s,
      cmd heading: 204.689076 deg,
      new cmd heading: 204.638762 deg.

2025-10-27T00:19:08.265Z,1761524348.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571620 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:08.444Z,1761524348.444 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:19:08.444Z,1761524348.444 [DAT](INFO): response not received
2025-10-27T00:19:08.445Z,1761524348.445 [DAT](INFO): DAT read: user:22>Tx time:00:19:09.8496

2025-10-27T00:19:08.445Z,1761524348.445 [DAT](ERROR): No response from remote modem.
2025-10-27T00:19:08.446Z,1761524348.446 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:08.446Z,1761524348.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:19:08.696Z,1761524348.696 [DAT](INFO): DAT read: 

2025-10-27T00:19:08.697Z,1761524348.697 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:08.858Z,1761524348.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872412,0.475730,0.112154],[-0.488617,0.854636,0.175646],[-0.012291,-0.208036,0.978044]]
2025-10-27T00:19:08.905Z,1761524348.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:08.932Z,1761524348.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.164368 m,
      bearing: 207.534714 deg,
      approach rate: 0.267645 m/s,
      LOS rate: -0.036866 deg/s,
      cmd heading: 204.638765 deg,
      new cmd heading: 204.566431 deg.

2025-10-27T00:19:08.932Z,1761524348.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570358 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:08.950Z,1761524348.950 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:09.200Z,1761524349.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:09.409Z,1761524349.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855834,0.505352,0.110308],[-0.517239,0.834659,0.189230],[0.003558,-0.219006,0.975717]]
2025-10-27T00:19:09.425Z,1761524349.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:09.449Z,1761524349.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:09.454Z,1761524349.454 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:09.477Z,1761524349.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.294006 m,
      bearing: 207.515516 deg,
      approach rate: 0.238808 m/s,
      LOS rate: -0.035356 deg/s,
      cmd heading: 204.566433 deg,
      new cmd heading: 204.508853 deg.

2025-10-27T00:19:09.485Z,1761524349.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569353 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:09.704Z,1761524349.704 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:09.956Z,1761524349.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:09.978Z,1761524349.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846663,0.520487,0.110708],[-0.532016,0.823658,0.196333],[0.011003,-0.225126,0.974267]]
2025-10-27T00:19:10.025Z,1761524350.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:10.038Z,1761524350.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.445129 m,
      bearing: 207.489433 deg,
      approach rate: 0.261672 m/s,
      LOS rate: -0.045152 deg/s,
      cmd heading: 204.508855 deg,
      new cmd heading: 204.430625 deg.

2025-10-27T00:19:10.039Z,1761524350.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567987 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:10.208Z,1761524350.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:10.374Z,1761524350.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837044,0.535869,0.110460],[-0.546825,0.812534,0.201920],[0.018450,-0.229418,0.973153]]
2025-10-27T00:19:10.404Z,1761524350.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:10.406Z,1761524350.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.538025 m,
      bearing: 207.472714 deg,
      approach rate: 0.245398 m/s,
      LOS rate: -0.044159 deg/s,
      cmd heading: 204.430622 deg,
      new cmd heading: 204.380473 deg.

2025-10-27T00:19:10.407Z,1761524350.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567112 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:10.460Z,1761524350.460 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:10.712Z,1761524350.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:10.780Z,1761524350.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826952,0.551326,0.110405],[-0.561682,0.801006,0.207130],[0.025761,-0.233299,0.972064]]
2025-10-27T00:19:10.846Z,1761524350.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:10.852Z,1761524350.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.642639 m,
      bearing: 207.453048 deg,
      approach rate: 0.236485 m/s,
      LOS rate: -0.044448 deg/s,
      cmd heading: 204.380475 deg,
      new cmd heading: 204.321487 deg.

2025-10-27T00:19:10.853Z,1761524350.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566083 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:10.964Z,1761524350.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:11.194Z,1761524351.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816854,0.566362,0.109469],[-0.575904,0.789872,0.210798],[0.032922,-0.235235,0.971381]]
2025-10-27T00:19:11.216Z,1761524351.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:11.217Z,1761524351.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:11.220Z,1761524351.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.726135 m,
      bearing: 207.436649 deg,
      approach rate: 0.225118 m/s,
      LOS rate: -0.044210 deg/s,
      cmd heading: 204.321489 deg,
      new cmd heading: 204.272297 deg.

2025-10-27T00:19:11.221Z,1761524351.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565224 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:11.472Z,1761524351.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:11.598Z,1761524351.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806403,0.581283,0.108741],[-0.590020,0.778447,0.214237],[0.039884,-0.236920,0.970710]]
2025-10-27T00:19:11.641Z,1761524351.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:11.664Z,1761524351.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:11.666Z,1761524351.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.827515 m,
      bearing: 207.416520 deg,
      approach rate: 0.226902 m/s,
      LOS rate: -0.045043 deg/s,
      cmd heading: 204.272298 deg,
      new cmd heading: 204.211923 deg.

2025-10-27T00:19:11.671Z,1761524351.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564170 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:11.720Z,1761524351.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:11.972Z,1761524351.972 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:12.081Z,1761524352.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:12.084Z,1761524352.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.927185 m,
      bearing: 207.396753 deg,
      approach rate: 0.238993 m/s,
      LOS rate: -0.047391 deg/s,
      cmd heading: 204.211919 deg,
      new cmd heading: 204.152627 deg.

2025-10-27T00:19:12.085Z,1761524352.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563136 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:12.228Z,1761524352.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:12.441Z,1761524352.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784781,0.610286,0.108024],[-0.617463,0.754858,0.221198],[0.053452,-0.240293,0.969228]]
2025-10-27T00:19:12.458Z,1761524352.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:12.466Z,1761524352.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.012390 m,
      bearing: 207.378219 deg,
      approach rate: 0.225741 m/s,
      LOS rate: -0.049098 deg/s,
      cmd heading: 204.152633 deg,
      new cmd heading: 204.097038 deg.

2025-10-27T00:19:12.467Z,1761524352.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562165 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:12.480Z,1761524352.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:12.732Z,1761524352.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:12.934Z,1761524352.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773640,0.624377,0.107868],[-0.630775,0.742787,0.224476],[0.060035,-0.241703,0.968491]]
2025-10-27T00:19:12.958Z,1761524352.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:12.961Z,1761524352.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.115723 m,
      bearing: 207.354665 deg,
      approach rate: 0.206788 m/s,
      LOS rate: -0.047128 deg/s,
      cmd heading: 204.097035 deg,
      new cmd heading: 204.026386 deg.

2025-10-27T00:19:12.962Z,1761524352.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560932 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:12.984Z,1761524352.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:13.237Z,1761524353.237 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:13.333Z,1761524353.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762073,0.638346,0.108444],[-0.644059,0.730103,0.228337],[0.066582,-0.243854,0.967524]]
2025-10-27T00:19:13.371Z,1761524353.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:13.374Z,1761524353.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.195251 m,
      bearing: 207.335605 deg,
      approach rate: 0.192623 m/s,
      LOS rate: -0.046157 deg/s,
      cmd heading: 204.026384 deg,
      new cmd heading: 203.969213 deg.

2025-10-27T00:19:13.374Z,1761524353.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559934 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:13.491Z,1761524353.491 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:13.740Z,1761524353.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:13.837Z,1761524353.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737324,0.666082,0.112646],[-0.670903,0.702508,0.237426],[0.079010,-0.250634,0.964852]]
2025-10-27T00:19:13.881Z,1761524353.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:13.883Z,1761524353.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:13.886Z,1761524353.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.312805 m,
      bearing: 207.309258 deg,
      approach rate: 0.229563 m/s,
      LOS rate: -0.051442 deg/s,
      cmd heading: 203.969215 deg,
      new cmd heading: 203.890189 deg.

2025-10-27T00:19:13.887Z,1761524353.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558555 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:13.992Z,1761524353.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:14.244Z,1761524354.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:14.246Z,1761524354.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724936,0.679126,0.115135],[-0.683635,0.688896,0.240969],[0.084332,-0.253398,0.963679]]
2025-10-27T00:19:14.264Z,1761524354.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:14.267Z,1761524354.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.393738 m,
      bearing: 207.290210 deg,
      approach rate: 0.212197 m/s,
      LOS rate: -0.049936 deg/s,
      cmd heading: 203.890190 deg,
      new cmd heading: 203.833053 deg.

2025-10-27T00:19:14.268Z,1761524354.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557558 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:14.496Z,1761524354.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:14.641Z,1761524354.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712038,0.692301,0.117133],[-0.696418,0.675083,0.243443],[0.089461,-0.254914,0.962816]]
2025-10-27T00:19:14.675Z,1761524354.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:14.678Z,1761524354.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.473450 m,
      bearing: 207.270416 deg,
      approach rate: 0.193972 m/s,
      LOS rate: -0.048160 deg/s,
      cmd heading: 203.833049 deg,
      new cmd heading: 203.773674 deg.

2025-10-27T00:19:14.684Z,1761524354.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556522 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:14.748Z,1761524354.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:14.000Z,1761524355.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:15.046Z,1761524355.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698811,0.705100,0.120403],[-0.709072,0.660661,0.246462],[0.094234,-0.257605,0.961644]]
2025-10-27T00:19:15.070Z,1761524355.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:15.073Z,1761524355.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.552673 m,
      bearing: 207.249638 deg,
      approach rate: 0.200439 m/s,
      LOS rate: -0.052562 deg/s,
      cmd heading: 203.773681 deg,
      new cmd heading: 203.711355 deg.

2025-10-27T00:19:15.074Z,1761524355.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555434 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:15.252Z,1761524355.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:15.508Z,1761524355.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:15.543Z,1761524355.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684795,0.718128,0.123885],[-0.721987,0.645497,0.249135],[0.098944,-0.260050,0.960512]]
2025-10-27T00:19:15.592Z,1761524355.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:15.595Z,1761524355.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.643982 m,
      bearing: 207.223519 deg,
      approach rate: 0.174906 m/s,
      LOS rate: -0.050025 deg/s,
      cmd heading: 203.711362 deg,
      new cmd heading: 203.633016 deg.

2025-10-27T00:19:15.596Z,1761524355.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554067 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:15.757Z,1761524355.757 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:15.944Z,1761524355.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670555,0.731079,0.126012],[-0.734631,0.630717,0.250029],[0.103313,-0.260230,0.960003]]
2025-10-27T00:19:15.961Z,1761524355.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:15.963Z,1761524355.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:15.966Z,1761524355.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.704956 m,
      bearing: 207.204894 deg,
      approach rate: 0.164597 m/s,
      LOS rate: -0.050271 deg/s,
      cmd heading: 203.633020 deg,
      new cmd heading: 203.577151 deg.

2025-10-27T00:19:15.967Z,1761524355.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553092 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:16.009Z,1761524356.009 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:16.260Z,1761524356.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:16.422Z,1761524356.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655750,0.743872,0.129020],[-0.747350,0.615344,0.250637],[0.107050,-0.260778,0.959445]]
2025-10-27T00:19:16.440Z,1761524356.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:16.443Z,1761524356.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.778625 m,
      bearing: 207.180752 deg,
      approach rate: 0.154270 m/s,
      LOS rate: -0.050551 deg/s,
      cmd heading: 203.577149 deg,
      new cmd heading: 203.504729 deg.

2025-10-27T00:19:16.444Z,1761524356.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.551828 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:16.513Z,1761524356.513 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:16.764Z,1761524356.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:16.905Z,1761524356.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640387,0.756545,0.132457],[-0.760107,0.599524,0.250614],[0.110189,-0.261171,0.958983]]
2025-10-27T00:19:16.940Z,1761524356.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:16.948Z,1761524356.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.848816 m,
      bearing: 207.155905 deg,
      approach rate: 0.142017 m/s,
      LOS rate: -0.050267 deg/s,
      cmd heading: 203.504735 deg,
      new cmd heading: 203.430202 deg.

2025-10-27T00:19:16.949Z,1761524356.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550527 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:17.016Z,1761524357.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:17.269Z,1761524357.269 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:17.425Z,1761524357.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607726,0.781614,0.140533],[-0.785771,0.566192,0.248979],[0.115037,-0.261737,0.958259]]
2025-10-27T00:19:17.517Z,1761524357.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:17.520Z,1761524357.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:17.524Z,1761524357.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.913757 m,
      bearing: 207.128324 deg,
      approach rate: 0.111539 m/s,
      LOS rate: -0.047366 deg/s,
      cmd heading: 203.430204 deg,
      new cmd heading: 203.347471 deg.

2025-10-27T00:19:17.525Z,1761524357.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.549083 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:17.774Z,1761524357.774 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:17.858Z,1761524357.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590273,0.794150,0.144581],[-0.798680,0.548633,0.247210],[0.116999,-0.261395,0.958115]]
2025-10-27T00:19:17.894Z,1761524357.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:17.897Z,1761524357.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.951477 m,
      bearing: 207.104274 deg,
      approach rate: 0.099966 m/s,
      LOS rate: -0.063736 deg/s,
      cmd heading: 203.347477 deg,
      new cmd heading: 203.275330 deg.

2025-10-27T00:19:17.898Z,1761524357.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547824 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:18.024Z,1761524358.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:18.277Z,1761524358.277 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:18.287Z,1761524358.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572081,0.806527,0.149121],[-0.811566,0.530320,0.245197],[0.118676,-0.261294,0.957936]]
2025-10-27T00:19:18.316Z,1761524358.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:18.318Z,1761524358.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:18.321Z,1761524358.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.983154 m,
      bearing: 207.080391 deg,
      approach rate: 0.074677 m/s,
      LOS rate: -0.056299 deg/s,
      cmd heading: 203.275336 deg,
      new cmd heading: 203.203692 deg.

2025-10-27T00:19:18.322Z,1761524358.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546573 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:18.529Z,1761524358.529 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:18.677Z,1761524358.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553129,0.818879,0.153252],[-0.824388,0.511480,0.242431],[0.120136,-0.260434,0.957988]]
2025-10-27T00:19:18.705Z,1761524358.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:18.710Z,1761524358.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.006531 m,
      bearing: 207.058781 deg,
      approach rate: 0.060447 m/s,
      LOS rate: -0.055877 deg/s,
      cmd heading: 203.203688 deg,
      new cmd heading: 203.138861 deg.

2025-10-27T00:19:18.727Z,1761524358.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545442 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:18.780Z,1761524358.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:19.032Z,1761524359.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:19.122Z,1761524359.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:19.124Z,1761524359.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.031921 m,
      bearing: 207.035397 deg,
      approach rate: 0.060956 m/s,
      LOS rate: -0.056137 deg/s,
      cmd heading: 203.138855 deg,
      new cmd heading: 203.068705 deg.

2025-10-27T00:19:19.125Z,1761524359.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544218 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:19.285Z,1761524359.285 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:19.521Z,1761524359.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513266,0.843770,0.156878],[-0.849438,0.473352,0.233222],[0.122527,-0.252963,0.959686]]
2025-10-27T00:19:19.536Z,1761524359.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:19.571Z,1761524359.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:19.573Z,1761524359.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.051331 m,
      bearing: 207.007638 deg,
      approach rate: 0.043230 m/s,
      LOS rate: -0.061826 deg/s,
      cmd heading: 203.068709 deg,
      new cmd heading: 202.985436 deg.

2025-10-27T00:19:19.574Z,1761524359.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542764 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:19.789Z,1761524359.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:19.908Z,1761524359.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493586,0.855263,0.157793],[-0.860918,0.454779,0.228028],[0.123263,-0.248399,0.960783]]
2025-10-27T00:19:19.934Z,1761524359.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:19.937Z,1761524359.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.061462 m,
      bearing: 206.985461 deg,
      approach rate: 0.027865 m/s,
      LOS rate: -0.060992 deg/s,
      cmd heading: 202.985436 deg,
      new cmd heading: 202.918904 deg.

2025-10-27T00:19:19.938Z,1761524359.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541603 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:20.040Z,1761524360.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:20.293Z,1761524360.293 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:20.394Z,1761524360.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473334,0.866093,0.160745],[-0.872154,0.435148,0.223592],[0.123703,-0.246028,0.961336]]
2025-10-27T00:19:20.411Z,1761524360.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:20.413Z,1761524360.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:20.416Z,1761524360.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.067627 m,
      bearing: 206.956280 deg,
      approach rate: 0.012875 m/s,
      LOS rate: -0.060945 deg/s,
      cmd heading: 202.918910 deg,
      new cmd heading: 202.831370 deg.

2025-10-27T00:19:20.417Z,1761524360.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540075 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:20.544Z,1761524360.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:20.796Z,1761524360.796 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:19:20.796Z,1761524360.796 [DAT](INFO): response not received
2025-10-27T00:19:20.797Z,1761524360.797 [DAT](INFO): DAT read: user:23>Tx time:00:19:22.2996

2025-10-27T00:19:20.797Z,1761524360.797 [DAT](ERROR): No response from remote modem.
2025-10-27T00:19:20.798Z,1761524360.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:20.798Z,1761524360.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:19:20.859Z,1761524360.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452661,0.876839,0.162025],[-0.883010,0.415514,0.218270],[0.124064,-0.241872,0.962344]]
2025-10-27T00:19:20.894Z,1761524360.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:20.900Z,1761524360.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.066650 m,
      bearing: 206.927443 deg,
      approach rate: -0.002032 m/s,
      LOS rate: -0.060008 deg/s,
      cmd heading: 202.831374 deg,
      new cmd heading: 202.744861 deg.

2025-10-27T00:19:20.901Z,1761524360.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538565 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:21.048Z,1761524361.048 [DAT](INFO): DAT read: 

2025-10-27T00:19:21.048Z,1761524361.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:21.300Z,1761524361.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:21.401Z,1761524361.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409913,0.896916,0.165873],[-0.903764,0.374817,0.206696],[0.123217,-0.234637,0.964242]]
2025-10-27T00:19:21.485Z,1761524361.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:21.506Z,1761524361.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.048340 m,
      bearing: 206.893588 deg,
      approach rate: -0.032400 m/s,
      LOS rate: -0.059907 deg/s,
      cmd heading: 202.744863 deg,
      new cmd heading: 202.643296 deg.

2025-10-27T00:19:21.516Z,1761524361.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536793 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:21.552Z,1761524361.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:21.804Z,1761524361.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:21.843Z,1761524361.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388432,0.905444,0.171150],[-0.913368,0.353728,0.201581],[0.121979,-0.234624,0.964403]]
2025-10-27T00:19:21.879Z,1761524361.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:21.882Z,1761524361.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.040710 m,
      bearing: 206.868815 deg,
      approach rate: -0.018160 m/s,
      LOS rate: -0.058968 deg/s,
      cmd heading: 202.643298 deg,
      new cmd heading: 202.568978 deg.

2025-10-27T00:19:21.883Z,1761524361.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535496 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:22.056Z,1761524362.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:22.308Z,1761524362.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:22.310Z,1761524362.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:22.313Z,1761524362.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.033447 m,
      bearing: 206.844993 deg,
      approach rate: -0.016855 m/s,
      LOS rate: -0.055283 deg/s,
      cmd heading: 202.568972 deg,
      new cmd heading: 202.497505 deg.

2025-10-27T00:19:22.313Z,1761524362.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534248 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:22.579Z,1761524362.579 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:22.603Z,1761524362.603 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:19:22.652Z,1761524362.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344306,0.920129,0.186590],[-0.931299,0.309553,0.191989],[0.118896,-0.239874,0.963496]]
2025-10-27T00:19:22.668Z,1761524362.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:22.670Z,1761524362.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:22.673Z,1761524362.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 615.016479 m,
      bearing: 206.824145 deg,
      approach rate: -0.047071 m/s,
      LOS rate: -0.057839 deg/s,
      cmd heading: 202.497501 deg,
      new cmd heading: 202.434954 deg.

2025-10-27T00:19:22.674Z,1761524362.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533156 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:22.812Z,1761524362.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:23.054Z,1761524363.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322200,0.926387,0.194921],[-0.939406,0.287416,0.186836],[0.117059,-0.243309,0.962859]]
2025-10-27T00:19:23.064Z,1761524363.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:23.078Z,1761524363.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:23.080Z,1761524363.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.992126 m,
      bearing: 206.801182 deg,
      approach rate: -0.059789 m/s,
      LOS rate: -0.056379 deg/s,
      cmd heading: 202.434950 deg,
      new cmd heading: 202.366058 deg.

2025-10-27T00:19:23.081Z,1761524363.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531954 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:23.316Z,1761524363.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:23.495Z,1761524363.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300028,0.931998,0.203378],[-0.946975,0.265294,0.181269],[0.114987,-0.246979,0.962174]]
2025-10-27T00:19:23.551Z,1761524363.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:23.554Z,1761524363.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.964600 m,
      bearing: 206.775235 deg,
      approach rate: -0.058620 m/s,
      LOS rate: -0.055258 deg/s,
      cmd heading: 202.366061 deg,
      new cmd heading: 202.288216 deg.

2025-10-27T00:19:23.555Z,1761524363.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530595 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:23.568Z,1761524363.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:23.607Z,1761524363.607 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:19:23.820Z,1761524363.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:23.934Z,1761524363.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:23.936Z,1761524363.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.942871 m,
      bearing: 206.754679 deg,
      approach rate: -0.056210 m/s,
      LOS rate: -0.053177 deg/s,
      cmd heading: 202.288210 deg,
      new cmd heading: 202.226542 deg.

2025-10-27T00:19:23.937Z,1761524363.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529519 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:24.072Z,1761524364.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:24.302Z,1761524364.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255528,0.942869,0.213783],[-0.960465,0.222293,0.167611],[0.110513,-0.248160,0.962395]]
2025-10-27T00:19:24.320Z,1761524364.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:24.323Z,1761524364.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.908447 m,
      bearing: 206.732626 deg,
      approach rate: -0.089114 m/s,
      LOS rate: -0.057095 deg/s,
      cmd heading: 202.226547 deg,
      new cmd heading: 202.160382 deg.

2025-10-27T00:19:24.324Z,1761524364.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:24.325Z,1761524364.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528364 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:24.577Z,1761524364.577 [DAT](INFO): DAT read: Rx Time:00:19:25.5566

2025-10-27T00:19:24.577Z,1761524364.577 [DAT](INFO): Rx dataTimestamp_ set to:1761524364.576829
2025-10-27T00:19:24.578Z,1761524364.578 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:24.709Z,1761524364.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233695,0.947460,0.218417],[-0.966327,0.201438,0.160110],[0.107701,-0.248479,0.962631]]
2025-10-27T00:19:24.728Z,1761524364.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:24.730Z,1761524364.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:24.733Z,1761524364.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.867798 m,
      bearing: 206.710172 deg,
      approach rate: -0.099152 m/s,
      LOS rate: -0.054772 deg/s,
      cmd heading: 202.160376 deg,
      new cmd heading: 202.093011 deg.

2025-10-27T00:19:24.734Z,1761524364.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.527189 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:24.830Z,1761524364.830 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:25.105Z,1761524365.105 [DAT](INFO): DAT read: 00:19:25.5566 LVL= 32752, 32209, 18850, 32755, AGC= 78, IDX= 283, 0.04, 1.095, 1.549, 2.924, 1.315, PHS=-0.118, 0.279, 1.565, RAW= 223.1, -21.8, CAL= 222.6, -26.8, ROT= 287.4,  26.8

2025-10-27T00:19:25.106Z,1761524365.106 [DAT](INFO): got valid direction response:
 00:19:25.5566 LVL= 32752, 32209, 18850, 32755, AGC= 78, IDX= 283, 0.04, 1.095, 1.549, 2.924, 1.315, PHS=-0.118, 0.279, 1.565, RAW= 223.1, -21.8, CAL= 222.6, -26.8, ROT= 287.4,  26.8

2025-10-27T00:19:25.106Z,1761524365.106 [DAT](INFO): DAT read: $Error in header

2025-10-27T00:19:25.107Z,1761524365.107 [DAT](INFO): Received a bad header
2025-10-27T00:19:25.119Z,1761524365.119 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:19:25.120Z,1761524365.120 [DAT](INFO): direction in FSK: [0.266919,-0.851741,-0.450878]
2025-10-27T00:19:25.123Z,1761524365.123 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:25.139Z,1761524365.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211295,0.952585,0.218946],[-0.971736,0.180600,0.152029],[0.105279,-0.244880,0.963820]]
2025-10-27T00:19:25.174Z,1761524365.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:25.181Z,1761524365.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.819153 m,
      bearing: 206.686572 deg,
      approach rate: -0.109602 m/s,
      LOS rate: -0.053176 deg/s,
      cmd heading: 202.093017 deg,
      new cmd heading: 202.022212 deg.

2025-10-27T00:19:25.182Z,1761524365.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525953 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:25.336Z,1761524365.336 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:25.527Z,1761524365.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188968,0.957043,0.219908],[-0.976588,0.159714,0.144110],[0.102797,-0.241992,0.964817]]
2025-10-27T00:19:25.583Z,1761524365.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:25.586Z,1761524365.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.750610 m,
      bearing: 206.666152 deg,
      approach rate: -0.167441 m/s,
      LOS rate: -0.049890 deg/s,
      cmd heading: 202.022215 deg,
      new cmd heading: 201.960947 deg.

2025-10-27T00:19:25.588Z,1761524365.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:25.591Z,1761524365.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.524884 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:25.840Z,1761524365.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:25.930Z,1761524365.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166129,0.961022,0.220993],[-0.980969,0.138219,0.136369],[0.100508,-0.239442,0.965694]]
2025-10-27T00:19:25.958Z,1761524365.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:25.961Z,1761524365.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.678101 m,
      bearing: 206.646195 deg,
      approach rate: -0.193271 m/s,
      LOS rate: -0.053201 deg/s,
      cmd heading: 201.960948 deg,
      new cmd heading: 201.901070 deg.

2025-10-27T00:19:25.962Z,1761524365.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523839 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:26.092Z,1761524366.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:26.344Z,1761524366.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:26.382Z,1761524366.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:26.385Z,1761524366.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.603271 m,
      bearing: 206.625550 deg,
      approach rate: -0.176580 m/s,
      LOS rate: -0.048722 deg/s,
      cmd heading: 201.901075 deg,
      new cmd heading: 201.839134 deg.

2025-10-27T00:19:26.386Z,1761524366.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522758 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:26.596Z,1761524366.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:26.741Z,1761524366.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120994,0.966321,0.227122],[-0.988030,0.095178,0.121400],[0.095695,-0.239092,0.966270]]
2025-10-27T00:19:26.768Z,1761524366.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:26.771Z,1761524366.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:26.776Z,1761524366.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.520935 m,
      bearing: 206.605843 deg,
      approach rate: -0.211777 m/s,
      LOS rate: -0.050695 deg/s,
      cmd heading: 201.839139 deg,
      new cmd heading: 201.780010 deg.

2025-10-27T00:19:26.778Z,1761524366.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521725 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:26.848Z,1761524366.848 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:27.100Z,1761524367.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:27.142Z,1761524367.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098163,0.968227,0.230003],[-0.990773,0.073381,0.113948],[0.093450,-0.239066,0.966496]]
2025-10-27T00:19:27.159Z,1761524367.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:27.162Z,1761524367.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.433838 m,
      bearing: 206.586322 deg,
      approach rate: -0.224121 m/s,
      LOS rate: -0.050239 deg/s,
      cmd heading: 201.780003 deg,
      new cmd heading: 201.721431 deg.

2025-10-27T00:19:27.179Z,1761524367.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520703 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:27.352Z,1761524367.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:27.546Z,1761524367.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074509,0.969911,0.231776],[-0.993031,0.050883,0.106303],[0.091311,-0.238081,0.966943]]
2025-10-27T00:19:27.592Z,1761524367.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:27.594Z,1761524367.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.320068 m,
      bearing: 206.563538 deg,
      approach rate: -0.263154 m/s,
      LOS rate: -0.052710 deg/s,
      cmd heading: 201.721427 deg,
      new cmd heading: 201.653062 deg.

2025-10-27T00:19:27.596Z,1761524367.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.519510 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:27.604Z,1761524367.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:27.856Z,1761524367.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:27.952Z,1761524367.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050162,0.970960,0.233926],[-0.994735,0.027615,0.098687],[0.089361,-0.237645,0.967233]]
2025-10-27T00:19:27.970Z,1761524367.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:27.972Z,1761524367.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.215515 m,
      bearing: 206.543843 deg,
      approach rate: -0.276801 m/s,
      LOS rate: -0.052151 deg/s,
      cmd heading: 201.653057 deg,
      new cmd heading: 201.593961 deg.

2025-10-27T00:19:27.973Z,1761524367.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.518478 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:28.108Z,1761524368.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:28.354Z,1761524368.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025884,0.971089,0.237309],[-0.995842,0.004306,0.090999],[0.087347,-0.238678,0.967163]]
2025-10-27T00:19:28.360Z,1761524368.360 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:28.381Z,1761524368.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:28.388Z,1761524368.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 614.098267 m,
      bearing: 206.523036 deg,
      approach rate: -0.284619 m/s,
      LOS rate: -0.050519 deg/s,
      cmd heading: 201.593962 deg,
      new cmd heading: 201.531529 deg.

2025-10-27T00:19:28.389Z,1761524368.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517389 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:28.615Z,1761524368.615 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:28.774Z,1761524368.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001065,0.971218,0.238190],[-0.996348,-0.019305,0.083171],[0.085375,-0.237409,0.967651]]
2025-10-27T00:19:28.792Z,1761524368.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:28.794Z,1761524368.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:28.797Z,1761524368.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.970642 m,
      bearing: 206.501663 deg,
      approach rate: -0.309181 m/s,
      LOS rate: -0.051789 deg/s,
      cmd heading: 201.531534 deg,
      new cmd heading: 201.467402 deg.

2025-10-27T00:19:28.798Z,1761524368.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516269 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:28.864Z,1761524368.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:29.116Z,1761524369.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:29.161Z,1761524369.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024113,0.970138,0.241353],[-0.996215,-0.043486,0.075267],[0.083515,-0.238625,0.967514]]
2025-10-27T00:19:29.180Z,1761524369.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:29.195Z,1761524369.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.848145 m,
      bearing: 206.482310 deg,
      approach rate: -0.317243 m/s,
      LOS rate: -0.050130 deg/s,
      cmd heading: 201.467399 deg,
      new cmd heading: 201.409329 deg.

2025-10-27T00:19:29.196Z,1761524369.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.515256 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:29.371Z,1761524369.371 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:29.565Z,1761524369.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050264,0.969026,0.241790],[-0.995360,-0.068491,0.067575],[0.082043,-0.237271,0.967973]]
2025-10-27T00:19:29.613Z,1761524369.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:29.616Z,1761524369.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.719543 m,
      bearing: 206.458999 deg,
      approach rate: -0.297514 m/s,
      LOS rate: -0.053940 deg/s,
      cmd heading: 201.409329 deg,
      new cmd heading: 201.339382 deg.

2025-10-27T00:19:29.616Z,1761524369.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514035 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:29.620Z,1761524369.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:29.873Z,1761524369.873 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:29.972Z,1761524369.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076117,0.966682,0.244401],[-0.993861,-0.093293,0.059472],[0.080291,-0.238373,0.967849]]
2025-10-27T00:19:29.991Z,1761524369.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:29.994Z,1761524369.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.601746 m,
      bearing: 206.438924 deg,
      approach rate: -0.311518 m/s,
      LOS rate: -0.053100 deg/s,
      cmd heading: 201.339387 deg,
      new cmd heading: 201.279150 deg.

2025-10-27T00:19:29.995Z,1761524369.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512984 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:30.124Z,1761524370.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:30.373Z,1761524370.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101940,0.963543,0.247372],[-0.991678,-0.118084,0.051289],[0.078630,-0.240085,0.967562]]
2025-10-27T00:19:30.376Z,1761524370.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:30.393Z,1761524370.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:30.408Z,1761524370.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.470520 m,
      bearing: 206.417854 deg,
      approach rate: -0.326317 m/s,
      LOS rate: -0.052404 deg/s,
      cmd heading: 201.279145 deg,
      new cmd heading: 201.215924 deg.

2025-10-27T00:19:30.409Z,1761524370.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.511880 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:30.631Z,1761524370.631 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:30.784Z,1761524370.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127994,0.959893,0.249445],[-0.988754,-0.143118,0.043390],[0.077350,-0.241086,0.967416]]
2025-10-27T00:19:30.800Z,1761524370.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:30.802Z,1761524370.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:30.805Z,1761524370.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.330994 m,
      bearing: 206.396741 deg,
      approach rate: -0.340932 m/s,
      LOS rate: -0.051603 deg/s,
      cmd heading: 201.215925 deg,
      new cmd heading: 201.152569 deg.

2025-10-27T00:19:30.806Z,1761524370.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510775 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:30.881Z,1761524370.881 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:31.132Z,1761524371.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:31.186Z,1761524371.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154231,0.955918,0.249866],[-0.985095,-0.168267,0.035690],[0.076161,-0.240637,0.967623]]
2025-10-27T00:19:31.204Z,1761524371.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:31.207Z,1761524371.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.188110 m,
      bearing: 206.376327 deg,
      approach rate: -0.355644 m/s,
      LOS rate: -0.050824 deg/s,
      cmd heading: 201.152568 deg,
      new cmd heading: 201.091311 deg.

2025-10-27T00:19:31.208Z,1761524371.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509706 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:31.384Z,1761524371.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:31.587Z,1761524371.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179780,0.951216,0.250733],[-0.980864,-0.192703,0.027768],[0.074731,-0.240943,0.967658]]
2025-10-27T00:19:31.636Z,1761524371.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:31.658Z,1761524371.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:31.661Z,1761524371.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 613.052246 m,
      bearing: 206.353625 deg,
      approach rate: -0.298908 m/s,
      LOS rate: -0.049956 deg/s,
      cmd heading: 201.091315 deg,
      new cmd heading: 201.023194 deg.

2025-10-27T00:19:31.662Z,1761524371.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508517 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:31.892Z,1761524371.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:32.002Z,1761524372.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204699,0.945510,0.253196],[-0.976087,-0.216515,0.019402],[0.073166,-0.243170,0.967220]]
2025-10-27T00:19:32.020Z,1761524372.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:32.022Z,1761524372.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.939270 m,
      bearing: 206.335811 deg,
      approach rate: -0.312722 m/s,
      LOS rate: -0.049317 deg/s,
      cmd heading: 201.023191 deg,
      new cmd heading: 200.969741 deg.

2025-10-27T00:19:32.023Z,1761524372.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507584 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:32.140Z,1761524372.140 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:32.392Z,1761524372.392 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:32.403Z,1761524372.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229089,0.938842,0.257088],[-0.970739,-0.239886,0.011006],[0.072004,-0.247044,0.966325]]
2025-10-27T00:19:32.422Z,1761524372.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:32.440Z,1761524372.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.808533 m,
      bearing: 206.316302 deg,
      approach rate: -0.325375 m/s,
      LOS rate: -0.048566 deg/s,
      cmd heading: 200.969738 deg,
      new cmd heading: 200.911196 deg.

2025-10-27T00:19:32.441Z,1761524372.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506562 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:32.644Z,1761524372.644 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:32.808Z,1761524372.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253369,0.932446,0.257584],[-0.964773,-0.263064,0.003298],[0.070836,-0.247674,0.966250]]
2025-10-27T00:19:32.824Z,1761524372.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:32.826Z,1761524372.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:32.830Z,1761524372.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.671814 m,
      bearing: 206.296978 deg,
      approach rate: -0.337851 m/s,
      LOS rate: -0.047763 deg/s,
      cmd heading: 200.911189 deg,
      new cmd heading: 200.853205 deg.

2025-10-27T00:19:32.831Z,1761524372.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.505550 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:32.897Z,1761524372.897 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:33.148Z,1761524373.148 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:19:33.148Z,1761524373.148 [DAT](INFO): response not received
2025-10-27T00:19:33.149Z,1761524373.149 [DAT](ERROR): No response from remote modem.
2025-10-27T00:19:33.149Z,1761524373.149 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:33.149Z,1761524373.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:19:33.215Z,1761524373.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276990,0.926157,0.255951],[-0.958335,-0.285625,-0.003577],[0.069793,-0.246277,0.966683]]
2025-10-27T00:19:33.281Z,1761524373.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:33.288Z,1761524373.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.522949 m,
      bearing: 206.277002 deg,
      approach rate: -0.327037 m/s,
      LOS rate: -0.043895 deg/s,
      cmd heading: 200.853201 deg,
      new cmd heading: 200.793258 deg.

2025-10-27T00:19:33.325Z,1761524373.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.504503 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:33.401Z,1761524373.401 [DAT](INFO): DAT read: 

2025-10-27T00:19:33.402Z,1761524373.402 [DAT](INFO): DAT read: Tx time:00:19:34.7495

2025-10-27T00:19:33.402Z,1761524373.402 [DAT](INFO): Ping request sent.
2025-10-27T00:19:33.402Z,1761524373.402 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:19:33.403Z,1761524373.403 [DAT](INFO): publishing transmit ping time
2025-10-27T00:19:33.404Z,1761524373.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001306
2025-10-27T00:19:33.616Z,1761524373.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299443,0.919148,0.255931],[-0.951638,-0.307032,-0.010758],[0.068691,-0.246776,0.966635]]
2025-10-27T00:19:33.652Z,1761524373.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249852
2025-10-27T00:19:33.677Z,1761524373.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:33.688Z,1761524373.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.375854 m,
      bearing: 206.258206 deg,
      approach rate: -0.372203 m/s,
      LOS rate: -0.047572 deg/s,
      cmd heading: 200.793259 deg,
      new cmd heading: 200.736857 deg.

2025-10-27T00:19:33.689Z,1761524373.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503519 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:33.904Z,1761524373.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501558
2025-10-27T00:19:34.020Z,1761524374.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321600,0.911593,0.256069],[-0.944457,-0.328143,-0.017978],[0.067638,-0.247628,0.966491]]
2025-10-27T00:19:34.038Z,1761524374.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:34.041Z,1761524374.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.233521 m,
      bearing: 206.240856 deg,
      approach rate: -0.393898 m/s,
      LOS rate: -0.048025 deg/s,
      cmd heading: 200.736855 deg,
      new cmd heading: 200.684794 deg.

2025-10-27T00:19:34.042Z,1761524374.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.502610 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:34.157Z,1761524374.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753962
2025-10-27T00:19:34.408Z,1761524374.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005487
2025-10-27T00:19:34.423Z,1761524374.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341674,0.903747,0.257878],[-0.937465,-0.347144,-0.025502],[0.066474,-0.250465,0.965841]]
2025-10-27T00:19:34.441Z,1761524374.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:34.443Z,1761524374.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 612.079041 m,
      bearing: 206.222824 deg,
      approach rate: -0.383667 m/s,
      LOS rate: -0.044796 deg/s,
      cmd heading: 200.684796 deg,
      new cmd heading: 200.630685 deg.

2025-10-27T00:19:34.444Z,1761524374.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.501666 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:34.660Z,1761524374.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257587
2025-10-27T00:19:34.825Z,1761524374.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362209,0.896204,0.256169],[-0.929780,-0.366759,-0.031556],[0.065672,-0.249611,0.966117]]
2025-10-27T00:19:34.849Z,1761524374.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:34.851Z,1761524374.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:34.854Z,1761524374.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.917603 m,
      bearing: 206.204787 deg,
      approach rate: -0.393410 m/s,
      LOS rate: -0.043965 deg/s,
      cmd heading: 200.630687 deg,
      new cmd heading: 200.576563 deg.

2025-10-27T00:19:34.855Z,1761524374.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500721 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:34.913Z,1761524374.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510078
2025-10-27T00:19:35.164Z,1761524375.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762028
2025-10-27T00:19:35.230Z,1761524375.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381825,0.888244,0.255407],[-0.921962,-0.385423,-0.037898],[0.064777,-0.249946,0.966091]]
2025-10-27T00:19:35.282Z,1761524375.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:35.289Z,1761524375.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.751892 m,
      bearing: 206.187036 deg,
      approach rate: -0.384434 m/s,
      LOS rate: -0.041192 deg/s,
      cmd heading: 200.576565 deg,
      new cmd heading: 200.523297 deg.

2025-10-27T00:19:35.290Z,1761524375.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499792 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:35.417Z,1761524375.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014699
2025-10-27T00:19:35.638Z,1761524375.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401378,0.879673,0.255090],[-0.913665,-0.404049,-0.044273],[0.064123,-0.250837,0.965903]]
2025-10-27T00:19:35.668Z,1761524375.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265609
2025-10-27T00:19:35.722Z,1761524375.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:35.729Z,1761524375.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.573669 m,
      bearing: 206.174462 deg,
      approach rate: -0.404818 m/s,
      LOS rate: -0.028569 deg/s,
      cmd heading: 200.523303 deg,
      new cmd heading: 200.485570 deg.

2025-10-27T00:19:35.730Z,1761524375.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499133 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:35.920Z,1761524375.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517938
2025-10-27T00:19:36.040Z,1761524376.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421255,0.870520,0.254440],[-0.904698,-0.423062,-0.050405],[0.063765,-0.251425,0.965774]]
2025-10-27T00:19:36.058Z,1761524376.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:36.061Z,1761524376.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.425842 m,
      bearing: 206.164489 deg,
      approach rate: -0.439891 m/s,
      LOS rate: -0.029685 deg/s,
      cmd heading: 200.485573 deg,
      new cmd heading: 200.455646 deg.

2025-10-27T00:19:36.062Z,1761524376.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498611 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:36.172Z,1761524376.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769743
2025-10-27T00:19:36.424Z,1761524376.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021537
2025-10-27T00:19:36.442Z,1761524376.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440828,0.861350,0.252480],[-0.895339,-0.441882,-0.055750],[0.063546,-0.250631,0.965995]]
2025-10-27T00:19:36.471Z,1761524376.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:36.474Z,1761524376.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.252808 m,
      bearing: 206.153340 deg,
      approach rate: -0.419771 m/s,
      LOS rate: -0.027054 deg/s,
      cmd heading: 200.455643 deg,
      new cmd heading: 200.422187 deg.

2025-10-27T00:19:36.475Z,1761524376.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498027 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:36.676Z,1761524376.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273554
2025-10-27T00:19:36.845Z,1761524376.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460999,0.851545,0.249701],[-0.885111,-0.461430,-0.060502],[0.063699,-0.248904,0.966431]]
2025-10-27T00:19:36.865Z,1761524376.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:36.867Z,1761524376.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:36.870Z,1761524376.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 611.084290 m,
      bearing: 206.142988 deg,
      approach rate: -0.425045 m/s,
      LOS rate: -0.026118 deg/s,
      cmd heading: 200.422189 deg,
      new cmd heading: 200.391123 deg.

2025-10-27T00:19:36.871Z,1761524376.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.497485 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:36.929Z,1761524376.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526532
2025-10-27T00:19:37.180Z,1761524377.180 [DAT](INFO): DAT read: Rx Time:00:19:38.0024

2025-10-27T00:19:37.180Z,1761524377.180 [DAT](INFO): Rx dataTimestamp_ set to:1761524377.180112
2025-10-27T00:19:37.181Z,1761524377.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778605
2025-10-27T00:19:37.291Z,1761524377.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:37.294Z,1761524377.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.903687 m,
      bearing: 206.131890 deg,
      approach rate: -0.426050 m/s,
      LOS rate: -0.026187 deg/s,
      cmd heading: 200.391125 deg,
      new cmd heading: 200.357823 deg.

2025-10-27T00:19:37.295Z,1761524377.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496904 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:37.433Z,1761524377.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030364
2025-10-27T00:19:37.693Z,1761524377.693 [DAT](INFO): DAT read: 00:19:38.0024 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 353,-0.11,-1.420,-2.523,-0.485,-1.322, PHS= 0.005,-1.156, 0.793, RAW= 173.7,   4.3, CAL= 173.0,   2.5, ROT= 337.0,  -2.5

2025-10-27T00:19:37.695Z,1761524377.695 [DAT](INFO): got valid direction response:
 00:19:38.0024 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 353,-0.11,-1.420,-2.523,-0.485,-1.322, PHS= 0.005,-1.156, 0.793, RAW= 173.7,   4.3, CAL= 173.0,   2.5, ROT= 337.0,  -2.5

2025-10-27T00:19:37.696Z,1761524377.696 [DAT](INFO): DAT read: $Error in header

2025-10-27T00:19:37.696Z,1761524377.696 [DAT](INFO): Received a bad header
2025-10-27T00:19:37.711Z,1761524377.711 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:19:37.713Z,1761524377.713 [DAT](INFO): direction in FSK: [0.919629,-0.390359,0.043619]
2025-10-27T00:19:37.717Z,1761524377.717 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:37.717Z,1761524377.717 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:37.718Z,1761524377.718 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:37.804Z,1761524377.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:37.806Z,1761524377.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.689392 m,
      bearing: 206.118710 deg,
      approach rate: -0.418460 m/s,
      LOS rate: -0.025746 deg/s,
      cmd heading: 200.357821 deg,
      new cmd heading: 200.318267 deg.

2025-10-27T00:19:37.815Z,1761524377.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496213 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:37.936Z,1761524377.936 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:37.936Z,1761524377.936 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:37.936Z,1761524377.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:38.123Z,1761524378.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523005,0.817286,0.241887],[-0.849896,-0.521500,-0.075596],[0.064361,-0.245116,0.967355]]
2025-10-27T00:19:38.156Z,1761524378.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:38.159Z,1761524378.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.535950 m,
      bearing: 206.110676 deg,
      approach rate: -0.434320 m/s,
      LOS rate: -0.022748 deg/s,
      cmd heading: 200.318261 deg,
      new cmd heading: 200.294151 deg.

2025-10-27T00:19:38.160Z,1761524378.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495792 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:38.188Z,1761524378.188 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:38.188Z,1761524378.188 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:38.188Z,1761524378.188 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:38.440Z,1761524378.440 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:38.440Z,1761524378.440 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:38.440Z,1761524378.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:38.526Z,1761524378.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543966,0.804362,0.238963],[-0.836601,-0.541879,-0.080411],[0.064809,-0.243657,0.967694]]
2025-10-27T00:19:38.567Z,1761524378.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:38.570Z,1761524378.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.351013 m,
      bearing: 206.101545 deg,
      approach rate: -0.468471 m/s,
      LOS rate: -0.023138 deg/s,
      cmd heading: 200.294150 deg,
      new cmd heading: 200.266748 deg.

2025-10-27T00:19:38.583Z,1761524378.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495314 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:38.692Z,1761524378.692 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:38.692Z,1761524378.692 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:38.692Z,1761524378.692 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:38.945Z,1761524378.945 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:38.945Z,1761524378.945 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:38.945Z,1761524378.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:39.036Z,1761524379.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587018,0.775378,0.232808],[-0.806891,-0.583751,-0.090339],[0.065855,-0.240881,0.968318]]
2025-10-27T00:19:39.052Z,1761524379.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:39.054Z,1761524379.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:39.057Z,1761524379.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 610.118713 m,
      bearing: 206.091488 deg,
      approach rate: -0.461475 m/s,
      LOS rate: -0.019985 deg/s,
      cmd heading: 200.266747 deg,
      new cmd heading: 200.236566 deg.

2025-10-27T00:19:39.058Z,1761524379.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.494787 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:39.196Z,1761524379.196 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:39.196Z,1761524379.196 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:39.196Z,1761524379.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:39.437Z,1761524379.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608415,0.759429,0.230432],[-0.790844,-0.604430,-0.096076],[0.066317,-0.240689,0.968334]]
2025-10-27T00:19:39.450Z,1761524379.450 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:39.450Z,1761524379.450 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:39.451Z,1761524379.451 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:39.514Z,1761524379.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:39.524Z,1761524379.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 609.922974 m,
      bearing: 206.083597 deg,
      approach rate: -0.426269 m/s,
      LOS rate: -0.017189 deg/s,
      cmd heading: 200.236571 deg,
      new cmd heading: 200.212892 deg.

2025-10-27T00:19:39.525Z,1761524379.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.494374 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:39.700Z,1761524379.700 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:39.700Z,1761524379.700 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:39.701Z,1761524379.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:39.838Z,1761524379.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629911,0.741578,0.230813],[-0.773786,-0.624797,-0.104330],[0.066843,-0.244319,0.967388]]
2025-10-27T00:19:39.884Z,1761524379.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:39.887Z,1761524379.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 609.683838 m,
      bearing: 206.071459 deg,
      approach rate: -0.645362 m/s,
      LOS rate: -0.032770 deg/s,
      cmd heading: 200.212898 deg,
      new cmd heading: 200.176469 deg.

2025-10-27T00:19:39.888Z,1761524379.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493738 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:39.952Z,1761524379.952 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:39.952Z,1761524379.952 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:39.952Z,1761524379.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:40.204Z,1761524380.204 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:40.204Z,1761524380.204 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:40.204Z,1761524380.204 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:40.269Z,1761524380.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651172,0.723312,0.229770],[-0.755936,-0.645031,-0.111789],[0.067350,-0.246485,0.966803]]
2025-10-27T00:19:40.307Z,1761524380.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:40.310Z,1761524380.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 609.440979 m,
      bearing: 206.059938 deg,
      approach rate: -0.574482 m/s,
      LOS rate: -0.027265 deg/s,
      cmd heading: 200.176466 deg,
      new cmd heading: 200.141887 deg.

2025-10-27T00:19:40.311Z,1761524380.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493135 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:40.456Z,1761524380.456 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:40.456Z,1761524380.456 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:40.456Z,1761524380.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:40.646Z,1761524380.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672196,0.704462,0.227785],[-0.737261,-0.665083,-0.118787],[0.067815,-0.247785,0.966439]]
2025-10-27T00:19:40.682Z,1761524380.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:40.693Z,1761524380.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 609.221191 m,
      bearing: 206.050225 deg,
      approach rate: -0.586239 m/s,
      LOS rate: -0.025916 deg/s,
      cmd heading: 200.141891 deg,
      new cmd heading: 200.112742 deg.

2025-10-27T00:19:40.694Z,1761524380.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492626 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:40.709Z,1761524380.709 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:40.709Z,1761524380.709 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:40.709Z,1761524380.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:40.960Z,1761524380.960 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:40.960Z,1761524380.960 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:40.960Z,1761524380.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:41.050Z,1761524381.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692926,0.684733,0.225818],[-0.717777,-0.684735,-0.126232],[0.068190,-0.249557,0.965956]]
2025-10-27T00:19:41.077Z,1761524381.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:41.079Z,1761524381.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:41.082Z,1761524381.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 608.969299 m,
      bearing: 206.039905 deg,
      approach rate: -0.634110 m/s,
      LOS rate: -0.025991 deg/s,
      cmd heading: 200.112740 deg,
      new cmd heading: 200.081767 deg.

2025-10-27T00:19:41.084Z,1761524381.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492086 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:41.212Z,1761524381.212 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:41.212Z,1761524381.212 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:41.212Z,1761524381.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:41.504Z,1761524381.504 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:41.504Z,1761524381.504 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:41.505Z,1761524381.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:41.510Z,1761524381.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712499,0.664832,0.224374],[-0.698319,-0.703091,-0.134212],[0.068527,-0.252311,0.965217]]
2025-10-27T00:19:41.528Z,1761524381.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:41.531Z,1761524381.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 608.693665 m,
      bearing: 206.029458 deg,
      approach rate: -0.613629 m/s,
      LOS rate: -0.023267 deg/s,
      cmd heading: 200.081772 deg,
      new cmd heading: 200.050418 deg.

2025-10-27T00:19:41.532Z,1761524381.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491539 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:41.716Z,1761524381.716 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:41.716Z,1761524381.716 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:41.716Z,1761524381.716 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:41.968Z,1761524381.968 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:41.968Z,1761524381.968 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:41.968Z,1761524381.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:41.997Z,1761524381.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731334,0.645342,0.220646],[-0.678551,-0.721071,-0.140091],[0.068695,-0.252172,0.965241]]
2025-10-27T00:19:42.035Z,1761524382.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:42.038Z,1761524382.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 608.387451 m,
      bearing: 206.018745 deg,
      approach rate: -0.609061 m/s,
      LOS rate: -0.021318 deg/s,
      cmd heading: 200.050421 deg,
      new cmd heading: 200.018267 deg.

2025-10-27T00:19:42.047Z,1761524382.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.490977 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:42.221Z,1761524382.221 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:42.221Z,1761524382.221 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:42.222Z,1761524382.222 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:42.391Z,1761524382.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749214,0.625470,0.217867],[-0.658775,-0.737750,-0.147445],[0.068509,-0.253993,0.964777]]
2025-10-27T00:19:42.420Z,1761524382.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:42.423Z,1761524382.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 608.138489 m,
      bearing: 206.010740 deg,
      approach rate: -0.639528 m/s,
      LOS rate: -0.020572 deg/s,
      cmd heading: 200.018265 deg,
      new cmd heading: 199.994240 deg.

2025-10-27T00:19:42.424Z,1761524382.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.490558 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:42.472Z,1761524382.472 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:42.472Z,1761524382.472 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:42.472Z,1761524382.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:42.725Z,1761524382.725 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:42.725Z,1761524382.725 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:42.725Z,1761524382.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:42.825Z,1761524382.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767098,0.604974,0.213466],[-0.637882,-0.754709,-0.153366],[0.068322,-0.253813,0.964837]]
2025-10-27T00:19:42.843Z,1761524382.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:42.846Z,1761524382.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 607.871704 m,
      bearing: 206.002919 deg,
      approach rate: -0.631174 m/s,
      LOS rate: -0.018512 deg/s,
      cmd heading: 199.994236 deg,
      new cmd heading: 199.970762 deg.

2025-10-27T00:19:42.847Z,1761524382.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.490148 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:42.976Z,1761524382.976 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:42.976Z,1761524382.976 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:42.976Z,1761524382.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:43.228Z,1761524383.228 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:43.228Z,1761524383.228 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:43.228Z,1761524383.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:19:43.237Z,1761524383.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783413,0.585042,0.209738],[-0.617776,-0.769930,-0.159879],[0.067948,-0.254823,0.964598]]
2025-10-27T00:19:43.290Z,1761524383.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:43.301Z,1761524383.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:43.304Z,1761524383.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 607.586243 m,
      bearing: 205.995309 deg,
      approach rate: -0.623781 m/s,
      LOS rate: -0.016637 deg/s,
      cmd heading: 199.970768 deg,
      new cmd heading: 199.947927 deg.

2025-10-27T00:19:43.304Z,1761524383.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489750 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:43.482Z,1761524383.482 [DAT](INFO): Reached modem response timeout
2025-10-27T00:19:43.483Z,1761524383.483 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:43.484Z,1761524383.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:19:43.632Z,1761524383.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799084,0.565428,0.204342],[-0.597467,-0.784737,-0.164989],[0.067066,-0.253928,0.964895]]
2025-10-27T00:19:43.643Z,1761524383.643 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for beam range. Device response is::RA,  0+242.66,        +3.35,  94.08,  0.00
2025-10-27T00:19:43.658Z,1761524383.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:43.661Z,1761524383.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 607.351746 m,
      bearing: 205.989658 deg,
      approach rate: -0.655844 m/s,
      LOS rate: -0.015811 deg/s,
      cmd heading: 199.947928 deg,
      new cmd heading: 199.930968 deg.

2025-10-27T00:19:43.662Z,1761524383.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489454 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:43.733Z,1761524383.733 [DAT](INFO): DAT read: 

2025-10-27T00:19:43.734Z,1761524383.734 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:43.984Z,1761524383.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:44.034Z,1761524384.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814024,0.545233,0.200214],[-0.577056,-0.798403,-0.171929],[0.066110,-0.255489,0.964549]]
2025-10-27T00:19:44.068Z,1761524384.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:44.071Z,1761524384.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 607.087646 m,
      bearing: 205.983962 deg,
      approach rate: -0.644344 m/s,
      LOS rate: -0.013902 deg/s,
      cmd heading: 199.930961 deg,
      new cmd heading: 199.913868 deg.

2025-10-27T00:19:44.072Z,1761524384.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489155 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:44.236Z,1761524384.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:44.438Z,1761524384.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828191,0.525643,0.194422],[-0.556631,-0.811882,-0.176094],[0.065285,-0.254061,0.964982]]
2025-10-27T00:19:44.456Z,1761524384.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:44.458Z,1761524384.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 606.836609 m,
      bearing: 205.979157 deg,
      approach rate: -0.647754 m/s,
      LOS rate: -0.012404 deg/s,
      cmd heading: 199.913872 deg,
      new cmd heading: 199.899450 deg.

2025-10-27T00:19:44.459Z,1761524384.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488904 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:44.488Z,1761524384.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:44.741Z,1761524384.741 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:44.842Z,1761524384.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841704,0.506327,0.187528],[-0.536126,-0.824937,-0.179022],[0.064055,-0.251222,0.965808]]
2025-10-27T00:19:44.871Z,1761524384.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:44.873Z,1761524384.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 606.566589 m,
      bearing: 205.974626 deg,
      approach rate: -0.650670 m/s,
      LOS rate: -0.010923 deg/s,
      cmd heading: 199.899447 deg,
      new cmd heading: 199.885848 deg.

2025-10-27T00:19:44.874Z,1761524384.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488666 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:44.992Z,1761524384.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:45.246Z,1761524385.246 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:45.293Z,1761524385.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:45.295Z,1761524385.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:45.298Z,1761524385.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 606.290527 m,
      bearing: 205.969989 deg,
      approach rate: -0.650148 m/s,
      LOS rate: -0.010926 deg/s,
      cmd heading: 199.885855 deg,
      new cmd heading: 199.871936 deg.

2025-10-27T00:19:45.299Z,1761524385.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488423 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:45.498Z,1761524385.498 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:45.654Z,1761524385.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866910,0.467466,0.173040],[-0.494656,-0.849618,-0.182932],[0.061503,-0.244181,0.967777]]
2025-10-27T00:19:45.732Z,1761524385.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:45.742Z,1761524385.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 606.080261 m,
      bearing: 205.968839 deg,
      approach rate: -0.481139 m/s,
      LOS rate: -0.002632 deg/s,
      cmd heading: 199.871935 deg,
      new cmd heading: 199.868484 deg.

2025-10-27T00:19:45.748Z,1761524385.748 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:19:45.748Z,1761524385.748 [DAT](INFO): response not received
2025-10-27T00:19:45.749Z,1761524385.749 [DAT](INFO): DAT read: user:26>Tx time:00:19:47.1995

2025-10-27T00:19:45.749Z,1761524385.749 [DAT](ERROR): No response from remote modem.
2025-10-27T00:19:45.750Z,1761524385.750 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:45.750Z,1761524385.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:19:45.756Z,1761524385.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488363 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:45.000Z,1761524386.000 [DAT](INFO): DAT read: 

2025-10-27T00:19:46.000Z,1761524386.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:46.054Z,1761524386.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878001,0.448512,0.167185],[-0.474884,-0.859992,-0.186812],[0.059991,-0.243415,0.968065]]
2025-10-27T00:19:46.072Z,1761524386.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:46.074Z,1761524386.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 605.880188 m,
      bearing: 205.968176 deg,
      approach rate: -0.589250 m/s,
      LOS rate: -0.001951 deg/s,
      cmd heading: 199.868479 deg,
      new cmd heading: 199.866492 deg.

2025-10-27T00:19:46.075Z,1761524386.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488328 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:46.255Z,1761524386.255 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:46.459Z,1761524386.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888554,0.429115,0.162272],[-0.455036,-0.869393,-0.192606],[0.058428,-0.244981,0.967766]]
2025-10-27T00:19:46.483Z,1761524386.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:46.486Z,1761524386.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 605.662781 m,
      bearing: 205.967916 deg,
      approach rate: -0.528978 m/s,
      LOS rate: -0.000635 deg/s,
      cmd heading: 199.866498 deg,
      new cmd heading: 199.865715 deg.

2025-10-27T00:19:46.487Z,1761524386.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488315 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:46.505Z,1761524386.505 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:46.756Z,1761524386.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:46.862Z,1761524386.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898373,0.410302,0.156776],[-0.435579,-0.878164,-0.197734],[0.056544,-0.245928,0.967638]]
2025-10-27T00:19:46.892Z,1761524386.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:46.894Z,1761524386.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 605.446411 m,
      bearing: 205.968100 deg,
      approach rate: -0.529127 m/s,
      LOS rate: 0.000451 deg/s,
      cmd heading: 199.865719 deg,
      new cmd heading: 199.866273 deg.

2025-10-27T00:19:46.895Z,1761524386.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488325 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:47.008Z,1761524387.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:47.260Z,1761524387.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:47.269Z,1761524387.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907335,0.391954,0.152040],[-0.416858,-0.885683,-0.204439],[0.054528,-0.248874,0.967000]]
2025-10-27T00:19:47.306Z,1761524387.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:47.312Z,1761524387.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:47.314Z,1761524387.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 605.234863 m,
      bearing: 205.968689 deg,
      approach rate: -0.503408 m/s,
      LOS rate: 0.001402 deg/s,
      cmd heading: 199.866280 deg,
      new cmd heading: 199.868047 deg.

2025-10-27T00:19:47.320Z,1761524387.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488355 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:47.512Z,1761524387.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:47.672Z,1761524387.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915381,0.374918,0.146680],[-0.399118,-0.892854,-0.208605],[0.052754,-0.249495,0.966938]]
2025-10-27T00:19:47.746Z,1761524387.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:47.753Z,1761524387.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 604.991455 m,
      bearing: 205.972732 deg,
      approach rate: -0.560230 m/s,
      LOS rate: 0.009310 deg/s,
      cmd heading: 199.868042 deg,
      new cmd heading: 199.880177 deg.

2025-10-27T00:19:47.754Z,1761524387.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488567 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:47.764Z,1761524387.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:48.016Z,1761524388.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:48.074Z,1761524388.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922527,0.359713,0.139825],[-0.382559,-0.900137,-0.208333],[0.050921,-0.245684,0.968012]]
2025-10-27T00:19:48.106Z,1761524388.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:48.109Z,1761524388.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 604.769043 m,
      bearing: 205.976825 deg,
      approach rate: -0.618774 m/s,
      LOS rate: 0.011390 deg/s,
      cmd heading: 199.880172 deg,
      new cmd heading: 199.892455 deg.

2025-10-27T00:19:48.110Z,1761524388.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488781 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:48.268Z,1761524388.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:48.478Z,1761524388.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928751,0.346223,0.132481],[-0.367451,-0.907049,-0.205530],[0.049008,-0.239567,0.969642]]
2025-10-27T00:19:48.504Z,1761524388.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:48.506Z,1761524388.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 604.542664 m,
      bearing: 205.981362 deg,
      approach rate: -0.569160 m/s,
      LOS rate: 0.011412 deg/s,
      cmd heading: 199.892453 deg,
      new cmd heading: 199.906070 deg.

2025-10-27T00:19:48.520Z,1761524388.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:48.527Z,1761524388.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489019 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:48.772Z,1761524388.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:48.882Z,1761524388.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934161,0.334297,0.124856],[-0.353751,-0.913535,-0.200782],[0.046939,-0.231730,0.971647]]
2025-10-27T00:19:48.906Z,1761524388.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:48.910Z,1761524388.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 604.314087 m,
      bearing: 205.986285 deg,
      approach rate: -0.567334 m/s,
      LOS rate: 0.012223 deg/s,
      cmd heading: 199.906072 deg,
      new cmd heading: 199.920845 deg.

2025-10-27T00:19:48.911Z,1761524388.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489277 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:49.024Z,1761524389.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:49.277Z,1761524389.277 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:49.287Z,1761524389.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938846,0.323316,0.118469],[-0.341363,-0.919038,-0.197078],[0.045159,-0.225467,0.973204]]
2025-10-27T00:19:49.334Z,1761524389.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:49.337Z,1761524389.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:49.339Z,1761524389.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 604.083191 m,
      bearing: 205.991569 deg,
      approach rate: -0.536735 m/s,
      LOS rate: 0.012288 deg/s,
      cmd heading: 199.920839 deg,
      new cmd heading: 199.936697 deg.

2025-10-27T00:19:49.340Z,1761524389.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489554 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:49.528Z,1761524389.528 [DAT](INFO): DAT read: Rx Time:00:19:50.4436

2025-10-27T00:19:49.528Z,1761524389.528 [DAT](INFO): Rx dataTimestamp_ set to:1761524389.528161
2025-10-27T00:19:49.529Z,1761524389.529 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:49.694Z,1761524389.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942620,0.314292,0.112638],[-0.331042,-0.923637,-0.193146],[0.043332,-0.219351,0.974683]]
2025-10-27T00:19:49.780Z,1761524389.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:19:49.775Z,1761524389.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.62 m.
2025-10-27T00:19:49.787Z,1761524389.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.617981 m,
      nav range: 603.823303 m,
      bearing: 205.997182 deg,
      approach rate: -0.593413 m/s,
      LOS rate: 0.012823 deg/s,
      cmd heading: 199.936699 deg,
      new cmd heading: 199.953547 deg.

2025-10-27T00:19:49.788Z,1761524389.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.489848 target range: 623.617981 and range: 625.90 m.
2025-10-27T00:19:50.050Z,1761524390.050 [DAT](INFO): DAT read: 00:19:50.4436 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 374, 0.44, 0.353,-1.403, 0.113,-0.174, PHS= 0.629,-1.184, 0.243, RAW= 138.3,   3.8, CAL= 138.3,   4.6, ROT=  11.7,  -4.6

2025-10-27T00:19:50.051Z,1761524390.051 [DAT](INFO): got valid direction response:
 00:19:50.4436 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 374, 0.44, 0.353,-1.403, 0.113,-0.174, PHS= 0.629,-1.184, 0.243, RAW= 138.3,   3.8, CAL= 138.3,   4.6, ROT=  11.7,  -4.6

2025-10-27T00:19:50.052Z,1761524390.052 [DAT](INFO): DAT read: Bearing  12.3,  12.6 (Local)

2025-10-27T00:19:50.052Z,1761524390.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.3,  12.6 (Local)

2025-10-27T00:19:50.054Z,1761524390.054 [DAT](INFO): DAT read: Range 11 to 50 : 630.0 m  (Round-trip  840.0 ms) speed  0.7 m/s

2025-10-27T00:19:50.055Z,1761524390.055 [DAT](INFO): DAT read: Tx time:00:19:51.5026

2025-10-27T00:19:50.056Z,1761524390.056 [DAT](INFO): Ping request sent.
2025-10-27T00:19:50.056Z,1761524390.056 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:19:50.056Z,1761524390.056 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:19:50.057Z,1761524390.057 [DAT](INFO): direction in FSK: [0.976069,0.202134,0.080199]
2025-10-27T00:19:50.057Z,1761524390.057 [DAT](INFO): publishing transmit ping time
2025-10-27T00:19:50.058Z,1761524390.058 [DAT](INFO): publishing direction and range info
2025-10-27T00:19:50.074Z,1761524390.074 [DAT](INFO): publishing transmit ping time
2025-10-27T00:19:50.075Z,1761524390.075 [DAT](INFO): publishing direction and range info
2025-10-27T00:19:50.094Z,1761524390.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945300,0.307878,0.107789],[-0.323565,-0.926917,-0.190081],[0.041389,-0.214560,0.975833]]
2025-10-27T00:19:50.156Z,1761524390.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 630.000000 m,
      deltaT: 53.956035 s,
      deltaX: 4.099976 m,
      approachRate: 0.075987 m/s,
      rangeRepo size: 3

2025-10-27T00:19:50.158Z,1761524390.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 627.717834 m,
      bearing: 211.325726 deg,
      lat: 36.779416 deg,
      lon: -121.859351 deg,
      deltaT: 53.956035 s,
      deltaX: 4.099854 m,
      approachRate: 0.075985 m/s,
      posRepo size: 3

2025-10-27T00:19:50.159Z,1761524390.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:50.165Z,1761524390.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 602.478943 m,
      bearing: 207.426904 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012823 deg/s,
      cmd heading: 199.953542 deg,
      new cmd heading: 199.968027 deg.

2025-10-27T00:19:50.166Z,1761524390.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.490100 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:50.498Z,1761524390.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947320,0.303125,0.103440],[-0.317859,-0.929457,-0.187285],[0.039372,-0.210298,0.976844]]
2025-10-27T00:19:50.524Z,1761524390.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:50.527Z,1761524390.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 602.251404 m,
      bearing: 207.432704 deg,
      approach rate: -0.610324 m/s,
      LOS rate: 0.015564 deg/s,
      cmd heading: 199.968022 deg,
      new cmd heading: 199.985429 deg.

2025-10-27T00:19:50.528Z,1761524390.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.490404 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:50.906Z,1761524390.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948673,0.300211,0.099461],[-0.313995,-0.931652,-0.182844],[0.037771,-0.204689,0.978098]]
2025-10-27T00:19:50.940Z,1761524390.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:50.942Z,1761524390.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 602.017578 m,
      bearing: 207.438751 deg,
      approach rate: -0.562131 m/s,
      LOS rate: 0.014542 deg/s,
      cmd heading: 199.985425 deg,
      new cmd heading: 200.003572 deg.

2025-10-27T00:19:50.952Z,1761524390.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.490721 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:51.306Z,1761524391.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949570,0.298711,0.095335],[-0.311451,-0.933711,-0.176584],[0.036268,-0.197371,0.979658]]
2025-10-27T00:19:51.337Z,1761524391.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:51.340Z,1761524391.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:51.342Z,1761524391.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 601.775085 m,
      bearing: 207.445071 deg,
      approach rate: -0.606577 m/s,
      LOS rate: 0.015817 deg/s,
      cmd heading: 200.003566 deg,
      new cmd heading: 200.022536 deg.

2025-10-27T00:19:51.343Z,1761524391.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491052 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:51.545Z,1761524391.545 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:51.546Z,1761524391.546 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:51.546Z,1761524391.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:19:51.725Z,1761524391.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949958,0.298611,0.091715],[-0.310412,-0.935265,-0.170068],[0.034994,-0.190027,0.981155]]
2025-10-27T00:19:51.781Z,1761524391.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:51.784Z,1761524391.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 601.518433 m,
      bearing: 207.449476 deg,
      approach rate: -0.581507 m/s,
      LOS rate: 0.009985 deg/s,
      cmd heading: 200.022541 deg,
      new cmd heading: 200.035762 deg.

2025-10-27T00:19:51.785Z,1761524391.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491283 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:51.797Z,1761524391.797 [DAT](INFO): DAT read: user:27>

2025-10-27T00:19:51.798Z,1761524391.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742056
2025-10-27T00:19:52.049Z,1761524392.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992620
2025-10-27T00:19:52.126Z,1761524392.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949990,0.299691,0.087772],[-0.310474,-0.936604,-0.162416],[0.033533,-0.181545,0.982811]]
2025-10-27T00:19:52.144Z,1761524392.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:52.147Z,1761524392.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 601.303833 m,
      bearing: 207.453132 deg,
      approach rate: -0.590907 m/s,
      LOS rate: 0.010070 deg/s,
      cmd heading: 200.035764 deg,
      new cmd heading: 200.046735 deg.

2025-10-27T00:19:52.148Z,1761524392.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491474 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:52.300Z,1761524392.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244129
2025-10-27T00:19:52.526Z,1761524392.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949634,0.301851,0.084151],[-0.311708,-0.937480,-0.154823],[0.032156,-0.173256,0.984352]]
2025-10-27T00:19:52.544Z,1761524392.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:52.546Z,1761524392.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 601.069336 m,
      bearing: 207.457068 deg,
      approach rate: -0.586674 m/s,
      LOS rate: 0.009850 deg/s,
      cmd heading: 200.046733 deg,
      new cmd heading: 200.058544 deg.

2025-10-27T00:19:52.548Z,1761524392.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491680 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:52.552Z,1761524392.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496120
2025-10-27T00:19:52.804Z,1761524392.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748060
2025-10-27T00:19:52.930Z,1761524392.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949243,0.304151,0.080189],[-0.313055,-0.938309,-0.146874],[0.030570,-0.164523,0.985899]]
2025-10-27T00:19:52.959Z,1761524392.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:52.961Z,1761524392.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 600.826294 m,
      bearing: 207.461080 deg,
      approach rate: -0.586142 m/s,
      LOS rate: 0.009680 deg/s,
      cmd heading: 200.058549 deg,
      new cmd heading: 200.070591 deg.

2025-10-27T00:19:52.962Z,1761524392.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491891 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:53.056Z,1761524393.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000198
2025-10-27T00:19:53.308Z,1761524393.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251854
2025-10-27T00:19:53.334Z,1761524393.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948719,0.306747,0.076409],[-0.314802,-0.938800,-0.139838],[0.028838,-0.156721,0.987222]]
2025-10-27T00:19:53.353Z,1761524393.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:53.356Z,1761524393.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:53.358Z,1761524393.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 600.593872 m,
      bearing: 207.464850 deg,
      approach rate: -0.585320 m/s,
      LOS rate: 0.009497 deg/s,
      cmd heading: 200.070598 deg,
      new cmd heading: 200.081911 deg.

2025-10-27T00:19:53.367Z,1761524393.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492088 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:53.560Z,1761524393.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503987
2025-10-27T00:19:53.741Z,1761524393.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948428,0.308610,0.072414],[-0.315822,-0.939549,-0.132302],[0.027207,-0.148349,0.988561]]
2025-10-27T00:19:53.743Z,1761524393.743 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:19:53.793Z,1761524393.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:53.812Z,1761524393.812 [DAT](INFO): DAT read: Rx Time:00:19:54.7443

2025-10-27T00:19:53.812Z,1761524393.812 [DAT](INFO): Rx dataTimestamp_ set to:1761524393.812172
2025-10-27T00:19:53.813Z,1761524393.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757126
2025-10-27T00:19:53.816Z,1761524393.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 600.319946 m,
      bearing: 207.465321 deg,
      approach rate: -0.626630 m/s,
      LOS rate: 0.001079 deg/s,
      cmd heading: 200.081909 deg,
      new cmd heading: 200.083323 deg.

2025-10-27T00:19:53.817Z,1761524393.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492113 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:54.064Z,1761524394.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007987
2025-10-27T00:19:54.142Z,1761524394.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947852,0.311065,0.069393],[-0.317670,-0.939674,-0.126878],[0.025740,-0.142306,0.989488]]
2025-10-27T00:19:54.172Z,1761524394.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 627.72 m.
2025-10-27T00:19:54.174Z,1761524394.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 627.717834 m,
      nav range: 600.085571 m,
      bearing: 207.465667 deg,
      approach rate: -0.618448 m/s,
      LOS rate: 0.000912 deg/s,
      cmd heading: 200.083329 deg,
      new cmd heading: 200.084367 deg.

2025-10-27T00:19:54.180Z,1761524394.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492131 target range: 627.717834 and range: 630.00 m.
2025-10-27T00:19:54.329Z,1761524394.329 [DAT](INFO): DAT read: 00:19:54.7443 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 157,-0.08, 2.195, 0.175, 1.974, 1.443, PHS= 0.854,-1.224, 0.487, RAW= 140.5,  -1.2, CAL= 140.5,  -1.0, ROT=   9.5,   1.0

2025-10-27T00:19:54.331Z,1761524394.331 [DAT](INFO): got valid direction response:
 00:19:54.7443 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 157,-0.08, 2.195, 0.175, 1.974, 1.443, PHS= 0.854,-1.224, 0.487, RAW= 140.5,  -1.2, CAL= 140.5,  -1.0, ROT=   9.5,   1.0

2025-10-27T00:19:54.332Z,1761524394.332 [DAT](INFO): DAT read: Bearing   4.4,  10.8 (Local)

2025-10-27T00:19:54.332Z,1761524394.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,  10.8 (Local)

2025-10-27T00:19:54.334Z,1761524394.334 [DAT](INFO): DAT read: Range 11 to 50 : 628.1 m  (Round-trip  837.5 ms) speed  0.0 m/s

2025-10-27T00:19:54.334Z,1761524394.334 [DAT](INFO): DAT read: Tx time:00:19:55.8026

2025-10-27T00:19:54.339Z,1761524394.339 [DAT](INFO): Ping request sent.
2025-10-27T00:19:54.340Z,1761524394.340 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:19:54.340Z,1761524394.340 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:19:54.341Z,1761524394.341 [DAT](INFO): direction in FSK: [0.986135,0.165022,-0.017452]
2025-10-27T00:19:54.342Z,1761524394.342 [DAT](INFO): publishing transmit ping time
2025-10-27T00:19:54.342Z,1761524394.342 [DAT](INFO): publishing direction and range info
2025-10-27T00:19:54.350Z,1761524394.350 [DAT](INFO): publishing transmit ping time
2025-10-27T00:19:54.350Z,1761524394.350 [DAT](INFO): publishing direction and range info
2025-10-27T00:19:54.555Z,1761524394.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947434,0.312981,0.066427],[-0.319028,-0.939885,-0.121812],[0.024309,-0.136601,0.990328]]
2025-10-27T00:19:54.579Z,1761524394.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 628.099976 m,
      deltaT: 4.284421 s,
      deltaX: -1.900024 m,
      approachRate: -0.443473 m/s,
      rangeRepo size: 4

2025-10-27T00:19:54.581Z,1761524394.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 625.823242 m,
      bearing: 207.881185 deg,
      lat: 36.779307 deg,
      lon: -121.859530 deg,
      deltaT: 4.284421 s,
      deltaX: -1.894592 m,
      approachRate: -0.442205 m/s,
      posRepo size: 4

2025-10-27T00:19:54.582Z,1761524394.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:54.585Z,1761524394.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 618.025635 m,
      bearing: 208.262412 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000912 deg/s,
      cmd heading: 200.084368 deg,
      new cmd heading: 200.085481 deg.

2025-10-27T00:19:54.586Z,1761524394.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492150 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:54.749Z,1761524394.749 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:19:55.021Z,1761524395.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946850,0.315686,0.061780],[-0.320940,-0.940069,-0.115181],[0.021716,-0.128887,0.991421]]
2025-10-27T00:19:55.046Z,1761524395.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:55.049Z,1761524395.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 617.727478 m,
      bearing: 208.263089 deg,
      approach rate: -0.638009 m/s,
      LOS rate: 0.001450 deg/s,
      cmd heading: 200.085474 deg,
      new cmd heading: 200.087507 deg.

2025-10-27T00:19:55.050Z,1761524395.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492186 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:55.520Z,1761524395.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946637,0.316770,0.059461],[-0.321658,-0.940186,-0.112191],[0.020366,-0.125331,0.991906]]
2025-10-27T00:19:55.570Z,1761524395.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:55.573Z,1761524395.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:55.576Z,1761524395.576 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:19:55.576Z,1761524395.576 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:19:55.576Z,1761524395.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:19:55.579Z,1761524395.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 617.384705 m,
      bearing: 208.263862 deg,
      approach rate: -0.650809 m/s,
      LOS rate: 0.001468 deg/s,
      cmd heading: 200.087509 deg,
      new cmd heading: 200.089828 deg.

2025-10-27T00:19:55.580Z,1761524395.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492226 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:55.828Z,1761524395.828 [DAT](INFO): DAT read: user:28>

2025-10-27T00:19:55.828Z,1761524395.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489138
2025-10-27T00:19:55.983Z,1761524395.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946317,0.317895,0.058530],[-0.322658,-0.939853,-0.112106],[0.019372,-0.124973,0.991971]]
2025-10-27T00:19:56.002Z,1761524396.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:56.005Z,1761524396.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 617.103943 m,
      bearing: 208.264468 deg,
      approach rate: -0.653694 m/s,
      LOS rate: 0.001413 deg/s,
      cmd heading: 200.089832 deg,
      new cmd heading: 200.091652 deg.

2025-10-27T00:19:56.006Z,1761524396.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492258 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:56.081Z,1761524396.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741671
2025-10-27T00:19:56.332Z,1761524396.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992545
2025-10-27T00:19:56.421Z,1761524396.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:56.428Z,1761524396.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 616.830688 m,
      bearing: 208.265059 deg,
      approach rate: -0.652216 m/s,
      LOS rate: 0.001410 deg/s,
      cmd heading: 200.091648 deg,
      new cmd heading: 200.093421 deg.

2025-10-27T00:19:56.429Z,1761524396.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492289 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:56.584Z,1761524396.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244651
2025-10-27T00:19:56.792Z,1761524396.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945685,0.320002,0.057255],[-0.324609,-0.939052,-0.113178],[0.017549,-0.125616,0.991924]]
2025-10-27T00:19:56.809Z,1761524396.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:56.816Z,1761524396.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 616.577454 m,
      bearing: 208.265559 deg,
      approach rate: -0.652059 m/s,
      LOS rate: 0.001287 deg/s,
      cmd heading: 200.093424 deg,
      new cmd heading: 200.094923 deg.

2025-10-27T00:19:56.817Z,1761524396.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492315 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:56.840Z,1761524396.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500704
2025-10-27T00:19:57.092Z,1761524397.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752606
2025-10-27T00:19:57.198Z,1761524397.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945387,0.320900,0.057147],[-0.325514,-0.938559,-0.114663],[0.016840,-0.127003,0.991759]]
2025-10-27T00:19:57.236Z,1761524397.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:57.238Z,1761524397.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 616.300049 m,
      bearing: 208.266081 deg,
      approach rate: -0.652097 m/s,
      LOS rate: 0.001229 deg/s,
      cmd heading: 200.094927 deg,
      new cmd heading: 200.096496 deg.

2025-10-27T00:19:57.239Z,1761524397.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492343 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:57.344Z,1761524397.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005051
2025-10-27T00:19:57.596Z,1761524397.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256709
2025-10-27T00:19:57.600Z,1761524397.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945176,0.321550,0.056986],[-0.326144,-0.938299,-0.115004],[0.016491,-0.127285,0.991729]]
2025-10-27T00:19:57.656Z,1761524397.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:19:57.658Z,1761524397.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:57.661Z,1761524397.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 616.046631 m,
      bearing: 208.268838 deg,
      approach rate: -0.598981 m/s,
      LOS rate: 0.006518 deg/s,
      cmd heading: 200.096498 deg,
      new cmd heading: 200.104771 deg.

2025-10-27T00:19:57.662Z,1761524397.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492487 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:57.851Z,1761524397.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511446
2025-10-27T00:19:58.002Z,1761524398.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944903,0.322376,0.056853],[-0.326952,-0.937981,-0.115299],[0.016157,-0.127534,0.991703]]
2025-10-27T00:19:58.020Z,1761524398.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:58.023Z,1761524398.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 615.828369 m,
      bearing: 208.271196 deg,
      approach rate: -0.602482 m/s,
      LOS rate: 0.006511 deg/s,
      cmd heading: 200.104776 deg,
      new cmd heading: 200.111853 deg.

2025-10-27T00:19:58.040Z,1761524398.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492611 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:58.101Z,1761524398.101 [DAT](INFO): DAT read: Rx Time:00:19:59.0407

2025-10-27T00:19:58.101Z,1761524398.101 [DAT](INFO): Rx dataTimestamp_ set to:1761524398.100889
2025-10-27T00:19:58.102Z,1761524398.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762715
2025-10-27T00:19:58.352Z,1761524398.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012592
2025-10-27T00:19:58.408Z,1761524398.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944564,0.323384,0.056760],[-0.327946,-0.937591,-0.115647],[0.015820,-0.127850,0.991667]]
2025-10-27T00:19:58.426Z,1761524398.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.82 m.
2025-10-27T00:19:58.429Z,1761524398.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 625.823242 m,
      nav range: 615.584412 m,
      bearing: 208.273809 deg,
      approach rate: -0.600628 m/s,
      LOS rate: 0.006437 deg/s,
      cmd heading: 200.111852 deg,
      new cmd heading: 200.119695 deg.

2025-10-27T00:19:58.430Z,1761524398.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492748 target range: 625.823242 and range: 628.10 m.
2025-10-27T00:19:58.610Z,1761524398.610 [DAT](INFO): DAT read: 00:19:59.0407 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 152,-0.16, 1.873, 0.172, 1.698, 1.496, PHS= 0.479,-1.279, 0.158, RAW= 140.1,   8.0, CAL= 139.7,   8.8, ROT=  10.3,  -8.8

2025-10-27T00:19:58.612Z,1761524398.612 [DAT](INFO): got valid direction response:
 00:19:59.0407 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 152,-0.16, 1.873, 0.172, 1.698, 1.496, PHS= 0.479,-1.279, 0.158, RAW= 140.1,   8.0, CAL= 139.7,   8.8, ROT=  10.3,  -8.8

2025-10-27T00:19:58.613Z,1761524398.613 [DAT](INFO): DAT read: Bearing  15.0,   9.7 (Local)

2025-10-27T00:19:58.613Z,1761524398.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.0,   9.7 (Local)

2025-10-27T00:19:58.636Z,1761524398.636 [DAT](INFO): DAT read: Range 11 to 50 : 625.4 m  (Round-trip  833.9 ms) speed  0.4 m/s

2025-10-27T00:19:58.637Z,1761524398.637 [DAT](INFO): DAT read: Tx time:00:20:00.1041

2025-10-27T00:19:58.638Z,1761524398.638 [DAT](INFO): Ping request sent.
2025-10-27T00:19:58.638Z,1761524398.638 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:19:58.638Z,1761524398.638 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:19:58.640Z,1761524398.640 [DAT](INFO): direction in FSK: [0.972303,0.176697,0.152986]
2025-10-27T00:19:58.640Z,1761524398.640 [DAT](INFO): publishing transmit ping time
2025-10-27T00:19:58.641Z,1761524398.641 [DAT](INFO): publishing direction and range info
2025-10-27T00:19:58.688Z,1761524398.688 [DAT](INFO): publishing transmit ping time
2025-10-27T00:19:58.688Z,1761524398.688 [DAT](INFO): publishing direction and range info
2025-10-27T00:19:58.809Z,1761524398.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944002,0.325017,0.056782],[-0.329579,-0.936950,-0.116200],[0.015435,-0.128408,0.991601]]
2025-10-27T00:19:58.860Z,1761524398.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 625.400024 m,
      deltaT: 4.288462 s,
      deltaX: -2.699951 m,
      approachRate: -0.629585 m/s,
      rangeRepo size: 4

2025-10-27T00:19:58.862Z,1761524398.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 623.131653 m,
      bearing: 210.603320 deg,
      lat: 36.779307 deg,
      lon: -121.859611 deg,
      deltaT: 4.288462 s,
      deltaX: -2.691589 m,
      approachRate: -0.627635 m/s,
      posRepo size: 4

2025-10-27T00:19:58.867Z,1761524398.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:19:58.870Z,1761524398.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 618.792786 m,
      bearing: 208.864981 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006437 deg/s,
      cmd heading: 200.119693 deg,
      new cmd heading: 200.127975 deg.

2025-10-27T00:19:58.875Z,1761524398.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492892 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:19:59.222Z,1761524399.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943329,0.326940,0.056922],[-0.331519,-0.936154,-0.117096],[0.015005,-0.129331,0.991488]]
2025-10-27T00:19:59.257Z,1761524399.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:19:59.267Z,1761524399.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 618.546631 m,
      bearing: 208.867753 deg,
      approach rate: -0.611987 m/s,
      LOS rate: 0.006896 deg/s,
      cmd heading: 200.127971 deg,
      new cmd heading: 200.136293 deg.

2025-10-27T00:19:59.268Z,1761524399.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493037 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:19:59.620Z,1761524399.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942681,0.328751,0.057227],[-0.333366,-0.935409,-0.117799],[0.014804,-0.130124,0.991387]]
2025-10-27T00:19:59.657Z,1761524399.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:19:59.676Z,1761524399.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 618.276978 m,
      bearing: 208.871960 deg,
      approach rate: -0.674358 m/s,
      LOS rate: 0.010525 deg/s,
      cmd heading: 200.136291 deg,
      new cmd heading: 200.148917 deg.

2025-10-27T00:19:59.677Z,1761524399.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493258 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:20:00.057Z,1761524400.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941865,0.331010,0.057649],[-0.335676,-0.934470,-0.118692],[0.014583,-0.131144,0.991256]]
2025-10-27T00:20:00.073Z,1761524400.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:00.075Z,1761524400.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:20:00.078Z,1761524400.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 618.005798 m,
      bearing: 208.876127 deg,
      approach rate: -0.648442 m/s,
      LOS rate: 0.009968 deg/s,
      cmd heading: 200.148913 deg,
      new cmd heading: 200.161418 deg.

2025-10-27T00:20:00.079Z,1761524400.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493476 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:20:00.116Z,1761524400.116 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:00.116Z,1761524400.116 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:00.116Z,1761524400.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:00.368Z,1761524400.368 [DAT](INFO): DAT read: user:29>

2025-10-27T00:20:00.369Z,1761524400.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730666
2025-10-27T00:20:00.459Z,1761524400.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941065,0.333207,0.058050],[-0.337921,-0.933551,-0.119549],[0.014358,-0.132120,0.991130]]
2025-10-27T00:20:00.491Z,1761524400.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:20:00.494Z,1761524400.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 617.736084 m,
      bearing: 208.880211 deg,
      approach rate: -0.649149 m/s,
      LOS rate: 0.009834 deg/s,
      cmd heading: 200.161412 deg,
      new cmd heading: 200.173670 deg.

2025-10-27T00:20:00.495Z,1761524400.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493690 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:20:00.620Z,1761524400.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982013
2025-10-27T00:20:00.872Z,1761524400.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233960
2025-10-27T00:20:00.920Z,1761524400.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940340,0.335181,0.058438],[-0.339942,-0.932715,-0.120340],[0.014170,-0.133025,0.991011]]
2025-10-27T00:20:00.959Z,1761524400.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:20:00.962Z,1761524400.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 617.445007 m,
      bearing: 208.884560 deg,
      approach rate: -0.627568 m/s,
      LOS rate: 0.009381 deg/s,
      cmd heading: 200.173665 deg,
      new cmd heading: 200.186719 deg.

2025-10-27T00:20:00.963Z,1761524400.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.493917 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:20:01.124Z,1761524401.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486345
2025-10-27T00:20:01.321Z,1761524401.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939564,0.337267,0.058913],[-0.342088,-0.931812,-0.121253],[0.014002,-0.134078,0.990872]]
2025-10-27T00:20:01.358Z,1761524401.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:20:01.361Z,1761524401.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 617.176636 m,
      bearing: 208.888512 deg,
      approach rate: -0.664816 m/s,
      LOS rate: 0.009795 deg/s,
      cmd heading: 200.186725 deg,
      new cmd heading: 200.198586 deg.

2025-10-27T00:20:01.362Z,1761524401.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.494124 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:20:01.376Z,1761524401.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738152
2025-10-27T00:20:01.628Z,1761524401.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990015
2025-10-27T00:20:01.784Z,1761524401.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938809,0.339286,0.059347],[-0.344163,-0.930909,-0.122311],[0.013748,-0.135252,0.990716]]
2025-10-27T00:20:01.849Z,1761524401.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:20:01.860Z,1761524401.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 616.868225 m,
      bearing: 208.895816 deg,
      approach rate: -0.628651 m/s,
      LOS rate: 0.014895 deg/s,
      cmd heading: 200.198582 deg,
      new cmd heading: 200.220505 deg.

2025-10-27T00:20:01.861Z,1761524401.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.494507 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:20:01.880Z,1761524401.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242123
2025-10-27T00:20:02.133Z,1761524402.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495167
2025-10-27T00:20:02.205Z,1761524402.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938045,0.341271,0.060052],[-0.346240,-0.930013,-0.123265],[0.013782,-0.136421,0.990555]]
2025-10-27T00:20:02.227Z,1761524402.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:02.229Z,1761524402.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:20:02.244Z,1761524402.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 616.622620 m,
      bearing: 208.901584 deg,
      approach rate: -0.645571 m/s,
      LOS rate: 0.015166 deg/s,
      cmd heading: 200.220507 deg,
      new cmd heading: 200.237817 deg.

2025-10-27T00:20:02.245Z,1761524402.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.494809 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:20:02.384Z,1761524402.384 [DAT](INFO): DAT read: Rx Time:00:20:03.3383

2025-10-27T00:20:02.384Z,1761524402.384 [DAT](INFO): Rx dataTimestamp_ set to:1761524402.384193
2025-10-27T00:20:02.385Z,1761524402.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747149
2025-10-27T00:20:02.636Z,1761524402.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998086
2025-10-27T00:20:02.643Z,1761524402.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 623.13 m.
2025-10-27T00:20:02.646Z,1761524402.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 623.131653 m,
      nav range: 616.373047 m,
      bearing: 208.907448 deg,
      approach rate: -0.603804 m/s,
      LOS rate: 0.014193 deg/s,
      cmd heading: 200.237815 deg,
      new cmd heading: 200.255414 deg.

2025-10-27T00:20:02.647Z,1761524402.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495116 target range: 623.131653 and range: 625.40 m.
2025-10-27T00:20:02.894Z,1761524402.894 [DAT](INFO): DAT read: 00:20:03.3383 LVL= 24368, 32753, 31186, 32755, AGC= 81, IDX= 144, 0.32, 1.828, 0.108, 1.652, 1.424, PHS= 0.506,-1.271, 0.184, RAW= 140.2,   7.1, CAL= 139.9,   7.9, ROT=  10.1,  -7.9

2025-10-27T00:20:02.895Z,1761524402.895 [DAT](INFO): got valid direction response:
 00:20:03.3383 LVL= 24368, 32753, 31186, 32755, AGC= 81, IDX= 144, 0.32, 1.828, 0.108, 1.652, 1.424, PHS= 0.506,-1.271, 0.184, RAW= 140.2,   7.1, CAL= 139.9,   7.9, ROT=  10.1,  -7.9

2025-10-27T00:20:02.896Z,1761524402.896 [DAT](INFO): DAT read: Bearing  14.6,   9.5 (Local)

2025-10-27T00:20:02.896Z,1761524402.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.6,   9.5 (Local)

2025-10-27T00:20:02.898Z,1761524402.898 [DAT](INFO): DAT read: Range 11 to 50 : 622.5 m  (Round-trip  830.0 ms) speed  0.3 m/s

2025-10-27T00:20:02.899Z,1761524402.899 [DAT](INFO): DAT read: Tx time:00:20:04.4010

2025-10-27T00:20:02.899Z,1761524402.899 [DAT](INFO): Ping request sent.
2025-10-27T00:20:02.899Z,1761524402.899 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:02.900Z,1761524402.900 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:02.901Z,1761524402.901 [DAT](INFO): direction in FSK: [0.975160,0.173702,0.137445]
2025-10-27T00:20:02.901Z,1761524402.901 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:02.901Z,1761524402.901 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:02.904Z,1761524402.904 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:02.905Z,1761524402.905 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:03.064Z,1761524403.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 622.500000 m,
      deltaT: 4.283108 s,
      deltaX: -2.900024 m,
      approachRate: -0.677084 m/s,
      rangeRepo size: 4

2025-10-27T00:20:03.066Z,1761524403.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 620.240845 m,
      bearing: 211.350118 deg,
      lat: 36.779407 deg,
      lon: -121.859782 deg,
      deltaT: 4.283108 s,
      deltaX: -2.890808 m,
      approachRate: -0.674932 m/s,
      posRepo size: 4

2025-10-27T00:20:03.067Z,1761524403.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:03.073Z,1761524403.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 613.975830 m,
      bearing: 210.661535 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014193 deg/s,
      cmd heading: 200.255409 deg,
      new cmd heading: 200.272965 deg.

2025-10-27T00:20:03.074Z,1761524403.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495423 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:03.506Z,1761524403.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:03.514Z,1761524403.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 613.716553 m,
      bearing: 210.668452 deg,
      approach rate: -0.577076 m/s,
      LOS rate: 0.015403 deg/s,
      cmd heading: 200.272963 deg,
      new cmd heading: 200.293724 deg.

2025-10-27T00:20:03.515Z,1761524403.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.495785 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:03.827Z,1761524403.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935630,0.346613,0.066750],[-0.352534,-0.927107,-0.127252],[0.017777,-0.142592,0.989622]]
2025-10-27T00:20:03.893Z,1761524403.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:03.897Z,1761524403.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 613.424561 m,
      bearing: 210.675076 deg,
      approach rate: -0.751997 m/s,
      LOS rate: 0.017067 deg/s,
      cmd heading: 200.293726 deg,
      new cmd heading: 200.313607 deg.

2025-10-27T00:20:03.897Z,1761524403.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496132 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:04.219Z,1761524404.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935368,0.347104,0.067862],[-0.353177,-0.926877,-0.127137],[0.018770,-0.142888,0.989561]]
2025-10-27T00:20:04.235Z,1761524404.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:04.237Z,1761524404.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:04.240Z,1761524404.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 613.195740 m,
      bearing: 210.680257 deg,
      approach rate: -0.663770 m/s,
      LOS rate: 0.015034 deg/s,
      cmd heading: 200.313602 deg,
      new cmd heading: 200.329150 deg.

2025-10-27T00:20:04.241Z,1761524404.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496403 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:04.400Z,1761524404.400 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:04.400Z,1761524404.400 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:04.400Z,1761524404.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:04.614Z,1761524404.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935151,0.347489,0.068881],[-0.353699,-0.926717,-0.126860],[0.019751,-0.142996,0.989526]]
2025-10-27T00:20:04.641Z,1761524404.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:04.647Z,1761524404.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 612.933105 m,
      bearing: 210.686193 deg,
      approach rate: -0.651528 m/s,
      LOS rate: 0.014733 deg/s,
      cmd heading: 200.329148 deg,
      new cmd heading: 200.346965 deg.

2025-10-27T00:20:04.648Z,1761524404.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496714 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:04.652Z,1761524404.652 [DAT](INFO): DAT read: user:30>

2025-10-27T00:20:04.653Z,1761524404.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753319
2025-10-27T00:20:04.905Z,1761524404.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005899
2025-10-27T00:20:05.022Z,1761524405.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934975,0.347719,0.070091],[-0.354103,-0.926547,-0.126971],[0.020792,-0.143534,0.989427]]
2025-10-27T00:20:05.050Z,1761524405.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:05.053Z,1761524405.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 612.655334 m,
      bearing: 210.692465 deg,
      approach rate: -0.677695 m/s,
      LOS rate: 0.015310 deg/s,
      cmd heading: 200.346961 deg,
      new cmd heading: 200.365787 deg.

2025-10-27T00:20:05.054Z,1761524405.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.497043 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:05.156Z,1761524405.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256784
2025-10-27T00:20:05.412Z,1761524405.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512288
2025-10-27T00:20:05.510Z,1761524405.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934712,0.348018,0.072084],[-0.354711,-0.926167,-0.128042],[0.022201,-0.145251,0.989146]]
2025-10-27T00:20:05.568Z,1761524405.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:05.570Z,1761524405.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 612.307007 m,
      bearing: 210.698153 deg,
      approach rate: -0.673495 m/s,
      LOS rate: 0.011003 deg/s,
      cmd heading: 200.365785 deg,
      new cmd heading: 200.382857 deg.

2025-10-27T00:20:05.572Z,1761524405.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.497341 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:05.661Z,1761524405.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761682
2025-10-27T00:20:05.901Z,1761524405.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934569,0.348195,0.073079],[-0.355033,-0.926036,-0.128097],[0.023071,-0.145660,0.989066]]
2025-10-27T00:20:05.912Z,1761524405.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012739
2025-10-27T00:20:05.949Z,1761524405.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:05.956Z,1761524405.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 612.068054 m,
      bearing: 210.702050 deg,
      approach rate: -0.625779 m/s,
      LOS rate: 0.010210 deg/s,
      cmd heading: 200.382860 deg,
      new cmd heading: 200.394556 deg.

2025-10-27T00:20:05.957Z,1761524405.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.497545 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:06.167Z,1761524406.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267663
2025-10-27T00:20:06.297Z,1761524406.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934400,0.348387,0.074318],[-0.355408,-0.925871,-0.128249],[0.024128,-0.146249,0.988954]]
2025-10-27T00:20:06.322Z,1761524406.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:06.324Z,1761524406.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:06.327Z,1761524406.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 611.796387 m,
      bearing: 210.706475 deg,
      approach rate: -0.724325 m/s,
      LOS rate: 0.011804 deg/s,
      cmd heading: 200.394554 deg,
      new cmd heading: 200.407835 deg.

2025-10-27T00:20:06.328Z,1761524406.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.497777 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:06.417Z,1761524406.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517212
2025-10-27T00:20:06.668Z,1761524406.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768621
2025-10-27T00:20:06.721Z,1761524406.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934149,0.348727,0.075860],[-0.355987,-0.925564,-0.128858],[0.025277,-0.147378,0.988757]]
2025-10-27T00:20:06.751Z,1761524406.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:06.754Z,1761524406.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 611.516602 m,
      bearing: 210.711020 deg,
      approach rate: -0.675128 m/s,
      LOS rate: 0.010972 deg/s,
      cmd heading: 200.407832 deg,
      new cmd heading: 200.421473 deg.

2025-10-27T00:20:06.755Z,1761524406.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498015 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:06.924Z,1761524406.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024631
2025-10-27T00:20:07.106Z,1761524407.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933986,0.348889,0.077117],[-0.356340,-0.925389,-0.129135],[0.026309,-0.148090,0.988624]]
2025-10-27T00:20:07.124Z,1761524407.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:07.143Z,1761524407.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 611.256653 m,
      bearing: 210.715239 deg,
      approach rate: -0.674823 m/s,
      LOS rate: 0.010956 deg/s,
      cmd heading: 200.421478 deg,
      new cmd heading: 200.434140 deg.

2025-10-27T00:20:07.144Z,1761524407.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498236 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:07.172Z,1761524407.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272836
2025-10-27T00:20:07.424Z,1761524407.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524741
2025-10-27T00:20:07.636Z,1761524407.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933984,0.348669,0.078128],[-0.356275,-0.925403,-0.129216],[0.027247,-0.148520,0.988534]]
2025-10-27T00:20:07.677Z,1761524407.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777782
2025-10-27T00:20:07.708Z,1761524407.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:07.716Z,1761524407.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 610.886780 m,
      bearing: 210.719487 deg,
      approach rate: -0.638863 m/s,
      LOS rate: 0.007342 deg/s,
      cmd heading: 200.434141 deg,
      new cmd heading: 200.446894 deg.

2025-10-27T00:20:07.717Z,1761524407.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498458 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:07.928Z,1761524407.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028549
2025-10-27T00:20:08.181Z,1761524408.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281344
2025-10-27T00:20:08.230Z,1761524408.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:08.233Z,1761524408.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 610.515442 m,
      bearing: 210.723757 deg,
      approach rate: -0.704807 m/s,
      LOS rate: 0.008110 deg/s,
      cmd heading: 200.446900 deg,
      new cmd heading: 200.459720 deg.

2025-10-27T00:20:08.234Z,1761524408.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498682 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:08.433Z,1761524408.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533668
2025-10-27T00:20:08.668Z,1761524408.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934064,0.347298,0.083121],[-0.355691,-0.925510,-0.130053],[0.031762,-0.151044,0.988017]]
2025-10-27T00:20:08.686Z,1761524408.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785911
2025-10-27T00:20:08.703Z,1761524408.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:08.706Z,1761524408.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:08.710Z,1761524408.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 610.194946 m,
      bearing: 210.727470 deg,
      approach rate: -0.673981 m/s,
      LOS rate: 0.007811 deg/s,
      cmd heading: 200.459714 deg,
      new cmd heading: 200.470857 deg.

2025-10-27T00:20:08.712Z,1761524408.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498877 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:08.937Z,1761524408.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037214
2025-10-27T00:20:09.066Z,1761524409.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934062,0.346734,0.085460],[-0.355473,-0.925653,-0.129636],[0.034157,-0.151467,0.987872]]
2025-10-27T00:20:09.084Z,1761524409.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:09.087Z,1761524409.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 609.934326 m,
      bearing: 210.730497 deg,
      approach rate: -0.687730 m/s,
      LOS rate: 0.007991 deg/s,
      cmd heading: 200.470861 deg,
      new cmd heading: 200.479946 deg.

2025-10-27T00:20:09.088Z,1761524409.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499035 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:09.189Z,1761524409.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289292
2025-10-27T00:20:09.440Z,1761524409.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540610
2025-10-27T00:20:09.518Z,1761524409.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933930,0.346381,0.088286],[-0.355577,-0.925529,-0.130234],[0.036601,-0.153022,0.987545]]
2025-10-27T00:20:09.563Z,1761524409.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:09.566Z,1761524409.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 609.606995 m,
      bearing: 210.734209 deg,
      approach rate: -0.684399 m/s,
      LOS rate: 0.007765 deg/s,
      cmd heading: 200.479945 deg,
      new cmd heading: 200.491086 deg.

2025-10-27T00:20:09.566Z,1761524409.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499230 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:09.693Z,1761524409.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793247
2025-10-27T00:20:09.911Z,1761524409.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:09.914Z,1761524409.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 609.368652 m,
      bearing: 210.736914 deg,
      approach rate: -0.683334 m/s,
      LOS rate: 0.007758 deg/s,
      cmd heading: 200.491092 deg,
      new cmd heading: 200.499209 deg.

2025-10-27T00:20:09.915Z,1761524409.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499371 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:09.944Z,1761524409.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044626
2025-10-27T00:20:10.197Z,1761524410.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297484
2025-10-27T00:20:10.278Z,1761524410.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933944,0.344781,0.094206],[-0.354910,-0.925773,-0.130323],[0.042280,-0.155149,0.986986]]
2025-10-27T00:20:10.311Z,1761524410.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:10.314Z,1761524410.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 609.105652 m,
      bearing: 210.739920 deg,
      approach rate: -0.658377 m/s,
      LOS rate: 0.007528 deg/s,
      cmd heading: 200.499206 deg,
      new cmd heading: 200.508228 deg.

2025-10-27T00:20:10.320Z,1761524410.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499529 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:10.448Z,1761524410.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549023
2025-10-27T00:20:10.694Z,1761524410.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934013,0.343765,0.097191],[-0.354361,-0.926009,-0.130134],[0.045265,-0.155988,0.986721]]
2025-10-27T00:20:10.700Z,1761524410.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801092
2025-10-27T00:20:10.738Z,1761524410.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:10.744Z,1761524410.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:10.747Z,1761524410.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 608.804016 m,
      bearing: 210.743386 deg,
      approach rate: -0.696432 m/s,
      LOS rate: 0.008008 deg/s,
      cmd heading: 200.508222 deg,
      new cmd heading: 200.518626 deg.

2025-10-27T00:20:10.756Z,1761524410.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499710 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:10.952Z,1761524410.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052978
2025-10-27T00:20:11.093Z,1761524411.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934056,0.342877,0.099870],[-0.353833,-0.926408,-0.128724],[0.048384,-0.155573,0.986639]]
2025-10-27T00:20:11.111Z,1761524411.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:11.114Z,1761524411.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 608.547302 m,
      bearing: 210.746352 deg,
      approach rate: -0.700050 m/s,
      LOS rate: 0.008090 deg/s,
      cmd heading: 200.518631 deg,
      new cmd heading: 200.527531 deg.

2025-10-27T00:20:11.115Z,1761524411.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499866 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:11.204Z,1761524411.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.304794
2025-10-27T00:20:11.458Z,1761524411.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.558298
2025-10-27T00:20:11.533Z,1761524411.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934159,0.341776,0.102642],[-0.353118,-0.926835,-0.127611],[0.051518,-0.155454,0.986499]]
2025-10-27T00:20:11.585Z,1761524411.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:11.592Z,1761524411.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 608.236328 m,
      bearing: 210.748916 deg,
      approach rate: -0.655918 m/s,
      LOS rate: 0.005411 deg/s,
      cmd heading: 200.527538 deg,
      new cmd heading: 200.535233 deg.

2025-10-27T00:20:11.593Z,1761524411.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500000 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:11.709Z,1761524411.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808950
2025-10-27T00:20:11.923Z,1761524411.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934258,0.340585,0.105658],[-0.352398,-0.927137,-0.127405],[0.054567,-0.156263,0.986207]]
2025-10-27T00:20:11.960Z,1761524411.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060643
2025-10-27T00:20:11.967Z,1761524411.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:11.970Z,1761524411.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 607.983459 m,
      bearing: 210.751019 deg,
      approach rate: -0.669393 m/s,
      LOS rate: 0.005571 deg/s,
      cmd heading: 200.535228 deg,
      new cmd heading: 200.541542 deg.

2025-10-27T00:20:11.970Z,1761524411.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500110 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:12.212Z,1761524412.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313117
2025-10-27T00:20:12.328Z,1761524412.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934272,0.339563,0.108778],[-0.351876,-0.927335,-0.127411],[0.057610,-0.157313,0.985867]]
2025-10-27T00:20:12.346Z,1761524412.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:12.349Z,1761524412.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 607.708862 m,
      bearing: 210.753318 deg,
      approach rate: -0.716809 m/s,
      LOS rate: 0.006002 deg/s,
      cmd heading: 200.541539 deg,
      new cmd heading: 200.548438 deg.

2025-10-27T00:20:12.349Z,1761524412.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500231 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:12.464Z,1761524412.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564605
2025-10-27T00:20:12.716Z,1761524412.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816911
2025-10-27T00:20:12.733Z,1761524412.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934336,0.338373,0.111895],[-0.351186,-0.927605,-0.127347],[0.060703,-0.158280,0.985526]]
2025-10-27T00:20:12.757Z,1761524412.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:12.759Z,1761524412.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:12.762Z,1761524412.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 607.434326 m,
      bearing: 210.755635 deg,
      approach rate: -0.664543 m/s,
      LOS rate: 0.005612 deg/s,
      cmd heading: 200.548438 deg,
      new cmd heading: 200.555394 deg.

2025-10-27T00:20:12.763Z,1761524412.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500352 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:12.969Z,1761524412.969 [DAT](INFO): Reached modem response timeout
2025-10-27T00:20:12.969Z,1761524412.969 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:12.970Z,1761524412.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:13.135Z,1761524413.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934080,0.338032,0.115018],[-0.351336,-0.927574,-0.127163],[0.063702,-0.159190,0.985191]]
2025-10-27T00:20:13.153Z,1761524413.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:13.156Z,1761524413.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 607.161316 m,
      bearing: 210.757935 deg,
      approach rate: -0.693298 m/s,
      LOS rate: 0.005843 deg/s,
      cmd heading: 200.555391 deg,
      new cmd heading: 200.562293 deg.

2025-10-27T00:20:13.156Z,1761524413.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500472 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:13.221Z,1761524413.221 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:13.474Z,1761524413.474 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:13.539Z,1761524413.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934034,0.337139,0.117972],[-0.350910,-0.927764,-0.126951],[0.066651,-0.159974,0.984869]]
2025-10-27T00:20:13.582Z,1761524413.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:13.584Z,1761524413.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 606.883911 m,
      bearing: 210.761374 deg,
      approach rate: -0.646860 m/s,
      LOS rate: 0.008022 deg/s,
      cmd heading: 200.562290 deg,
      new cmd heading: 200.572610 deg.

2025-10-27T00:20:13.585Z,1761524413.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500653 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:13.724Z,1761524413.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:13.942Z,1761524413.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933816,0.336563,0.121301],[-0.350891,-0.927743,-0.127152],[0.069741,-0.161300,0.984438]]
2025-10-27T00:20:13.964Z,1761524413.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:13.967Z,1761524413.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 606.636475 m,
      bearing: 210.764439 deg,
      approach rate: -0.646101 m/s,
      LOS rate: 0.008008 deg/s,
      cmd heading: 200.572617 deg,
      new cmd heading: 200.581818 deg.

2025-10-27T00:20:13.968Z,1761524413.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500813 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:13.980Z,1761524413.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:14.235Z,1761524414.235 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:14.345Z,1761524414.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933487,0.336398,0.124255],[-0.351151,-0.927753,-0.126363],[0.072770,-0.161591,0.984171]]
2025-10-27T00:20:14.385Z,1761524414.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:14.388Z,1761524414.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 606.364929 m,
      bearing: 210.767797 deg,
      approach rate: -0.645243 m/s,
      LOS rate: 0.007981 deg/s,
      cmd heading: 200.581824 deg,
      new cmd heading: 200.591901 deg.

2025-10-27T00:20:14.389Z,1761524414.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500989 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:14.484Z,1761524414.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:14.736Z,1761524414.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:14.751Z,1761524414.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933001,0.336573,0.127390],[-0.351890,-0.927383,-0.127022],[0.075387,-0.163339,0.983685]]
2025-10-27T00:20:14.768Z,1761524414.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:14.770Z,1761524414.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:14.772Z,1761524414.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 606.115967 m,
      bearing: 210.770854 deg,
      approach rate: -0.647705 m/s,
      LOS rate: 0.007956 deg/s,
      cmd heading: 200.591905 deg,
      new cmd heading: 200.601080 deg.

2025-10-27T00:20:14.773Z,1761524414.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.501149 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:14.988Z,1761524414.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:15.154Z,1761524415.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932552,0.337087,0.129301],[-0.352522,-0.927479,-0.124544],[0.077942,-0.161725,0.983753]]
2025-10-27T00:20:15.207Z,1761524415.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:15.210Z,1761524415.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 605.840820 m,
      bearing: 210.774217 deg,
      approach rate: -0.634900 m/s,
      LOS rate: 0.007765 deg/s,
      cmd heading: 200.601085 deg,
      new cmd heading: 200.611180 deg.

2025-10-27T00:20:15.212Z,1761524415.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.501326 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:15.240Z,1761524415.240 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:20:15.240Z,1761524415.240 [DAT](INFO): response not received
2025-10-27T00:20:15.241Z,1761524415.241 [DAT](INFO): DAT read: user:31>

2025-10-27T00:20:15.241Z,1761524415.241 [DAT](ERROR): No response from remote modem.
2025-10-27T00:20:15.241Z,1761524415.241 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:20:15.242Z,1761524415.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:15.513Z,1761524415.513 [DAT](INFO): DAT read: Tx time:00:20:16.8510

2025-10-27T00:20:15.514Z,1761524415.514 [DAT](INFO): Ping request sent.
2025-10-27T00:20:15.514Z,1761524415.514 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:15.514Z,1761524415.514 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:15.515Z,1761524415.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768
2025-10-27T00:20:15.569Z,1761524415.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931993,0.337920,0.131147],[-0.353494,-0.927369,-0.122591],[0.080195,-0.160614,0.983754]]
2025-10-27T00:20:15.622Z,1761524415.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:15.624Z,1761524415.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 605.565186 m,
      bearing: 210.780031 deg,
      approach rate: -0.658489 m/s,
      LOS rate: 0.013896 deg/s,
      cmd heading: 200.611180 deg,
      new cmd heading: 200.628630 deg.

2025-10-27T00:20:15.625Z,1761524415.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.501630 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:15.744Z,1761524415.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.230157
2025-10-27T00:20:15.961Z,1761524415.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931300,0.338889,0.133546],[-0.354790,-0.926966,-0.121890],[0.082485,-0.160897,0.983518]]
2025-10-27T00:20:15.996Z,1761524415.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.482187
2025-10-27T00:20:15.997Z,1761524415.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:16.000Z,1761524416.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 605.323303 m,
      bearing: 210.785102 deg,
      approach rate: -0.643665 m/s,
      LOS rate: 0.013501 deg/s,
      cmd heading: 200.628624 deg,
      new cmd heading: 200.643845 deg.

2025-10-27T00:20:16.001Z,1761524416.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.501896 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:16.248Z,1761524416.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734090
2025-10-27T00:20:16.366Z,1761524416.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930610,0.340048,0.135395],[-0.356075,-0.926733,-0.119899],[0.084703,-0.159790,0.983510]]
2025-10-27T00:20:16.384Z,1761524416.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:16.386Z,1761524416.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 605.072876 m,
      bearing: 210.790325 deg,
      approach rate: -0.648122 m/s,
      LOS rate: 0.013522 deg/s,
      cmd heading: 200.643842 deg,
      new cmd heading: 200.659517 deg.

2025-10-27T00:20:16.408Z,1761524416.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.502169 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:16.500Z,1761524416.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986207
2025-10-27T00:20:16.752Z,1761524416.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238092
2025-10-27T00:20:16.810Z,1761524416.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:16.830Z,1761524416.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:16.833Z,1761524416.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 604.797058 m,
      bearing: 210.796082 deg,
      approach rate: -0.618413 m/s,
      LOS rate: 0.012912 deg/s,
      cmd heading: 200.659510 deg,
      new cmd heading: 200.676787 deg.

2025-10-27T00:20:16.834Z,1761524416.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.502471 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:17.004Z,1761524417.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490357
2025-10-27T00:20:17.186Z,1761524417.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928872,0.343484,0.138618],[-0.359636,-0.925906,-0.115585],[0.088645,-0.157216,0.983578]]
2025-10-27T00:20:17.205Z,1761524417.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:17.208Z,1761524417.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 604.542664 m,
      bearing: 210.801302 deg,
      approach rate: -0.678120 m/s,
      LOS rate: 0.013921 deg/s,
      cmd heading: 200.676791 deg,
      new cmd heading: 200.692459 deg.

2025-10-27T00:20:17.209Z,1761524417.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.502744 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:17.257Z,1761524417.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743243
2025-10-27T00:20:17.510Z,1761524417.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995768
2025-10-27T00:20:17.578Z,1761524417.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928010,0.345334,0.139796],[-0.361420,-0.925546,-0.112872],[0.090409,-0.155272,0.983726]]
2025-10-27T00:20:17.635Z,1761524417.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:17.637Z,1761524417.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 604.260742 m,
      bearing: 210.808261 deg,
      approach rate: -0.656271 m/s,
      LOS rate: 0.016206 deg/s,
      cmd heading: 200.692459 deg,
      new cmd heading: 200.713345 deg.

2025-10-27T00:20:17.638Z,1761524417.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503109 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:17.760Z,1761524417.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246039
2025-10-27T00:20:18.005Z,1761524418.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927080,0.347328,0.141014],[-0.363391,-0.925047,-0.110610],[0.092027,-0.153787,0.983809]]
2025-10-27T00:20:18.012Z,1761524418.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498191
2025-10-27T00:20:18.025Z,1761524418.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:18.028Z,1761524418.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 604.004761 m,
      bearing: 210.814532 deg,
      approach rate: -0.655704 m/s,
      LOS rate: 0.016072 deg/s,
      cmd heading: 200.713346 deg,
      new cmd heading: 200.732169 deg.

2025-10-27T00:20:18.029Z,1761524418.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503437 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:18.264Z,1761524418.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750135
2025-10-27T00:20:18.481Z,1761524418.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926191,0.349145,0.142364],[-0.365240,-0.924538,-0.108762],[0.093647,-0.152731,0.983821]]
2025-10-27T00:20:18.501Z,1761524418.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:18.504Z,1761524418.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 603.691406 m,
      bearing: 210.822154 deg,
      approach rate: -0.657671 m/s,
      LOS rate: 0.016004 deg/s,
      cmd heading: 200.732170 deg,
      new cmd heading: 200.755046 deg.

2025-10-27T00:20:18.505Z,1761524418.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503837 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:18.516Z,1761524418.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002233
2025-10-27T00:20:18.769Z,1761524418.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255277
2025-10-27T00:20:18.882Z,1761524418.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925409,0.350747,0.143511],[-0.366863,-0.924082,-0.107165],[0.095028,-0.151820,0.983829]]
2025-10-27T00:20:18.898Z,1761524418.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:18.900Z,1761524418.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:18.919Z,1761524418.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 603.429749 m,
      bearing: 210.828479 deg,
      approach rate: -0.656221 m/s,
      LOS rate: 0.015872 deg/s,
      cmd heading: 200.755051 deg,
      new cmd heading: 200.774037 deg.

2025-10-27T00:20:18.920Z,1761524418.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.504168 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:19.020Z,1761524419.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506068
2025-10-27T00:20:19.273Z,1761524419.273 [DAT](INFO): DAT read: Rx Time:00:20:20.0717

2025-10-27T00:20:19.273Z,1761524419.273 [DAT](INFO): Rx dataTimestamp_ set to:1761524419.272801
2025-10-27T00:20:19.274Z,1761524419.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760157
2025-10-27T00:20:19.384Z,1761524419.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924724,0.351866,0.145175],[-0.368243,-0.923527,-0.107215],[0.096348,-0.152604,0.983580]]
2025-10-27T00:20:19.403Z,1761524419.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 620.24 m.
2025-10-27T00:20:19.405Z,1761524419.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 620.240845 m,
      nav range: 603.099487 m,
      bearing: 210.836419 deg,
      approach rate: -0.657358 m/s,
      LOS rate: 0.015812 deg/s,
      cmd heading: 200.774039 deg,
      new cmd heading: 200.797871 deg.

2025-10-27T00:20:19.406Z,1761524419.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.504584 target range: 620.240845 and range: 622.50 m.
2025-10-27T00:20:19.524Z,1761524419.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010346
2025-10-27T00:20:19.781Z,1761524419.781 [DAT](INFO): DAT read: 00:20:20.0717 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 278,-0.03, 2.702, 0.976, 2.480, 2.142, PHS= 0.662,-1.120, 0.294, RAW= 138.7,   2.0, CAL= 138.8,   2.7, ROT=  11.2,  -2.7

2025-10-27T00:20:19.783Z,1761524419.783 [DAT](INFO): got valid direction response:
 00:20:20.0717 LVL= 32752, 32753, 32754, 32755, AGC= 84, IDX= 278,-0.03, 2.702, 0.976, 2.480, 2.142, PHS= 0.662,-1.120, 0.294, RAW= 138.7,   2.0, CAL= 138.8,   2.7, ROT=  11.2,  -2.7

2025-10-27T00:20:19.784Z,1761524419.784 [DAT](INFO): DAT read: Bearing   4.3,  16.3 (Local)

2025-10-27T00:20:19.784Z,1761524419.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,  16.3 (Local)

2025-10-27T00:20:19.785Z,1761524419.785 [DAT](INFO): DAT read: Range 11 to 50 : 612.4 m  (Round-trip  816.6 ms) speed  0.7 m/s

2025-10-27T00:20:19.786Z,1761524419.786 [DAT](INFO): DAT read: user:32>

2025-10-27T00:20:19.787Z,1761524419.787 [DAT](INFO): DAT read: Tx time:00:20:21.1995

2025-10-27T00:20:19.787Z,1761524419.787 [DAT](INFO): Ping request sent.
2025-10-27T00:20:19.787Z,1761524419.787 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:19.788Z,1761524419.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:19.788Z,1761524419.788 [DAT](INFO): direction in FSK: [0.979866,0.194019,0.047106]
2025-10-27T00:20:19.789Z,1761524419.789 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:19.789Z,1761524419.789 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:19.793Z,1761524419.793 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:19.793Z,1761524419.793 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:19.832Z,1761524419.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924107,0.352744,0.146959],[-0.369405,-0.923053,-0.107299],[0.097802,-0.153443,0.983306]]
2025-10-27T00:20:19.934Z,1761524419.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 612.400024 m,
      deltaT: 16.887891 s,
      deltaX: -10.099976 m,
      approachRate: -0.598060 m/s,
      rangeRepo size: 4

2025-10-27T00:20:19.955Z,1761524419.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 610.181274 m,
      bearing: 213.339114 deg,
      lat: 36.779416 deg,
      lon: -121.859861 deg,
      deltaT: 16.887891 s,
      deltaX: -10.059570 m,
      approachRate: -0.595668 m/s,
      posRepo size: 4

2025-10-27T00:20:19.956Z,1761524419.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:19.959Z,1761524419.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 605.518433 m,
      bearing: 211.466565 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015812 deg/s,
      cmd heading: 200.797876 deg,
      new cmd heading: 200.823055 deg.

2025-10-27T00:20:19.976Z,1761524419.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.505023 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:20.277Z,1761524420.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923315,0.353002,0.151257],[-0.370163,-0.922943,-0.105622],[0.102316,-0.153512,0.982835]]
2025-10-27T00:20:20.306Z,1761524420.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:20.309Z,1761524420.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 605.256897 m,
      bearing: 211.473236 deg,
      approach rate: -0.702305 m/s,
      LOS rate: 0.017922 deg/s,
      cmd heading: 200.823052 deg,
      new cmd heading: 200.843074 deg.

2025-10-27T00:20:20.309Z,1761524420.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.505373 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:20.687Z,1761524420.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922925,0.352698,0.154318],[-0.370369,-0.922829,-0.105898],[0.105059,-0.154890,0.982330]]
2025-10-27T00:20:20.726Z,1761524420.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:20.729Z,1761524420.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 604.990479 m,
      bearing: 211.480027 deg,
      approach rate: -0.633202 m/s,
      LOS rate: 0.016148 deg/s,
      cmd heading: 200.843079 deg,
      new cmd heading: 200.863461 deg.

2025-10-27T00:20:20.730Z,1761524420.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.505729 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:21.083Z,1761524421.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922946,0.351328,0.157288],[-0.369513,-0.923124,-0.106312],[0.107846,-0.156240,0.981814]]
2025-10-27T00:20:21.100Z,1761524421.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:21.102Z,1761524421.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:21.105Z,1761524421.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 604.732544 m,
      bearing: 211.486632 deg,
      approach rate: -0.686690 m/s,
      LOS rate: 0.017591 deg/s,
      cmd heading: 200.863460 deg,
      new cmd heading: 200.883282 deg.

2025-10-27T00:20:21.106Z,1761524421.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506075 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:21.288Z,1761524421.288 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:21.288Z,1761524421.288 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:21.288Z,1761524421.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:21.519Z,1761524421.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922912,0.349919,0.160594],[-0.368758,-0.923296,-0.107432],[0.110684,-0.158371,0.981156]]
2025-10-27T00:20:21.540Z,1761524421.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752662
2025-10-27T00:20:21.585Z,1761524421.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:21.592Z,1761524421.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 604.403015 m,
      bearing: 211.491872 deg,
      approach rate: -0.683073 m/s,
      LOS rate: 0.010869 deg/s,
      cmd heading: 200.883281 deg,
      new cmd heading: 200.899011 deg.

2025-10-27T00:20:21.592Z,1761524421.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506349 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:21.795Z,1761524421.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007519
2025-10-27T00:20:21.890Z,1761524421.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923094,0.348119,0.163435],[-0.367413,-0.923837,-0.107394],[0.113601,-0.159183,0.980691]]
2025-10-27T00:20:21.909Z,1761524421.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:21.912Z,1761524421.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 604.177307 m,
      bearing: 211.495495 deg,
      approach rate: -0.696361 m/s,
      LOS rate: 0.011182 deg/s,
      cmd heading: 200.899004 deg,
      new cmd heading: 200.909877 deg.

2025-10-27T00:20:21.912Z,1761524421.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506539 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:22.044Z,1761524422.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256457
2025-10-27T00:20:22.293Z,1761524422.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923398,0.346053,0.166085],[-0.365803,-0.924449,-0.107617],[0.116296,-0.160127,0.980222]]
2025-10-27T00:20:22.296Z,1761524422.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508656
2025-10-27T00:20:22.325Z,1761524422.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:22.328Z,1761524422.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 603.890625 m,
      bearing: 211.500149 deg,
      approach rate: -0.688379 m/s,
      LOS rate: 0.011181 deg/s,
      cmd heading: 200.909878 deg,
      new cmd heading: 200.923847 deg.

2025-10-27T00:20:22.329Z,1761524422.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.506783 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:22.548Z,1761524422.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760720
2025-10-27T00:20:22.704Z,1761524422.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923878,0.343354,0.168991],[-0.363673,-0.925197,-0.108407],[0.119128,-0.161613,0.979638]]
2025-10-27T00:20:22.743Z,1761524422.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:22.746Z,1761524422.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 603.614502 m,
      bearing: 211.504696 deg,
      approach rate: -0.687186 m/s,
      LOS rate: 0.011322 deg/s,
      cmd heading: 200.923852 deg,
      new cmd heading: 200.937501 deg.

2025-10-27T00:20:22.747Z,1761524422.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507021 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:22.800Z,1761524422.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012662
2025-10-27T00:20:23.052Z,1761524423.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264747
2025-10-27T00:20:23.103Z,1761524423.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924327,0.340584,0.172113],[-0.361601,-0.925834,-0.109891],[0.121921,-0.163812,0.978928]]
2025-10-27T00:20:23.122Z,1761524423.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:23.124Z,1761524423.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:23.126Z,1761524423.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 603.341736 m,
      bearing: 211.509253 deg,
      approach rate: -0.687150 m/s,
      LOS rate: 0.011485 deg/s,
      cmd heading: 200.937499 deg,
      new cmd heading: 200.951176 deg.

2025-10-27T00:20:23.128Z,1761524423.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507260 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:23.304Z,1761524423.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516563
2025-10-27T00:20:23.519Z,1761524423.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924759,0.338069,0.174726],[-0.359520,-0.926645,-0.109883],[0.124761,-0.164433,0.978466]]
2025-10-27T00:20:23.556Z,1761524423.556 [DAT](INFO): DAT read: Rx Time:00:20:24.4150

2025-10-27T00:20:23.556Z,1761524423.556 [DAT](INFO): Rx dataTimestamp_ set to:1761524423.556200
2025-10-27T00:20:23.557Z,1761524423.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769736
2025-10-27T00:20:23.566Z,1761524423.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:23.585Z,1761524423.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 603.037903 m,
      bearing: 211.511567 deg,
      approach rate: -0.687780 m/s,
      LOS rate: 0.005240 deg/s,
      cmd heading: 200.951173 deg,
      new cmd heading: 200.958118 deg.

2025-10-27T00:20:23.586Z,1761524423.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507381 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:23.809Z,1761524423.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021393
2025-10-27T00:20:23.962Z,1761524423.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925285,0.334884,0.178047],[-0.357083,-0.927410,-0.111365],[0.127829,-0.166622,0.977700]]
2025-10-27T00:20:23.982Z,1761524423.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 610.18 m.
2025-10-27T00:20:23.984Z,1761524423.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 610.181274 m,
      nav range: 602.749573 m,
      bearing: 211.513836 deg,
      approach rate: -0.693054 m/s,
      LOS rate: 0.005457 deg/s,
      cmd heading: 200.958113 deg,
      new cmd heading: 200.964924 deg.

2025-10-27T00:20:23.985Z,1761524423.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507500 target range: 610.181274 and range: 612.40 m.
2025-10-27T00:20:24.066Z,1761524424.066 [DAT](INFO): DAT read: 00:20:24.4150 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 385,-0.07,-1.840, 2.707,-2.028,-2.389, PHS= 0.651,-1.142, 0.316, RAW= 139.9,   2.1, CAL= 139.8,   2.7, ROT=  10.2,  -2.7

2025-10-27T00:20:24.068Z,1761524424.068 [DAT](INFO): got valid direction response:
 00:20:24.4150 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 385,-0.07,-1.840, 2.707,-2.028,-2.389, PHS= 0.651,-1.142, 0.316, RAW= 139.9,   2.1, CAL= 139.8,   2.7, ROT=  10.2,  -2.7

2025-10-27T00:20:24.069Z,1761524424.069 [DAT](INFO): DAT read: Bearing   3.1,  16.7 (Local)

2025-10-27T00:20:24.070Z,1761524424.070 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  16.7 (Local)

2025-10-27T00:20:24.073Z,1761524424.073 [DAT](INFO): DAT read: Range 11 to 50 : 608.5 m  (Round-trip  811.4 ms) speed  0.5 m/s

2025-10-27T00:20:24.074Z,1761524424.074 [DAT](INFO): DAT read: user:33>

2025-10-27T00:20:24.075Z,1761524424.075 [DAT](INFO): DAT read: Tx time:00:20:25.4995

2025-10-27T00:20:24.076Z,1761524424.076 [DAT](INFO): Ping request sent.
2025-10-27T00:20:24.076Z,1761524424.076 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:24.076Z,1761524424.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:24.077Z,1761524424.077 [DAT](INFO): direction in FSK: [0.983103,0.176888,0.047106]
2025-10-27T00:20:24.077Z,1761524424.077 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:24.078Z,1761524424.078 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:24.093Z,1761524424.093 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:24.094Z,1761524424.094 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:24.314Z,1761524424.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925547,0.332288,0.181516],[-0.355284,-0.927913,-0.112922],[0.130909,-0.169004,0.976883]]
2025-10-27T00:20:24.344Z,1761524424.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 608.500000 m,
      deltaT: 4.284355 s,
      deltaX: -3.900024 m,
      approachRate: -0.910294 m/s,
      rangeRepo size: 4

2025-10-27T00:20:24.346Z,1761524424.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 606.295105 m,
      bearing: 211.618668 deg,
      lat: 36.779431 deg,
      lon: -121.859856 deg,
      deltaT: 4.284355 s,
      deltaX: -3.886169 m,
      approachRate: -0.907061 m/s,
      posRepo size: 4

2025-10-27T00:20:24.346Z,1761524424.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:24.365Z,1761524424.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 600.887756 m,
      bearing: 211.563024 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005457 deg/s,
      cmd heading: 200.964929 deg,
      new cmd heading: 200.970843 deg.

2025-10-27T00:20:24.366Z,1761524424.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507603 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:24.722Z,1761524424.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925848,0.329779,0.184528],[-0.353321,-0.928635,-0.113140],[0.134048,-0.169948,0.976293]]
2025-10-27T00:20:24.740Z,1761524424.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:24.743Z,1761524424.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 600.610840 m,
      bearing: 211.565339 deg,
      approach rate: -0.697403 m/s,
      LOS rate: 0.005833 deg/s,
      cmd heading: 200.970844 deg,
      new cmd heading: 200.977793 deg.

2025-10-27T00:20:24.744Z,1761524424.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507724 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:24.867Z,1761524424.867 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:20:25.122Z,1761524425.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926037,0.327636,0.187378],[-0.351661,-0.929273,-0.113076],[0.137078,-0.170606,0.975758]]
2025-10-27T00:20:25.154Z,1761524425.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:25.162Z,1761524425.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:25.175Z,1761524425.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 600.334656 m,
      bearing: 211.567694 deg,
      approach rate: -0.654803 m/s,
      LOS rate: 0.005585 deg/s,
      cmd heading: 200.977797 deg,
      new cmd heading: 200.984864 deg.

2025-10-27T00:20:25.176Z,1761524425.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507848 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:25.320Z,1761524425.320 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:25.320Z,1761524425.320 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:25.320Z,1761524425.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:25.526Z,1761524425.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926142,0.325892,0.189882],[-0.350185,-0.929971,-0.111914],[0.140113,-0.170142,0.975408]]
2025-10-27T00:20:25.572Z,1761524425.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496034
2025-10-27T00:20:25.606Z,1761524425.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:25.613Z,1761524425.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 600.021545 m,
      bearing: 211.570479 deg,
      approach rate: -0.705057 m/s,
      LOS rate: 0.006276 deg/s,
      cmd heading: 200.984860 deg,
      new cmd heading: 200.993221 deg.

2025-10-27T00:20:25.614Z,1761524425.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507993 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:25.824Z,1761524425.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747802
2025-10-27T00:20:25.872Z,1761524425.872 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:20:25.952Z,1761524425.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926068,0.324791,0.192114],[-0.349254,-0.930498,-0.110430],[0.142895,-0.169363,0.975140]]
2025-10-27T00:20:25.970Z,1761524425.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:25.972Z,1761524425.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 599.764587 m,
      bearing: 211.572788 deg,
      approach rate: -0.706305 m/s,
      LOS rate: 0.006349 deg/s,
      cmd heading: 200.993220 deg,
      new cmd heading: 201.000149 deg.

2025-10-27T00:20:25.973Z,1761524425.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508114 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:26.076Z,1761524426.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999975
2025-10-27T00:20:26.328Z,1761524426.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252091
2025-10-27T00:20:26.354Z,1761524426.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925781,0.324046,0.194740],[-0.348774,-0.930828,-0.109158],[0.145897,-0.168977,0.974762]]
2025-10-27T00:20:26.388Z,1761524426.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:26.390Z,1761524426.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 599.488220 m,
      bearing: 211.575281 deg,
      approach rate: -0.661069 m/s,
      LOS rate: 0.005966 deg/s,
      cmd heading: 201.000146 deg,
      new cmd heading: 201.007629 deg.

2025-10-27T00:20:26.396Z,1761524426.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508245 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:26.580Z,1761524426.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503851
2025-10-27T00:20:26.760Z,1761524426.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925453,0.323442,0.197285],[-0.348373,-0.931160,-0.107595],[0.148903,-0.168303,0.974424]]
2025-10-27T00:20:26.778Z,1761524426.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:26.782Z,1761524426.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 599.209473 m,
      bearing: 211.577805 deg,
      approach rate: -0.713493 m/s,
      LOS rate: 0.006463 deg/s,
      cmd heading: 201.007631 deg,
      new cmd heading: 201.015206 deg.

2025-10-27T00:20:26.783Z,1761524426.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508377 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:26.833Z,1761524426.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757157
2025-10-27T00:20:27.084Z,1761524427.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007876
2025-10-27T00:20:27.170Z,1761524427.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925078,0.323049,0.199674],[-0.348170,-0.931402,-0.106154],[0.151684,-0.167721,0.974095]]
2025-10-27T00:20:27.204Z,1761524427.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:27.206Z,1761524427.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:27.209Z,1761524427.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 598.928467 m,
      bearing: 211.580352 deg,
      approach rate: -0.657574 m/s,
      LOS rate: 0.005962 deg/s,
      cmd heading: 201.015213 deg,
      new cmd heading: 201.022857 deg.

2025-10-27T00:20:27.209Z,1761524427.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508511 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:27.336Z,1761524427.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259878
2025-10-27T00:20:27.570Z,1761524427.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924632,0.323152,0.201564],[-0.348481,-0.931373,-0.105380],[0.153677,-0.167678,0.973790]]
2025-10-27T00:20:27.588Z,1761524427.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511942
2025-10-27T00:20:27.633Z,1761524427.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:27.642Z,1761524427.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 598.629883 m,
      bearing: 211.584663 deg,
      approach rate: -0.698867 m/s,
      LOS rate: 0.010097 deg/s,
      cmd heading: 201.022863 deg,
      new cmd heading: 201.035804 deg.

2025-10-27T00:20:27.648Z,1761524427.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508737 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:27.840Z,1761524427.840 [DAT](INFO): DAT read: Rx Time:00:20:28.7045

2025-10-27T00:20:27.840Z,1761524427.840 [DAT](INFO): Rx dataTimestamp_ set to:1761524427.840150
2025-10-27T00:20:27.841Z,1761524427.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764974
2025-10-27T00:20:27.969Z,1761524427.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924148,0.323348,0.203464],[-0.348841,-0.931356,-0.104336],[0.155760,-0.167399,0.973507]]
2025-10-27T00:20:28.012Z,1761524428.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.30 m.
2025-10-27T00:20:28.015Z,1761524428.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.295105 m,
      nav range: 598.380920 m,
      bearing: 211.588250 deg,
      approach rate: -0.658782 m/s,
      LOS rate: 0.009494 deg/s,
      cmd heading: 201.035799 deg,
      new cmd heading: 201.046563 deg.

2025-10-27T00:20:28.016Z,1761524428.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508924 target range: 606.295105 and range: 608.50 m.
2025-10-27T00:20:28.092Z,1761524428.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016027
2025-10-27T00:20:28.350Z,1761524428.350 [DAT](INFO): DAT read: 00:20:28.7045 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 343,-0.16,-2.823, 1.909,-3.011, 3.055, PHS= 0.507,-1.100, 0.174, RAW= 138.7,   5.8, CAL= 138.5,   6.6, ROT=  11.5,  -6.6

2025-10-27T00:20:28.351Z,1761524428.351 [DAT](INFO): got valid direction response:
 00:20:28.7045 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 343,-0.16,-2.823, 1.909,-3.011, 3.055, PHS= 0.507,-1.100, 0.174, RAW= 138.7,   5.8, CAL= 138.5,   6.6, ROT=  11.5,  -6.6

2025-10-27T00:20:28.352Z,1761524428.352 [DAT](INFO): DAT read: Bearing   6.6,  19.0 (Local)

2025-10-27T00:20:28.352Z,1761524428.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  19.0 (Local)

2025-10-27T00:20:28.354Z,1761524428.354 [DAT](INFO): DAT read: Range 11 to 50 : 600.7 m  (Round-trip  801.0 ms) speed  0.0 m/s

2025-10-27T00:20:28.354Z,1761524428.354 [DAT](INFO): DAT read: user:34>

2025-10-27T00:20:28.355Z,1761524428.355 [DAT](INFO): DAT read: Tx time:00:20:29.7994

2025-10-27T00:20:28.355Z,1761524428.355 [DAT](INFO): Ping request sent.
2025-10-27T00:20:28.355Z,1761524428.355 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:28.356Z,1761524428.356 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:28.357Z,1761524428.357 [DAT](INFO): direction in FSK: [0.973431,0.198047,0.114937]
2025-10-27T00:20:28.357Z,1761524428.357 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:28.357Z,1761524428.357 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:28.378Z,1761524428.378 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:28.378Z,1761524428.378 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:28.406Z,1761524428.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923641,0.323844,0.204971],[-0.349021,-0.931684,-0.100741],[0.158344,-0.164587,0.973570]]
2025-10-27T00:20:28.514Z,1761524428.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 600.700012 m,
      deltaT: 4.283790 s,
      deltaX: -7.799988 m,
      approachRate: -1.820815 m/s,
      rangeRepo size: 4

2025-10-27T00:20:28.520Z,1761524428.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 598.505310 m,
      bearing: 213.440346 deg,
      lat: 36.779442 deg,
      lon: -121.859861 deg,
      deltaT: 4.283790 s,
      deltaX: -7.789795 m,
      approachRate: -1.818435 m/s,
      posRepo size: 4

2025-10-27T00:20:28.521Z,1761524428.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:28.528Z,1761524428.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 597.294250 m,
      bearing: 211.685219 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009494 deg/s,
      cmd heading: 201.046564 deg,
      new cmd heading: 201.060883 deg.

2025-10-27T00:20:28.529Z,1761524428.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509174 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:28.860Z,1761524428.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922931,0.324695,0.206813],[-0.349944,-0.931502,-0.099218],[0.160432,-0.163944,0.973337]]
2025-10-27T00:20:28.901Z,1761524428.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:28.908Z,1761524428.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 597.024353 m,
      bearing: 211.689130 deg,
      approach rate: -0.696030 m/s,
      LOS rate: 0.010091 deg/s,
      cmd heading: 201.060880 deg,
      new cmd heading: 201.072618 deg.

2025-10-27T00:20:28.909Z,1761524428.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509379 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:29.249Z,1761524429.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922444,0.324824,0.208776],[-0.350229,-0.931508,-0.098146],[0.162596,-0.163654,0.973026]]
2025-10-27T00:20:29.265Z,1761524429.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:29.268Z,1761524429.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:29.270Z,1761524429.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 596.761414 m,
      bearing: 211.692931 deg,
      approach rate: -0.718732 m/s,
      LOS rate: 0.010396 deg/s,
      cmd heading: 201.072614 deg,
      new cmd heading: 201.084024 deg.

2025-10-27T00:20:29.272Z,1761524429.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509578 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:29.352Z,1761524429.352 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:29.352Z,1761524429.352 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:29.352Z,1761524429.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:29.604Z,1761524429.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248309
2025-10-27T00:20:29.666Z,1761524429.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921984,0.325046,0.210453],[-0.350528,-0.931526,-0.096899],[0.164546,-0.163109,0.972790]]
2025-10-27T00:20:29.731Z,1761524429.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:29.734Z,1761524429.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 596.472778 m,
      bearing: 211.698955 deg,
      approach rate: -0.644737 m/s,
      LOS rate: 0.013461 deg/s,
      cmd heading: 201.084020 deg,
      new cmd heading: 201.102099 deg.

2025-10-27T00:20:29.739Z,1761524429.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.509894 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:29.856Z,1761524429.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500369
2025-10-27T00:20:30.061Z,1761524430.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921339,0.326248,0.211415],[-0.351425,-0.931477,-0.094076],[0.166236,-0.160972,0.972858]]
2025-10-27T00:20:30.078Z,1761524430.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:30.085Z,1761524430.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 596.233643 m,
      bearing: 211.703929 deg,
      approach rate: -0.657709 m/s,
      LOS rate: 0.013687 deg/s,
      cmd heading: 201.102093 deg,
      new cmd heading: 201.117023 deg.

2025-10-27T00:20:30.086Z,1761524430.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510154 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:30.125Z,1761524430.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769462
2025-10-27T00:20:30.376Z,1761524430.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020348
2025-10-27T00:20:30.456Z,1761524430.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920669,0.327461,0.212458],[-0.352413,-0.931344,-0.091674],[0.167851,-0.159274,0.972861]]
2025-10-27T00:20:30.490Z,1761524430.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:30.497Z,1761524430.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 595.976440 m,
      bearing: 211.709260 deg,
      approach rate: -0.624749 m/s,
      LOS rate: 0.012953 deg/s,
      cmd heading: 201.117024 deg,
      new cmd heading: 201.133022 deg.

2025-10-27T00:20:30.498Z,1761524430.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510433 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:30.628Z,1761524430.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272686
2025-10-27T00:20:30.880Z,1761524430.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524491
2025-10-27T00:20:30.888Z,1761524430.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920120,0.328161,0.213751],[-0.353014,-0.931296,-0.089826],[0.169588,-0.158107,0.972750]]
2025-10-27T00:20:30.927Z,1761524430.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:30.930Z,1761524430.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 595.695129 m,
      bearing: 211.715079 deg,
      approach rate: -0.650134 m/s,
      LOS rate: 0.013455 deg/s,
      cmd heading: 201.133020 deg,
      new cmd heading: 201.150486 deg.

2025-10-27T00:20:30.931Z,1761524430.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510738 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:31.133Z,1761524431.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777670
2025-10-27T00:20:31.272Z,1761524431.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919518,0.329032,0.214999],[-0.353803,-0.931159,-0.088124],[0.171203,-0.157098,0.972630]]
2025-10-27T00:20:31.288Z,1761524431.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:31.290Z,1761524431.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:31.293Z,1761524431.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 595.446655 m,
      bearing: 211.720202 deg,
      approach rate: -0.676953 m/s,
      LOS rate: 0.013964 deg/s,
      cmd heading: 201.150492 deg,
      new cmd heading: 201.165869 deg.

2025-10-27T00:20:31.294Z,1761524431.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.511007 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:31.384Z,1761524431.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028467
2025-10-27T00:20:31.637Z,1761524431.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281390
2025-10-27T00:20:31.686Z,1761524431.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918804,0.330082,0.216438],[-0.354852,-0.930892,-0.086720],[0.172856,-0.156482,0.972437]]
2025-10-27T00:20:31.750Z,1761524431.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:31.757Z,1761524431.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 595.148804 m,
      bearing: 211.726700 deg,
      approach rate: -0.646799 m/s,
      LOS rate: 0.014117 deg/s,
      cmd heading: 201.165873 deg,
      new cmd heading: 201.185376 deg.

2025-10-27T00:20:31.758Z,1761524431.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.511347 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:31.888Z,1761524431.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532778
2025-10-27T00:20:32.094Z,1761524432.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918263,0.330899,0.217481],[-0.355551,-0.930780,-0.085045],[0.174286,-0.155419,0.972353]]
2025-10-27T00:20:32.141Z,1761524432.141 [DAT](INFO): DAT read: Rx Time:00:20:33.0083

2025-10-27T00:20:32.141Z,1761524432.141 [DAT](INFO): Rx dataTimestamp_ set to:1761524432.140807
2025-10-27T00:20:32.142Z,1761524432.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786958
2025-10-27T00:20:32.164Z,1761524432.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:32.166Z,1761524432.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 594.889404 m,
      bearing: 211.732343 deg,
      approach rate: -0.627843 m/s,
      LOS rate: 0.013665 deg/s,
      cmd heading: 201.185380 deg,
      new cmd heading: 201.202318 deg.

2025-10-27T00:20:32.175Z,1761524432.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.511643 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:32.393Z,1761524432.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037804
2025-10-27T00:20:32.566Z,1761524432.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 598.51 m.
2025-10-27T00:20:32.577Z,1761524432.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 598.505310 m,
      nav range: 594.601196 m,
      bearing: 211.738621 deg,
      approach rate: -0.716541 m/s,
      LOS rate: 0.015615 deg/s,
      cmd heading: 201.202319 deg,
      new cmd heading: 201.221161 deg.

2025-10-27T00:20:32.577Z,1761524432.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.511972 target range: 598.505310 and range: 600.70 m.
2025-10-27T00:20:32.655Z,1761524432.655 [DAT](INFO): DAT read: 00:20:33.0083 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 478,-0.01, 3.094, 1.115, 2.861, 2.152, PHS= 1.044,-0.992, 0.665, RAW= 139.9,  -7.7, CAL= 140.0,  -9.0, ROT=  10.0,   9.0

2025-10-27T00:20:32.657Z,1761524432.657 [DAT](INFO): got valid direction response:
 00:20:33.0083 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 478,-0.01, 3.094, 1.115, 2.861, 2.152, PHS= 1.044,-0.992, 0.665, RAW= 139.9,  -7.7, CAL= 140.0,  -9.0, ROT=  10.0,   9.0

2025-10-27T00:20:32.666Z,1761524432.666 [DAT](INFO): DAT read: Bearing 349.8,  21.2 (Local)

2025-10-27T00:20:32.675Z,1761524432.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.8,  21.2 (Local)

2025-10-27T00:20:32.677Z,1761524432.677 [DAT](INFO): DAT read: Range 11 to 50 : 603.6 m  (Round-trip  804.8 ms) speed  0.6 m/s

2025-10-27T00:20:32.678Z,1761524432.678 [DAT](INFO): DAT read: user:35>

2025-10-27T00:20:32.683Z,1761524432.683 [DAT](INFO): DAT read: Tx time:00:20:34.0994

2025-10-27T00:20:32.684Z,1761524432.684 [DAT](INFO): Ping request sent.
2025-10-27T00:20:32.684Z,1761524432.684 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:32.684Z,1761524432.684 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:32.686Z,1761524432.686 [DAT](INFO): direction in FSK: [0.972683,0.171510,-0.156434]
2025-10-27T00:20:32.686Z,1761524432.686 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:32.686Z,1761524432.686 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:32.700Z,1761524432.700 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:32.701Z,1761524432.701 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:32.902Z,1761524432.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916790,0.333138,0.220262],[-0.357932,-0.930037,-0.083165],[0.177147,-0.155083,0.971889]]
2025-10-27T00:20:32.924Z,1761524432.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 603.599976 m,
      deltaT: 4.301157 s,
      deltaX: 2.899963 m,
      approachRate: 0.674229 m/s,
      rangeRepo size: 4

2025-10-27T00:20:32.926Z,1761524432.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 601.391724 m,
      bearing: 209.647685 deg,
      lat: 36.779442 deg,
      lon: -121.859861 deg,
      deltaT: 4.301157 s,
      deltaX: 2.886414 m,
      approachRate: 0.671078 m/s,
      posRepo size: 4

2025-10-27T00:20:32.947Z,1761524432.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:32.950Z,1761524432.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 594.365051 m,
      bearing: 211.743703 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015615 deg/s,
      cmd heading: 201.221157 deg,
      new cmd heading: 201.237930 deg.

2025-10-27T00:20:32.955Z,1761524432.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512264 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:33.305Z,1761524433.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915897,0.334691,0.221619],[-0.359618,-0.929440,-0.082566],[0.178347,-0.155320,0.971632]]
2025-10-27T00:20:33.321Z,1761524433.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:33.323Z,1761524433.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:33.326Z,1761524433.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 594.097778 m,
      bearing: 211.749407 deg,
      approach rate: -0.669246 m/s,
      LOS rate: 0.014291 deg/s,
      cmd heading: 201.237932 deg,
      new cmd heading: 201.255053 deg.

2025-10-27T00:20:33.327Z,1761524433.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512563 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:33.402Z,1761524433.402 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:33.402Z,1761524433.402 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:33.402Z,1761524433.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:33.657Z,1761524433.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972972
2025-10-27T00:20:33.729Z,1761524433.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915068,0.336002,0.223053],[-0.361101,-0.928904,-0.082125],[0.179600,-0.155695,0.971341]]
2025-10-27T00:20:33.804Z,1761524433.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:33.815Z,1761524433.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 593.791931 m,
      bearing: 211.757280 deg,
      approach rate: -0.635577 m/s,
      LOS rate: 0.016369 deg/s,
      cmd heading: 201.255048 deg,
      new cmd heading: 201.278679 deg.

2025-10-27T00:20:33.816Z,1761524433.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.512976 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:33.908Z,1761524433.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224083
2025-10-27T00:20:34.161Z,1761524434.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476746
2025-10-27T00:20:34.267Z,1761524434.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913346,0.338752,0.225933],[-0.364280,-0.927701,-0.081676],[0.181930,-0.156902,0.970713]]
2025-10-27T00:20:34.285Z,1761524434.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:34.288Z,1761524434.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 593.465576 m,
      bearing: 211.765568 deg,
      approach rate: -0.678343 m/s,
      LOS rate: 0.017237 deg/s,
      cmd heading: 201.278681 deg,
      new cmd heading: 201.303559 deg.

2025-10-27T00:20:34.289Z,1761524434.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513410 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:34.412Z,1761524434.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728182
2025-10-27T00:20:34.664Z,1761524434.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980123
2025-10-27T00:20:34.669Z,1761524434.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912884,0.339291,0.226987],[-0.364886,-0.927517,-0.081063],[0.183030,-0.156826,0.970518]]
2025-10-27T00:20:34.718Z,1761524434.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:34.725Z,1761524434.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 593.201416 m,
      bearing: 211.772263 deg,
      approach rate: -0.610649 m/s,
      LOS rate: 0.015483 deg/s,
      cmd heading: 201.303556 deg,
      new cmd heading: 201.323649 deg.

2025-10-27T00:20:34.726Z,1761524434.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513761 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:34.916Z,1761524434.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232383
2025-10-27T00:20:35.168Z,1761524435.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484082
2025-10-27T00:20:35.180Z,1761524435.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912543,0.339872,0.227492],[-0.365465,-0.927332,-0.080565],[0.183579,-0.156659,0.970441]]
2025-10-27T00:20:35.199Z,1761524435.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:35.201Z,1761524435.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 592.865051 m,
      bearing: 211.780775 deg,
      approach rate: -0.700093 m/s,
      LOS rate: 0.017726 deg/s,
      cmd heading: 201.323651 deg,
      new cmd heading: 201.349200 deg.

2025-10-27T00:20:35.202Z,1761524435.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514206 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:35.420Z,1761524435.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736137
2025-10-27T00:20:35.663Z,1761524435.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912750,0.339630,0.227020],[-0.365100,-0.927495,-0.080345],[0.183272,-0.156220,0.970570]]
2025-10-27T00:20:35.672Z,1761524435.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988029
2025-10-27T00:20:35.745Z,1761524435.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:35.751Z,1761524435.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:35.754Z,1761524435.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 592.503296 m,
      bearing: 211.788599 deg,
      approach rate: -0.659929 m/s,
      LOS rate: 0.014282 deg/s,
      cmd heading: 201.349196 deg,
      new cmd heading: 201.372682 deg.

2025-10-27T00:20:35.754Z,1761524435.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514616 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:35.924Z,1761524435.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240287
2025-10-27T00:20:36.085Z,1761524436.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913161,0.339025,0.226274],[-0.364418,-0.927738,-0.080637],[0.182585,-0.156093,0.970720]]
2025-10-27T00:20:36.106Z,1761524436.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:36.109Z,1761524436.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 592.258484 m,
      bearing: 211.793918 deg,
      approach rate: -0.681878 m/s,
      LOS rate: 0.014822 deg/s,
      cmd heading: 201.372678 deg,
      new cmd heading: 201.388642 deg.

2025-10-27T00:20:36.110Z,1761524436.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.514895 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:36.177Z,1761524436.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493017
2025-10-27T00:20:36.428Z,1761524436.428 [DAT](INFO): DAT read: Rx Time:00:20:37.3047

2025-10-27T00:20:36.429Z,1761524436.429 [DAT](INFO): Rx dataTimestamp_ set to:1761524436.428563
2025-10-27T00:20:36.429Z,1761524436.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745517
2025-10-27T00:20:36.486Z,1761524436.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913553,0.338123,0.226040],[-0.363790,-0.927831,-0.082378],[0.181873,-0.157488,0.970629]]
2025-10-27T00:20:36.514Z,1761524436.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:36.517Z,1761524436.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 591.984802 m,
      bearing: 211.799893 deg,
      approach rate: -0.670002 m/s,
      LOS rate: 0.014635 deg/s,
      cmd heading: 201.388647 deg,
      new cmd heading: 201.406581 deg.

2025-10-27T00:20:36.518Z,1761524436.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.515208 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:36.680Z,1761524436.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.996133
2025-10-27T00:20:36.889Z,1761524436.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914056,0.337169,0.225430],[-0.362882,-0.928110,-0.083238],[0.181159,-0.157888,0.970697]]
2025-10-27T00:20:36.930Z,1761524436.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:36.933Z,1761524436.933 [DAT](INFO): DAT read: Range 11 to 50 : 600.9 m  (Round-trip  801.2 ms) speed  0.7 m/s

2025-10-27T00:20:36.934Z,1761524436.934 [DAT](INFO): DAT read: user:36>

2025-10-27T00:20:36.934Z,1761524436.934 [DAT](INFO): DAT read: Tx time:00:20:38.3994

2025-10-27T00:20:36.935Z,1761524436.935 [DAT](INFO): Ping request sent.
2025-10-27T00:20:36.935Z,1761524436.935 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:36.935Z,1761524436.935 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T00:20:36.935Z,1761524436.935 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:36.936Z,1761524436.936 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:36.939Z,1761524436.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 591.717407 m,
      bearing: 211.805765 deg,
      approach rate: -0.674178 m/s,
      LOS rate: 0.014810 deg/s,
      cmd heading: 201.406583 deg,
      new cmd heading: 201.424205 deg.

2025-10-27T00:20:36.940Z,1761524436.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.515516 target range: 601.391724 and range: 603.60 m.
2025-10-27T00:20:37.294Z,1761524437.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914648,0.336167,0.224525],[-0.361886,-0.928416,-0.084158],[0.180162,-0.158228,0.970827]]
2025-10-27T00:20:37.314Z,1761524437.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 600.900024 m,
      deltaT: 4.286952 s,
      deltaX: -2.699951 m,
      approachRate: -0.629807 m/s,
      rangeRepo size: 4

2025-10-27T00:20:37.315Z,1761524437.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:37.318Z,1761524437.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 591.447205 m,
      bearing: 211.811736 deg,
      approach rate: -0.675216 m/s,
      LOS rate: 0.014929 deg/s,
      cmd heading: 201.424205 deg,
      new cmd heading: 201.442127 deg.

2025-10-27T00:20:37.319Z,1761524437.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.515828 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:37.719Z,1761524437.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915497,0.334381,0.223731],[-0.360118,-0.929016,-0.085113],[0.179389,-0.158491,0.970927]]
2025-10-27T00:20:37.767Z,1761524437.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:37.769Z,1761524437.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:37.772Z,1761524437.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 591.125671 m,
      bearing: 211.815926 deg,
      approach rate: -0.701795 m/s,
      LOS rate: 0.009151 deg/s,
      cmd heading: 201.442127 deg,
      new cmd heading: 201.454705 deg.

2025-10-27T00:20:37.773Z,1761524437.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516048 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:37.940Z,1761524437.940 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:37.940Z,1761524437.940 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:37.940Z,1761524437.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:38.102Z,1761524438.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916225,0.332751,0.223179],[-0.358712,-0.929390,-0.086949],[0.178488,-0.159722,0.970892]]
2025-10-27T00:20:38.159Z,1761524438.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:38.162Z,1761524438.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 590.878845 m,
      bearing: 211.819186 deg,
      approach rate: -0.637965 m/s,
      LOS rate: 0.008428 deg/s,
      cmd heading: 201.454708 deg,
      new cmd heading: 201.464491 deg.

2025-10-27T00:20:38.163Z,1761524438.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516219 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:38.192Z,1761524438.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257102
2025-10-27T00:20:38.444Z,1761524438.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508955
2025-10-27T00:20:38.511Z,1761524438.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917183,0.330901,0.221990],[-0.356731,-0.930104,-0.087462],[0.177533,-0.159410,0.971118]]
2025-10-27T00:20:38.532Z,1761524438.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:38.534Z,1761524438.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 590.590942 m,
      bearing: 211.823055 deg,
      approach rate: -0.766696 m/s,
      LOS rate: 0.010310 deg/s,
      cmd heading: 201.464489 deg,
      new cmd heading: 201.476103 deg.

2025-10-27T00:20:38.536Z,1761524438.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516421 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:38.697Z,1761524438.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761572
2025-10-27T00:20:38.912Z,1761524438.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918155,0.328733,0.221191],[-0.354703,-0.930722,-0.089122],[0.176570,-0.160285,0.971150]]
2025-10-27T00:20:38.933Z,1761524438.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:38.936Z,1761524438.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 590.309692 m,
      bearing: 211.826903 deg,
      approach rate: -0.701209 m/s,
      LOS rate: 0.009599 deg/s,
      cmd heading: 201.476101 deg,
      new cmd heading: 201.487651 deg.

2025-10-27T00:20:38.936Z,1761524438.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516623 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:38.948Z,1761524438.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012984
2025-10-27T00:20:39.200Z,1761524439.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264909
2025-10-27T00:20:39.313Z,1761524439.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919207,0.326538,0.220072],[-0.352563,-0.931389,-0.090631],[0.175378,-0.160898,0.971264]]
2025-10-27T00:20:39.353Z,1761524439.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:39.356Z,1761524439.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 590.012329 m,
      bearing: 211.831048 deg,
      approach rate: -0.706937 m/s,
      LOS rate: 0.009859 deg/s,
      cmd heading: 201.487657 deg,
      new cmd heading: 201.500098 deg.

2025-10-27T00:20:39.357Z,1761524439.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516840 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:39.456Z,1761524439.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520773
2025-10-27T00:20:39.704Z,1761524439.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769146
2025-10-27T00:20:39.730Z,1761524439.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920007,0.325153,0.218777],[-0.351058,-0.931895,-0.091267],[0.174201,-0.160769,0.971497]]
2025-10-27T00:20:39.769Z,1761524439.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:39.787Z,1761524439.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 589.711792 m,
      bearing: 211.834398 deg,
      approach rate: -0.723807 m/s,
      LOS rate: 0.008072 deg/s,
      cmd heading: 201.500102 deg,
      new cmd heading: 201.510157 deg.

2025-10-27T00:20:39.788Z,1761524439.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517016 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:39.956Z,1761524439.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020995
2025-10-27T00:20:40.144Z,1761524440.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920788,0.323938,0.217286],[-0.349665,-0.932371,-0.091751],[0.172870,-0.160460,0.971786]]
2025-10-27T00:20:40.172Z,1761524440.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:40.174Z,1761524440.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:40.177Z,1761524440.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 589.420654 m,
      bearing: 211.837693 deg,
      approach rate: -0.717894 m/s,
      LOS rate: 0.008129 deg/s,
      cmd heading: 201.510156 deg,
      new cmd heading: 201.520046 deg.

2025-10-27T00:20:40.178Z,1761524440.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517188 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:40.208Z,1761524440.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273363
2025-10-27T00:20:40.460Z,1761524440.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524849
2025-10-27T00:20:40.529Z,1761524440.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921579,0.322618,0.215892],[-0.348160,-0.932898,-0.092120],[0.171685,-0.160061,0.972062]]
2025-10-27T00:20:40.561Z,1761524440.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:40.564Z,1761524440.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 589.138306 m,
      bearing: 211.840940 deg,
      approach rate: -0.729368 m/s,
      LOS rate: 0.008390 deg/s,
      cmd heading: 201.520046 deg,
      new cmd heading: 201.529790 deg.

2025-10-27T00:20:40.565Z,1761524440.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517358 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:40.713Z,1761524440.713 [DAT](INFO): DAT read: Rx Time:00:20:41.6005

2025-10-27T00:20:40.713Z,1761524440.713 [DAT](INFO): Rx dataTimestamp_ set to:1761524440.712992
2025-10-27T00:20:40.714Z,1761524440.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779121
2025-10-27T00:20:40.964Z,1761524440.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028954
2025-10-27T00:20:40.971Z,1761524440.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.39 m.
2025-10-27T00:20:40.974Z,1761524440.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.391724 m,
      nav range: 588.842102 m,
      bearing: 211.844350 deg,
      approach rate: -0.722039 m/s,
      LOS rate: 0.008317 deg/s,
      cmd heading: 201.529786 deg,
      new cmd heading: 201.540022 deg.

2025-10-27T00:20:40.991Z,1761524440.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517537 target range: 601.391724 and range: 600.90 m.
2025-10-27T00:20:41.223Z,1761524441.223 [DAT](INFO): DAT read: 00:20:41.6005 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 398,-0.12, 1.496,-0.085, 1.317, 1.047, PHS= 0.552,-1.086, 0.226, RAW= 139.2,   4.2, CAL= 139.1,   4.9, ROT=  10.9,  -4.9

2025-10-27T00:20:41.225Z,1761524441.225 [DAT](INFO): got valid direction response:
 00:20:41.6005 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 398,-0.12, 1.496,-0.085, 1.317, 1.047, PHS= 0.552,-1.086, 0.226, RAW= 139.2,   4.2, CAL= 139.1,   4.9, ROT=  10.9,  -4.9

2025-10-27T00:20:41.226Z,1761524441.226 [DAT](INFO): DAT read: Bearing   2.2,  20.0 (Local)

2025-10-27T00:20:41.226Z,1761524441.226 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  20.0 (Local)

2025-10-27T00:20:41.228Z,1761524441.228 [DAT](INFO): DAT read: Range 11 to 50 : 597.7 m  (Round-trip  797.0 ms) speed  0.5 m/s

2025-10-27T00:20:41.228Z,1761524441.228 [DAT](INFO): DAT read: user:37>

2025-10-27T00:20:41.229Z,1761524441.229 [DAT](INFO): DAT read: Tx time:00:20:42.6994

2025-10-27T00:20:41.229Z,1761524441.229 [DAT](INFO): Ping request sent.
2025-10-27T00:20:41.229Z,1761524441.229 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:41.230Z,1761524441.230 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:41.233Z,1761524441.233 [DAT](INFO): direction in FSK: [0.978370,0.188404,0.085417]
2025-10-27T00:20:41.234Z,1761524441.234 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:41.236Z,1761524441.236 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:41.252Z,1761524441.252 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:41.253Z,1761524441.253 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:41.346Z,1761524441.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922684,0.321621,0.212635],[-0.346528,-0.933553,-0.091638],[0.169033,-0.158237,0.972825]]
2025-10-27T00:20:41.399Z,1761524441.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 597.700012 m,
      deltaT: 4.283956 s,
      deltaX: -3.200012 m,
      approachRate: -0.746976 m/s,
      rangeRepo size: 4

2025-10-27T00:20:41.401Z,1761524441.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 595.477722 m,
      bearing: 212.391990 deg,
      lat: 36.779506 deg,
      lon: -121.859870 deg,
      deltaT: 8.570908 s,
      deltaX: -5.914001 m,
      approachRate: -0.690009 m/s,
      posRepo size: 4

2025-10-27T00:20:41.402Z,1761524441.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:41.419Z,1761524441.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 582.875183 m,
      bearing: 212.281437 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008317 deg/s,
      cmd heading: 201.540017 deg,
      new cmd heading: 201.550563 deg.

2025-10-27T00:20:41.420Z,1761524441.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517721 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:41.785Z,1761524441.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923145,0.321917,0.210174],[-0.346067,-0.933925,-0.089565],[0.167455,-0.155416,0.973553]]
2025-10-27T00:20:41.821Z,1761524441.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:41.840Z,1761524441.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 582.571289 m,
      bearing: 212.283592 deg,
      approach rate: -0.712366 m/s,
      LOS rate: 0.005054 deg/s,
      cmd heading: 201.550563 deg,
      new cmd heading: 201.557032 deg.

2025-10-27T00:20:41.840Z,1761524441.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517834 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:42.189Z,1761524442.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923451,0.322243,0.208322],[-0.345939,-0.934062,-0.088622],[0.166027,-0.153905,0.974037]]
2025-10-27T00:20:42.205Z,1761524442.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:42.207Z,1761524442.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:42.210Z,1761524442.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 582.306580 m,
      bearing: 212.285482 deg,
      approach rate: -0.684384 m/s,
      LOS rate: 0.004887 deg/s,
      cmd heading: 201.557038 deg,
      new cmd heading: 201.562709 deg.

2025-10-27T00:20:42.211Z,1761524442.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.517933 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:42.224Z,1761524442.224 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:42.224Z,1761524442.224 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:42.224Z,1761524442.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:42.477Z,1761524442.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247204
2025-10-27T00:20:42.617Z,1761524442.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923553,0.323005,0.206682],[-0.346362,-0.933954,-0.088115],[0.164570,-0.152966,0.974432]]
2025-10-27T00:20:42.682Z,1761524442.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:42.694Z,1761524442.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 581.990417 m,
      bearing: 212.287733 deg,
      approach rate: -0.666064 m/s,
      LOS rate: 0.004746 deg/s,
      cmd heading: 201.562707 deg,
      new cmd heading: 201.569466 deg.

2025-10-27T00:20:42.700Z,1761524442.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.518051 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:42.728Z,1761524442.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498481
2025-10-27T00:20:42.980Z,1761524442.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750826
2025-10-27T00:20:43.057Z,1761524443.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923395,0.325197,0.203933],[-0.348135,-0.933298,-0.088069],[0.161691,-0.152318,0.975016]]
2025-10-27T00:20:43.085Z,1761524443.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:43.088Z,1761524443.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 581.703125 m,
      bearing: 212.289736 deg,
      approach rate: -0.712527 m/s,
      LOS rate: 0.004970 deg/s,
      cmd heading: 201.569469 deg,
      new cmd heading: 201.575481 deg.

2025-10-27T00:20:43.089Z,1761524443.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.518156 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:43.232Z,1761524443.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002503
2025-10-27T00:20:43.487Z,1761524443.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256984
2025-10-27T00:20:43.513Z,1761524443.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923181,0.326670,0.202545],[-0.349230,-0.932988,-0.087012],[0.160548,-0.151063,0.975400]]
2025-10-27T00:20:43.569Z,1761524443.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:43.576Z,1761524443.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 581.400085 m,
      bearing: 212.296381 deg,
      approach rate: -0.626709 m/s,
      LOS rate: 0.013749 deg/s,
      cmd heading: 201.575480 deg,
      new cmd heading: 201.595424 deg.

2025-10-27T00:20:43.577Z,1761524443.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.518504 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:43.736Z,1761524443.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506342
2025-10-27T00:20:43.927Z,1761524443.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923074,0.327952,0.200951],[-0.350148,-0.932718,-0.086221],[0.159154,-0.149951,0.975800]]
2025-10-27T00:20:43.945Z,1761524443.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:43.969Z,1761524443.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 581.140991 m,
      bearing: 212.302045 deg,
      approach rate: -0.688105 m/s,
      LOS rate: 0.015050 deg/s,
      cmd heading: 201.595424 deg,
      new cmd heading: 201.612424 deg.

2025-10-27T00:20:43.970Z,1761524443.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.518801 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:43.988Z,1761524443.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758500
2025-10-27T00:20:44.241Z,1761524444.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011324
2025-10-27T00:20:44.332Z,1761524444.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922683,0.329895,0.199561],[-0.351770,-0.932179,-0.085444],[0.157839,-0.149038,0.976153]]
2025-10-27T00:20:44.348Z,1761524444.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:44.350Z,1761524444.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:44.353Z,1761524444.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 580.875610 m,
      bearing: 212.307811 deg,
      approach rate: -0.655106 m/s,
      LOS rate: 0.014239 deg/s,
      cmd heading: 201.612431 deg,
      new cmd heading: 201.629735 deg.

2025-10-27T00:20:44.354Z,1761524444.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.519103 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:44.492Z,1761524444.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262416
2025-10-27T00:20:44.734Z,1761524444.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922315,0.331625,0.198394],[-0.353309,-0.931613,-0.085264],[0.156551,-0.148735,0.976407]]
2025-10-27T00:20:44.744Z,1761524444.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514474
2025-10-27T00:20:44.753Z,1761524444.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:44.756Z,1761524444.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 580.612976 m,
      bearing: 212.313480 deg,
      approach rate: -0.652666 m/s,
      LOS rate: 0.014094 deg/s,
      cmd heading: 201.629739 deg,
      new cmd heading: 201.646753 deg.

2025-10-27T00:20:44.757Z,1761524444.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.519400 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:44.996Z,1761524444.996 [DAT](INFO): DAT read: Rx Time:00:20:45.8964

2025-10-27T00:20:44.997Z,1761524444.997 [DAT](INFO): Rx dataTimestamp_ set to:1761524444.996220
2025-10-27T00:20:44.997Z,1761524444.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767517
2025-10-27T00:20:45.142Z,1761524445.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921863,0.333498,0.197350],[-0.355044,-0.930951,-0.085291],[0.155279,-0.148695,0.976616]]
2025-10-27T00:20:45.165Z,1761524445.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 595.48 m.
2025-10-27T00:20:45.168Z,1761524445.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 595.477722 m,
      nav range: 580.341919 m,
      bearing: 212.319285 deg,
      approach rate: -0.658236 m/s,
      LOS rate: 0.014105 deg/s,
      cmd heading: 201.646760 deg,
      new cmd heading: 201.664185 deg.

2025-10-27T00:20:45.168Z,1761524445.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.519704 target range: 595.477722 and range: 597.70 m.
2025-10-27T00:20:45.249Z,1761524445.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019306
2025-10-27T00:20:45.512Z,1761524445.512 [DAT](INFO): DAT read: 00:20:45.8964 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 404,-0.37,-2.443, 2.133,-2.668,-2.969, PHS= 0.628,-1.137, 0.256, RAW= 138.5,   3.2, CAL= 138.5,   3.9, ROT=  11.5,  -3.9

2025-10-27T00:20:45.513Z,1761524445.513 [DAT](INFO): got valid direction response:
 00:20:45.8964 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 404,-0.37,-2.443, 2.133,-2.668,-2.969, PHS= 0.628,-1.137, 0.256, RAW= 138.5,   3.2, CAL= 138.5,   3.9, ROT=  11.5,  -3.9

2025-10-27T00:20:45.514Z,1761524445.514 [DAT](INFO): DAT read: Bearing   0.7,  20.0 (Local)

2025-10-27T00:20:45.514Z,1761524445.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  20.0 (Local)

2025-10-27T00:20:45.516Z,1761524445.516 [DAT](INFO): DAT read: Range 11 to 50 : 594.6 m  (Round-trip  792.9 ms) speed  0.5 m/s

2025-10-27T00:20:45.517Z,1761524445.517 [DAT](INFO): DAT read: user:38>

2025-10-27T00:20:45.518Z,1761524445.518 [DAT](INFO): DAT read: Tx time:00:20:46.9994

2025-10-27T00:20:45.518Z,1761524445.518 [DAT](INFO): Ping request sent.
2025-10-27T00:20:45.518Z,1761524445.518 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:45.518Z,1761524445.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:45.533Z,1761524445.533 [DAT](INFO): direction in FSK: [0.977655,0.198906,0.068015]
2025-10-27T00:20:45.533Z,1761524445.533 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:45.534Z,1761524445.534 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:45.557Z,1761524445.557 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:45.557Z,1761524445.557 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:45.575Z,1761524445.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921452,0.335461,0.195940],[-0.356603,-0.930474,-0.083982],[0.154145,-0.147258,0.977013]]
2025-10-27T00:20:45.690Z,1761524445.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 594.599976 m,
      deltaT: 4.285223 s,
      deltaX: -3.100037 m,
      approachRate: -0.723425 m/s,
      rangeRepo size: 4

2025-10-27T00:20:45.698Z,1761524445.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 592.352295 m,
      bearing: 213.312310 deg,
      lat: 36.779525 deg,
      lon: -121.859870 deg,
      deltaT: 4.285223 s,
      deltaX: -3.125427 m,
      approachRate: -0.729350 m/s,
      posRepo size: 4

2025-10-27T00:20:45.703Z,1761524445.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:45.715Z,1761524445.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 578.228699 m,
      bearing: 212.441651 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014105 deg/s,
      cmd heading: 201.664190 deg,
      new cmd heading: 201.686388 deg.

2025-10-27T00:20:45.717Z,1761524445.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520092 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:45.967Z,1761524445.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920765,0.337877,0.195013],[-0.358900,-0.929591,-0.083972],[0.152910,-0.147309,0.977199]]
2025-10-27T00:20:45.985Z,1761524445.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:45.987Z,1761524445.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 578.023376 m,
      bearing: 212.447808 deg,
      approach rate: -0.695164 m/s,
      LOS rate: 0.020854 deg/s,
      cmd heading: 201.686388 deg,
      new cmd heading: 201.704867 deg.

2025-10-27T00:20:45.988Z,1761524445.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520414 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:46.366Z,1761524446.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920277,0.339929,0.193751],[-0.360643,-0.928995,-0.083093],[0.151748,-0.146344,0.977525]]
2025-10-27T00:20:46.400Z,1761524446.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:46.402Z,1761524446.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:46.405Z,1761524446.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 577.771301 m,
      bearing: 212.455326 deg,
      approach rate: -0.603948 m/s,
      LOS rate: 0.018019 deg/s,
      cmd heading: 201.704871 deg,
      new cmd heading: 201.727433 deg.

2025-10-27T00:20:46.406Z,1761524446.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520808 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:46.508Z,1761524446.508 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:46.508Z,1761524446.508 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:46.508Z,1761524446.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:46.760Z,1761524446.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242072
2025-10-27T00:20:46.771Z,1761524446.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919688,0.342100,0.192720],[-0.362598,-0.928281,-0.082570],[0.150651,-0.145818,0.977774]]
2025-10-27T00:20:46.790Z,1761524446.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:46.793Z,1761524446.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 577.515137 m,
      bearing: 212.462918 deg,
      approach rate: -0.660320 m/s,
      LOS rate: 0.019579 deg/s,
      cmd heading: 201.727438 deg,
      new cmd heading: 201.750225 deg.

2025-10-27T00:20:46.794Z,1761524446.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521206 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:47.012Z,1761524447.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493891
2025-10-27T00:20:47.174Z,1761524447.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919212,0.343990,0.191624],[-0.364245,-0.927692,-0.081940],[0.149581,-0.145119,0.978042]]
2025-10-27T00:20:47.209Z,1761524447.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:47.212Z,1761524447.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 577.261292 m,
      bearing: 212.470399 deg,
      approach rate: -0.605881 m/s,
      LOS rate: 0.017864 deg/s,
      cmd heading: 201.750223 deg,
      new cmd heading: 201.772677 deg.

2025-10-27T00:20:47.213Z,1761524447.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521598 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:47.264Z,1761524447.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746067
2025-10-27T00:20:47.516Z,1761524447.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998006
2025-10-27T00:20:47.641Z,1761524447.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918658,0.345709,0.191188],[-0.366125,-0.926828,-0.083321],[0.148394,-0.146542,0.978011]]
2025-10-27T00:20:47.698Z,1761524447.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:47.703Z,1761524447.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 576.930054 m,
      bearing: 212.480910 deg,
      approach rate: -0.677360 m/s,
      LOS rate: 0.021506 deg/s,
      cmd heading: 201.772681 deg,
      new cmd heading: 201.804232 deg.

2025-10-27T00:20:47.704Z,1761524447.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522148 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:47.768Z,1761524447.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250099
2025-10-27T00:20:48.020Z,1761524448.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501967
2025-10-27T00:20:48.134Z,1761524448.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918128,0.347579,0.190341],[-0.367828,-0.926186,-0.082955],[0.147458,-0.146176,0.978207]]
2025-10-27T00:20:48.169Z,1761524448.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:48.175Z,1761524448.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 576.626099 m,
      bearing: 212.490505 deg,
      approach rate: -0.645832 m/s,
      LOS rate: 0.020397 deg/s,
      cmd heading: 201.804236 deg,
      new cmd heading: 201.833036 deg.

2025-10-27T00:20:48.176Z,1761524448.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522651 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:48.272Z,1761524448.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753979
2025-10-27T00:20:48.524Z,1761524448.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006050
2025-10-27T00:20:48.537Z,1761524448.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917585,0.349440,0.189552],[-0.369464,-0.925607,-0.082143],[0.146746,-0.145406,0.978429]]
2025-10-27T00:20:48.553Z,1761524448.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:48.555Z,1761524448.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:48.558Z,1761524448.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 576.360046 m,
      bearing: 212.498860 deg,
      approach rate: -0.688509 m/s,
      LOS rate: 0.021633 deg/s,
      cmd heading: 201.833033 deg,
      new cmd heading: 201.858110 deg.

2025-10-27T00:20:48.559Z,1761524448.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523089 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:48.780Z,1761524448.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262308
2025-10-27T00:20:48.937Z,1761524448.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917092,0.350795,0.189433],[-0.370852,-0.925029,-0.082407],[0.146323,-0.145826,0.978429]]
2025-10-27T00:20:48.954Z,1761524448.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:48.957Z,1761524448.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 576.095337 m,
      bearing: 212.507140 deg,
      approach rate: -0.662640 m/s,
      LOS rate: 0.020736 deg/s,
      cmd heading: 201.858113 deg,
      new cmd heading: 201.882963 deg.

2025-10-27T00:20:48.958Z,1761524448.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523522 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:49.028Z,1761524449.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510142
2025-10-27T00:20:49.280Z,1761524449.280 [DAT](INFO): DAT read: Rx Time:00:20:50.1930

2025-10-27T00:20:49.280Z,1761524449.280 [DAT](INFO): Rx dataTimestamp_ set to:1761524449.280081
2025-10-27T00:20:49.281Z,1761524449.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762976
2025-10-27T00:20:49.379Z,1761524449.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916637,0.352126,0.189167],[-0.372256,-0.924403,-0.083089],[0.145609,-0.146581,0.978423]]
2025-10-27T00:20:49.398Z,1761524449.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 592.35 m.
2025-10-27T00:20:49.400Z,1761524449.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 592.352295 m,
      nav range: 575.802185 m,
      bearing: 212.516268 deg,
      approach rate: -0.661563 m/s,
      LOS rate: 0.020611 deg/s,
      cmd heading: 201.882961 deg,
      new cmd heading: 201.910360 deg.

2025-10-27T00:20:49.401Z,1761524449.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.524001 target range: 592.352295 and range: 594.60 m.
2025-10-27T00:20:49.533Z,1761524449.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014946
2025-10-27T00:20:49.790Z,1761524449.790 [DAT](INFO): DAT read: 00:20:50.1930 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 401,-0.32,-0.628,-2.261,-0.846,-1.040, PHS= 0.514,-1.176, 0.150, RAW= 138.2,   6.7, CAL= 138.0,   7.6, ROT=  12.0,  -7.6

2025-10-27T00:20:49.791Z,1761524449.791 [DAT](INFO): got valid direction response:
 00:20:50.1930 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 401,-0.32,-0.628,-2.261,-0.846,-1.040, PHS= 0.514,-1.176, 0.150, RAW= 138.2,   6.7, CAL= 138.0,   7.6, ROT=  12.0,  -7.6

2025-10-27T00:20:49.792Z,1761524449.792 [DAT](INFO): DAT read: Bearing   4.6,  19.4 (Local)

2025-10-27T00:20:49.792Z,1761524449.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,  19.4 (Local)

2025-10-27T00:20:49.794Z,1761524449.794 [DAT](INFO): DAT read: Range 11 to 50 : 592.1 m  (Round-trip  789.5 ms) speed  0.5 m/s

2025-10-27T00:20:49.794Z,1761524449.794 [DAT](INFO): DAT read: user:39>

2025-10-27T00:20:49.795Z,1761524449.795 [DAT](INFO): DAT read: Tx time:00:20:51.2994

2025-10-27T00:20:49.795Z,1761524449.795 [DAT](INFO): Ping request sent.
2025-10-27T00:20:49.795Z,1761524449.795 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:49.796Z,1761524449.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:49.797Z,1761524449.797 [DAT](INFO): direction in FSK: [0.969555,0.206085,0.132256]
2025-10-27T00:20:49.797Z,1761524449.797 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:49.797Z,1761524449.797 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:49.805Z,1761524449.805 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:49.805Z,1761524449.805 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:49.833Z,1761524449.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916242,0.353261,0.188962],[-0.373426,-0.923898,-0.083461],[0.145098,-0.147034,0.978431]]
2025-10-27T00:20:49.968Z,1761524449.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 592.099976 m,
      deltaT: 4.282800 s,
      deltaX: -2.500000 m,
      approachRate: -0.583730 m/s,
      rangeRepo size: 4

2025-10-27T00:20:49.970Z,1761524449.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 589.839478 m,
      bearing: 215.480787 deg,
      lat: 36.779541 deg,
      lon: -121.859940 deg,
      deltaT: 4.282800 s,
      deltaX: -2.512817 m,
      approachRate: -0.586723 m/s,
      posRepo size: 4

2025-10-27T00:20:49.975Z,1761524449.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:49.978Z,1761524449.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 577.318481 m,
      bearing: 213.144346 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020611 deg/s,
      cmd heading: 201.910364 deg,
      new cmd heading: 201.945055 deg.

2025-10-27T00:20:49.983Z,1761524449.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.524606 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:50.286Z,1761524450.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916098,0.353846,0.188567],[-0.374177,-0.923457,-0.084963],[0.144069,-0.148392,0.978378]]
2025-10-27T00:20:50.321Z,1761524450.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:50.324Z,1761524450.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 577.063293 m,
      bearing: 213.151437 deg,
      approach rate: -0.704464 m/s,
      LOS rate: 0.019582 deg/s,
      cmd heading: 201.945061 deg,
      new cmd heading: 201.966341 deg.

2025-10-27T00:20:50.325Z,1761524450.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.524978 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:50.701Z,1761524450.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916160,0.353706,0.188527],[-0.374232,-0.923307,-0.086340],[0.143529,-0.149654,0.978265]]
2025-10-27T00:20:50.750Z,1761524450.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:50.757Z,1761524450.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:50.764Z,1761524450.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 576.763489 m,
      bearing: 213.159775 deg,
      approach rate: -0.688088 m/s,
      LOS rate: 0.019148 deg/s,
      cmd heading: 201.966344 deg,
      new cmd heading: 201.991373 deg.

2025-10-27T00:20:50.765Z,1761524450.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525414 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:50.792Z,1761524450.792 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:50.792Z,1761524450.792 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:50.792Z,1761524450.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:51.044Z,1761524451.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248659
2025-10-27T00:20:51.123Z,1761524451.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916249,0.353677,0.188148],[-0.374295,-0.923185,-0.087365],[0.142796,-0.150471,0.978247]]
2025-10-27T00:20:51.147Z,1761524451.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:51.150Z,1761524451.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 576.483521 m,
      bearing: 213.167568 deg,
      approach rate: -0.717112 m/s,
      LOS rate: 0.019972 deg/s,
      cmd heading: 201.991370 deg,
      new cmd heading: 202.014761 deg.

2025-10-27T00:20:51.151Z,1761524451.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525823 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:51.296Z,1761524451.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500405
2025-10-27T00:20:51.521Z,1761524451.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916479,0.353219,0.187893],[-0.373921,-0.923253,-0.088244],[0.142303,-0.151131,0.978217]]
2025-10-27T00:20:51.556Z,1761524451.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760440
2025-10-27T00:20:51.582Z,1761524451.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:51.589Z,1761524451.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 576.173462 m,
      bearing: 213.173756 deg,
      approach rate: -0.712705 m/s,
      LOS rate: 0.014230 deg/s,
      cmd heading: 202.014757 deg,
      new cmd heading: 202.033329 deg.

2025-10-27T00:20:51.590Z,1761524451.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.526147 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:51.808Z,1761524451.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012557
2025-10-27T00:20:52.047Z,1761524452.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916685,0.352594,0.188060],[-0.373622,-0.923172,-0.090336],[0.141760,-0.153073,0.977994]]
2025-10-27T00:20:52.060Z,1761524452.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264528
2025-10-27T00:20:52.067Z,1761524452.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:52.069Z,1761524452.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 575.816589 m,
      bearing: 213.180902 deg,
      approach rate: -0.736561 m/s,
      LOS rate: 0.014758 deg/s,
      cmd heading: 202.033335 deg,
      new cmd heading: 202.054786 deg.

2025-10-27T00:20:52.070Z,1761524452.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.526521 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:52.313Z,1761524452.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517629
2025-10-27T00:20:52.449Z,1761524452.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916931,0.352011,0.187952],[-0.373139,-0.923285,-0.091174],[0.141439,-0.153732,0.977937]]
2025-10-27T00:20:52.466Z,1761524452.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:52.469Z,1761524452.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 575.525085 m,
      bearing: 213.186763 deg,
      approach rate: -0.729237 m/s,
      LOS rate: 0.014669 deg/s,
      cmd heading: 202.054781 deg,
      new cmd heading: 202.072373 deg.

2025-10-27T00:20:52.470Z,1761524452.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.526828 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:52.564Z,1761524452.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768518
2025-10-27T00:20:52.820Z,1761524452.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024310
2025-10-27T00:20:52.876Z,1761524452.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917185,0.351066,0.188478],[-0.372472,-0.923416,-0.092564],[0.141547,-0.155101,0.977705]]
2025-10-27T00:20:52.892Z,1761524452.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:52.894Z,1761524452.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:52.897Z,1761524452.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 575.214539 m,
      bearing: 213.193036 deg,
      approach rate: -0.725492 m/s,
      LOS rate: 0.014663 deg/s,
      cmd heading: 202.072376 deg,
      new cmd heading: 202.091206 deg.

2025-10-27T00:20:52.898Z,1761524452.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.527157 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:53.068Z,1761524453.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272304
2025-10-27T00:20:53.281Z,1761524453.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917241,0.350459,0.189331],[-0.372204,-0.923381,-0.093980],[0.141889,-0.156672,0.977405]]
2025-10-27T00:20:53.320Z,1761524453.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524751
2025-10-27T00:20:53.323Z,1761524453.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:53.326Z,1761524453.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 574.917542 m,
      bearing: 213.199054 deg,
      approach rate: -0.699200 m/s,
      LOS rate: 0.014174 deg/s,
      cmd heading: 202.091200 deg,
      new cmd heading: 202.109262 deg.

2025-10-27T00:20:53.331Z,1761524453.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.527472 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:53.572Z,1761524453.572 [DAT](INFO): DAT read: Rx Time:00:20:54.4897

2025-10-27T00:20:53.572Z,1761524453.572 [DAT](INFO): Rx dataTimestamp_ set to:1761524453.572182
2025-10-27T00:20:53.573Z,1761524453.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777478
2025-10-27T00:20:53.682Z,1761524453.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917241,0.350000,0.190180],[-0.371959,-0.923423,-0.094531],[0.142531,-0.157447,0.977187]]
2025-10-27T00:20:53.757Z,1761524453.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 589.84 m.
2025-10-27T00:20:53.760Z,1761524453.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 589.839478 m,
      nav range: 574.600464 m,
      bearing: 213.203027 deg,
      approach rate: -0.723680 m/s,
      LOS rate: 0.009073 deg/s,
      cmd heading: 202.109259 deg,
      new cmd heading: 202.121185 deg.

2025-10-27T00:20:53.761Z,1761524453.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.527680 target range: 589.839478 and range: 592.10 m.
2025-10-27T00:20:53.825Z,1761524453.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029156
2025-10-27T00:20:54.082Z,1761524454.082 [DAT](INFO): DAT read: 00:20:54.4897 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 415, 0.15, 1.476,-0.266, 1.319, 0.916, PHS= 0.663,-1.137, 0.359, RAW= 140.9,   1.4, CAL= 140.8,   1.9, ROT=   9.2,  -1.9

2025-10-27T00:20:54.083Z,1761524454.083 [DAT](INFO): got valid direction response:
 00:20:54.4897 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 415, 0.15, 1.476,-0.266, 1.319, 0.916, PHS= 0.663,-1.137, 0.359, RAW= 140.9,   1.4, CAL= 140.8,   1.9, ROT=   9.2,  -1.9

2025-10-27T00:20:54.084Z,1761524454.084 [DAT](INFO): DAT read: Bearing 357.9,  17.3 (Local)

2025-10-27T00:20:54.084Z,1761524454.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  17.3 (Local)

2025-10-27T00:20:54.087Z,1761524454.087 [DAT](INFO): DAT read: Range 11 to 50 : 589.6 m  (Round-trip  786.2 ms) speed  0.8 m/s

2025-10-27T00:20:54.089Z,1761524454.089 [DAT](INFO): DAT read: user:40>

2025-10-27T00:20:54.090Z,1761524454.090 [DAT](INFO): DAT read: Tx time:00:20:55.5994

2025-10-27T00:20:54.091Z,1761524454.091 [DAT](INFO): Ping request sent.
2025-10-27T00:20:54.091Z,1761524454.091 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:54.092Z,1761524454.092 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:54.094Z,1761524454.094 [DAT](INFO): direction in FSK: [0.986594,0.159793,0.033155]
2025-10-27T00:20:54.094Z,1761524454.094 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:54.095Z,1761524454.095 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:54.132Z,1761524454.132 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:54.132Z,1761524454.132 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:54.222Z,1761524454.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 589.599976 m,
      deltaT: 4.291947 s,
      deltaX: -2.500000 m,
      approachRate: -0.582486 m/s,
      rangeRepo size: 4

2025-10-27T00:20:54.236Z,1761524454.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 587.334229 m,
      bearing: 211.561708 deg,
      lat: 36.779525 deg,
      lon: -121.859870 deg,
      deltaT: 4.291947 s,
      deltaX: -2.505249 m,
      approachRate: -0.583709 m/s,
      posRepo size: 4

2025-10-27T00:20:54.237Z,1761524454.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:54.244Z,1761524454.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 572.378296 m,
      bearing: 212.585908 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009073 deg/s,
      cmd heading: 202.121185 deg,
      new cmd heading: 202.133812 deg.

2025-10-27T00:20:54.245Z,1761524454.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.527900 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:54.511Z,1761524454.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917573,0.348215,0.191847],[-0.370523,-0.923938,-0.095140],[0.144125,-0.158382,0.976802]]
2025-10-27T00:20:54.529Z,1761524454.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:54.532Z,1761524454.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 572.133728 m,
      bearing: 212.588755 deg,
      approach rate: -0.793508 m/s,
      LOS rate: 0.009242 deg/s,
      cmd heading: 202.133807 deg,
      new cmd heading: 202.142352 deg.

2025-10-27T00:20:54.533Z,1761524454.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528050 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:54.913Z,1761524454.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917481,0.348048,0.192593],[-0.370482,-0.923950,-0.095179],[0.144819,-0.158677,0.976652]]
2025-10-27T00:20:54.940Z,1761524454.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:54.942Z,1761524454.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:54.945Z,1761524454.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 571.834167 m,
      bearing: 212.592246 deg,
      approach rate: -0.725655 m/s,
      LOS rate: 0.008460 deg/s,
      cmd heading: 202.142358 deg,
      new cmd heading: 202.152836 deg.

2025-10-27T00:20:54.946Z,1761524454.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528233 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:55.089Z,1761524455.089 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:55.089Z,1761524455.089 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:55.089Z,1761524455.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:55.321Z,1761524455.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917571,0.347493,0.193165],[-0.369980,-0.924176,-0.094936],[0.145529,-0.158577,0.976563]]
2025-10-27T00:20:55.340Z,1761524455.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249298
2025-10-27T00:20:55.352Z,1761524455.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:55.355Z,1761524455.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 571.535767 m,
      bearing: 212.595742 deg,
      approach rate: -0.728155 m/s,
      LOS rate: 0.008535 deg/s,
      cmd heading: 202.152836 deg,
      new cmd heading: 202.163329 deg.

2025-10-27T00:20:55.368Z,1761524455.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528416 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:55.592Z,1761524455.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501686
2025-10-27T00:20:55.778Z,1761524455.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:55.781Z,1761524455.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 571.233521 m,
      bearing: 212.599440 deg,
      approach rate: -0.709709 m/s,
      LOS rate: 0.008689 deg/s,
      cmd heading: 202.163327 deg,
      new cmd heading: 202.174427 deg.

2025-10-27T00:20:55.782Z,1761524455.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528610 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:55.844Z,1761524455.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753540
2025-10-27T00:20:55.991Z,1761524455.991 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:20:56.097Z,1761524456.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006395
2025-10-27T00:20:56.133Z,1761524456.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917609,0.346736,0.194342],[-0.369543,-0.924260,-0.095820],[0.146399,-0.159743,0.976243]]
2025-10-27T00:20:56.150Z,1761524456.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:56.153Z,1761524456.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 570.968201 m,
      bearing: 212.602699 deg,
      approach rate: -0.712048 m/s,
      LOS rate: 0.008749 deg/s,
      cmd heading: 202.174433 deg,
      new cmd heading: 202.184213 deg.

2025-10-27T00:20:56.154Z,1761524456.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528780 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:56.348Z,1761524456.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257637
2025-10-27T00:20:56.529Z,1761524456.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917492,0.346781,0.194810],[-0.369621,-0.924260,-0.095522],[0.146930,-0.159647,0.976179]]
2025-10-27T00:20:56.564Z,1761524456.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:56.566Z,1761524456.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 570.685974 m,
      bearing: 212.606164 deg,
      approach rate: -0.683228 m/s,
      LOS rate: 0.008394 deg/s,
      cmd heading: 202.184214 deg,
      new cmd heading: 202.194615 deg.

2025-10-27T00:20:56.571Z,1761524456.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528962 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:56.601Z,1761524456.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509864
2025-10-27T00:20:56.852Z,1761524456.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761609
2025-10-27T00:20:56.936Z,1761524456.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917509,0.346584,0.195082],[-0.369342,-0.924457,-0.094688],[0.147527,-0.158929,0.976206]]
2025-10-27T00:20:56.953Z,1761524456.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:56.955Z,1761524456.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:56.957Z,1761524456.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 570.397156 m,
      bearing: 212.609724 deg,
      approach rate: -0.738598 m/s,
      LOS rate: 0.009107 deg/s,
      cmd heading: 202.194609 deg,
      new cmd heading: 202.205293 deg.

2025-10-27T00:20:56.958Z,1761524456.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529148 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:56.996Z,1761524456.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:20:57.105Z,1761524457.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013799
2025-10-27T00:20:57.336Z,1761524457.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917441,0.346382,0.195757],[-0.369212,-0.924534,-0.094447],[0.148270,-0.158925,0.976094]]
2025-10-27T00:20:57.354Z,1761524457.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:57.356Z,1761524457.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265415
2025-10-27T00:20:57.358Z,1761524457.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 570.113098 m,
      bearing: 212.613231 deg,
      approach rate: -0.711344 m/s,
      LOS rate: 0.008786 deg/s,
      cmd heading: 202.205292 deg,
      new cmd heading: 202.215817 deg.

2025-10-27T00:20:57.360Z,1761524457.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529332 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:57.610Z,1761524457.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518649
2025-10-27T00:20:57.801Z,1761524457.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:57.808Z,1761524457.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 569.813110 m,
      bearing: 212.619500 deg,
      approach rate: -0.670511 m/s,
      LOS rate: 0.014019 deg/s,
      cmd heading: 202.215824 deg,
      new cmd heading: 202.234640 deg.

2025-10-27T00:20:57.809Z,1761524457.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529660 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:57.861Z,1761524457.861 [DAT](INFO): DAT read: Rx Time:00:20:58.7698

2025-10-27T00:20:57.862Z,1761524457.862 [DAT](INFO): Rx dataTimestamp_ set to:1761524457.861396
2025-10-27T00:20:57.863Z,1761524457.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771901
2025-10-27T00:20:58.112Z,1761524458.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021318
2025-10-27T00:20:58.142Z,1761524458.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917116,0.346576,0.196936],[-0.369557,-0.924425,-0.094157],[0.149420,-0.159132,0.975884]]
2025-10-27T00:20:58.172Z,1761524458.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 587.33 m.
2025-10-27T00:20:58.175Z,1761524458.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 587.334229 m,
      nav range: 569.572632 m,
      bearing: 212.624517 deg,
      approach rate: -0.648739 m/s,
      LOS rate: 0.013542 deg/s,
      cmd heading: 202.234634 deg,
      new cmd heading: 202.249694 deg.

2025-10-27T00:20:58.180Z,1761524458.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529923 target range: 587.334229 and range: 589.60 m.
2025-10-27T00:20:58.370Z,1761524458.370 [DAT](INFO): DAT read: 00:20:58.7698 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 243, 0.06, 1.475,-0.272, 1.285, 1.137, PHS= 0.440,-1.364, 0.104, RAW= 139.9,   9.9, CAL= 139.4,  10.8, ROT=  10.6, -10.8

2025-10-27T00:20:58.371Z,1761524458.371 [DAT](INFO): got valid direction response:
 00:20:58.7698 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 243, 0.06, 1.475,-0.272, 1.285, 1.137, PHS= 0.440,-1.364, 0.104, RAW= 139.9,   9.9, CAL= 139.4,  10.8, ROT=  10.6, -10.8

2025-10-27T00:20:58.372Z,1761524458.372 [DAT](INFO): DAT read: Bearing   7.0,  17.3 (Local)

2025-10-27T00:20:58.372Z,1761524458.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.0,  17.3 (Local)

2025-10-27T00:20:58.374Z,1761524458.374 [DAT](INFO): DAT read: Range 11 to 50 : 574.7 m  (Round-trip  766.3 ms) speed  0.5 m/s

2025-10-27T00:20:58.374Z,1761524458.374 [DAT](INFO): DAT read: user:41>

2025-10-27T00:20:58.378Z,1761524458.378 [DAT](INFO): DAT read: Tx time:00:20:59.8994

2025-10-27T00:20:58.380Z,1761524458.380 [DAT](INFO): Ping request sent.
2025-10-27T00:20:58.380Z,1761524458.380 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:20:58.382Z,1761524458.382 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:20:58.384Z,1761524458.384 [DAT](INFO): direction in FSK: [0.965525,0.180693,0.187381]
2025-10-27T00:20:58.384Z,1761524458.384 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:58.384Z,1761524458.384 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:58.388Z,1761524458.388 [DAT](INFO): publishing transmit ping time
2025-10-27T00:20:58.388Z,1761524458.388 [DAT](INFO): publishing direction and range info
2025-10-27T00:20:58.546Z,1761524458.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916666,0.347673,0.197096],[-0.370517,-0.924154,-0.093036],[0.149801,-0.158311,0.975960]]
2025-10-27T00:20:58.610Z,1761524458.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 574.700012 m,
      deltaT: 4.287995 s,
      deltaX: -14.899963 m,
      approachRate: -3.474809 m/s,
      rangeRepo size: 4

2025-10-27T00:20:58.618Z,1761524458.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 572.489624 m,
      bearing: 214.620558 deg,
      lat: 36.779541 deg,
      lon: -121.859908 deg,
      deltaT: 4.287995 s,
      deltaX: -14.844604 m,
      approachRate: -3.461899 m/s,
      posRepo size: 4

2025-10-27T00:20:58.618Z,1761524458.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:20:58.625Z,1761524458.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 569.651184 m,
      bearing: 213.017616 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013542 deg/s,
      cmd heading: 202.249688 deg,
      new cmd heading: 202.267446 deg.

2025-10-27T00:20:58.626Z,1761524458.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530233 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:20:58.949Z,1761524458.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916170,0.348630,0.197714],[-0.371462,-0.923854,-0.092252],[0.150497,-0.157962,0.975909]]
2025-10-27T00:20:58.966Z,1761524458.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:20:58.984Z,1761524458.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:20:58.991Z,1761524458.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 569.388855 m,
      bearing: 213.023231 deg,
      approach rate: -0.699125 m/s,
      LOS rate: 0.014969 deg/s,
      cmd heading: 202.267446 deg,
      new cmd heading: 202.284296 deg.

2025-10-27T00:20:58.992Z,1761524458.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530527 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:20:59.120Z,1761524459.120 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:20:59.120Z,1761524459.120 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:20:59.120Z,1761524459.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:20:59.356Z,1761524459.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915572,0.349954,0.198145],[-0.372658,-0.923506,-0.090900],[0.151177,-0.157066,0.975949]]
2025-10-27T00:20:59.372Z,1761524459.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992556
2025-10-27T00:20:59.376Z,1761524459.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:20:59.378Z,1761524459.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 569.116943 m,
      bearing: 213.029020 deg,
      approach rate: -0.694634 m/s,
      LOS rate: 0.014797 deg/s,
      cmd heading: 202.284303 deg,
      new cmd heading: 202.301680 deg.

2025-10-27T00:20:59.380Z,1761524459.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530830 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:20:59.625Z,1761524459.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245131
2025-10-27T00:20:59.817Z,1761524459.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:20:59.823Z,1761524459.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 568.818359 m,
      bearing: 213.036946 deg,
      approach rate: -0.677189 m/s,
      LOS rate: 0.017985 deg/s,
      cmd heading: 202.301679 deg,
      new cmd heading: 202.325469 deg.

2025-10-27T00:20:59.824Z,1761524459.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531246 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:20:59.877Z,1761524459.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496919
2025-10-27T00:21:00.128Z,1761524460.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748735
2025-10-27T00:21:00.162Z,1761524460.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914409,0.352365,0.199238],[-0.375037,-0.922688,-0.089411],[0.152329,-0.156480,0.975864]]
2025-10-27T00:21:00.197Z,1761524460.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:00.203Z,1761524460.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 568.572876 m,
      bearing: 213.043401 deg,
      approach rate: -0.646259 m/s,
      LOS rate: 0.017002 deg/s,
      cmd heading: 202.325476 deg,
      new cmd heading: 202.344850 deg.

2025-10-27T00:21:00.204Z,1761524460.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531584 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:00.380Z,1761524460.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000542
2025-10-27T00:21:00.567Z,1761524460.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913568,0.354466,0.199369],[-0.376789,-0.922212,-0.086922],[0.153049,-0.154530,0.976062]]
2025-10-27T00:21:00.598Z,1761524460.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:00.603Z,1761524460.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 568.295471 m,
      bearing: 213.050649 deg,
      approach rate: -0.692589 m/s,
      LOS rate: 0.018105 deg/s,
      cmd heading: 202.344846 deg,
      new cmd heading: 202.366601 deg.

2025-10-27T00:21:00.605Z,1761524460.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531964 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:00.632Z,1761524460.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252343
2025-10-27T00:21:00.884Z,1761524460.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504421
2025-10-27T00:21:00.969Z,1761524460.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912759,0.356146,0.200080],[-0.378524,-0.921546,-0.086446],[0.153596,-0.154639,0.975959]]
2025-10-27T00:21:00.990Z,1761524460.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:00.992Z,1761524460.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:01.012Z,1761524461.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 568.025452 m,
      bearing: 213.057657 deg,
      approach rate: -0.683030 m/s,
      LOS rate: 0.017734 deg/s,
      cmd heading: 202.366607 deg,
      new cmd heading: 202.387639 deg.

2025-10-27T00:21:01.016Z,1761524461.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532331 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:01.136Z,1761524461.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756898
2025-10-27T00:21:01.374Z,1761524461.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912053,0.357812,0.200323],[-0.379936,-0.921147,-0.084484],[0.154297,-0.153164,0.976081]]
2025-10-27T00:21:01.388Z,1761524461.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008571
2025-10-27T00:21:01.417Z,1761524461.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:01.423Z,1761524461.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 567.746521 m,
      bearing: 213.064857 deg,
      approach rate: -0.657665 m/s,
      LOS rate: 0.016986 deg/s,
      cmd heading: 202.387644 deg,
      new cmd heading: 202.409257 deg.

2025-10-27T00:21:01.424Z,1761524461.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532708 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:01.640Z,1761524461.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260740
2025-10-27T00:21:01.892Z,1761524461.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512615
2025-10-27T00:21:01.895Z,1761524461.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:01.898Z,1761524461.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 567.409119 m,
      bearing: 213.074467 deg,
      approach rate: -0.705085 m/s,
      LOS rate: 0.020094 deg/s,
      cmd heading: 202.409255 deg,
      new cmd heading: 202.438101 deg.

2025-10-27T00:21:01.899Z,1761524461.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533211 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:02.144Z,1761524462.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764438
2025-10-27T00:21:02.233Z,1761524462.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910622,0.360698,0.201655],[-0.382779,-0.920131,-0.082704],[0.155718,-0.152501,0.975959]]
2025-10-27T00:21:02.252Z,1761524462.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:02.254Z,1761524462.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 567.161743 m,
      bearing: 213.081436 deg,
      approach rate: -0.693379 m/s,
      LOS rate: 0.019541 deg/s,
      cmd heading: 202.438105 deg,
      new cmd heading: 202.459020 deg.

2025-10-27T00:21:02.256Z,1761524462.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533576 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:02.396Z,1761524462.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016760
2025-10-27T00:21:02.648Z,1761524462.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268474
2025-10-27T00:21:02.689Z,1761524462.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:02.693Z,1761524462.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 566.863098 m,
      bearing: 213.089855 deg,
      approach rate: -0.686834 m/s,
      LOS rate: 0.019373 deg/s,
      cmd heading: 202.459019 deg,
      new cmd heading: 202.484290 deg.

2025-10-27T00:21:02.694Z,1761524462.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534018 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:02.900Z,1761524462.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.520338
2025-10-27T00:21:03.041Z,1761524463.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909094,0.363463,0.203576],[-0.385798,-0.918913,-0.082206],[0.157190,-0.153272,0.975602]]
2025-10-27T00:21:03.078Z,1761524463.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:03.082Z,1761524463.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:03.087Z,1761524463.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 566.595215 m,
      bearing: 213.097317 deg,
      approach rate: -0.678344 m/s,
      LOS rate: 0.018905 deg/s,
      cmd heading: 202.484291 deg,
      new cmd heading: 202.506688 deg.

2025-10-27T00:21:03.088Z,1761524463.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534409 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:03.154Z,1761524463.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774482
2025-10-27T00:21:03.404Z,1761524463.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024540
2025-10-27T00:21:03.459Z,1761524463.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908554,0.364374,0.204357],[-0.386789,-0.918526,-0.081874],[0.157874,-0.153430,0.975466]]
2025-10-27T00:21:03.532Z,1761524463.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:03.534Z,1761524463.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 566.286621 m,
      bearing: 213.105882 deg,
      approach rate: -0.685708 m/s,
      LOS rate: 0.019043 deg/s,
      cmd heading: 202.506694 deg,
      new cmd heading: 202.532405 deg.

2025-10-27T00:21:03.544Z,1761524463.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534857 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:03.656Z,1761524463.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.276493
2025-10-27T00:21:03.893Z,1761524463.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908014,0.364885,0.205837],[-0.387394,-0.918352,-0.080968],[0.159486,-0.153260,0.975231]]
2025-10-27T00:21:03.908Z,1761524463.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528840
2025-10-27T00:21:03.962Z,1761524463.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:03.969Z,1761524463.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 565.970825 m,
      bearing: 213.112567 deg,
      approach rate: -0.733166 m/s,
      LOS rate: 0.015527 deg/s,
      cmd heading: 202.532403 deg,
      new cmd heading: 202.552467 deg.

2025-10-27T00:21:03.970Z,1761524463.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535208 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:04.160Z,1761524464.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.780435
2025-10-27T00:21:04.297Z,1761524464.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908018,0.364413,0.206653],[-0.387093,-0.918454,-0.081248],[0.160194,-0.153769,0.975035]]
2025-10-27T00:21:04.315Z,1761524464.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:04.318Z,1761524464.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 565.704041 m,
      bearing: 213.118229 deg,
      approach rate: -0.757257 m/s,
      LOS rate: 0.016078 deg/s,
      cmd heading: 202.552470 deg,
      new cmd heading: 202.569463 deg.

2025-10-27T00:21:04.319Z,1761524464.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535504 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:04.412Z,1761524464.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.033025
2025-10-27T00:21:04.664Z,1761524464.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284451
2025-10-27T00:21:04.706Z,1761524464.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907931,0.363922,0.207900],[-0.387022,-0.918361,-0.082623],[0.160859,-0.155477,0.974654]]
2025-10-27T00:21:04.748Z,1761524464.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:04.750Z,1761524464.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 565.399353 m,
      bearing: 213.124705 deg,
      approach rate: -0.703715 m/s,
      LOS rate: 0.014966 deg/s,
      cmd heading: 202.569464 deg,
      new cmd heading: 202.588903 deg.

2025-10-27T00:21:04.755Z,1761524464.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535843 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:04.916Z,1761524464.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.536677
2025-10-27T00:21:05.106Z,1761524465.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907869,0.363659,0.208627],[-0.386850,-0.918447,-0.082479],[0.161619,-0.155587,0.974511]]
2025-10-27T00:21:05.136Z,1761524465.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:05.138Z,1761524465.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:05.140Z,1761524465.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 565.101868 m,
      bearing: 213.131038 deg,
      approach rate: -0.762791 m/s,
      LOS rate: 0.016248 deg/s,
      cmd heading: 202.588902 deg,
      new cmd heading: 202.607912 deg.

2025-10-27T00:21:05.141Z,1761524465.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536175 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:05.177Z,1761524465.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797311
2025-10-27T00:21:05.431Z,1761524465.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051169
2025-10-27T00:21:05.519Z,1761524465.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908289,0.362317,0.209135],[-0.385689,-0.918872,-0.083171],[0.162034,-0.156205,0.974343]]
2025-10-27T00:21:05.577Z,1761524465.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:05.582Z,1761524465.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 564.783508 m,
      bearing: 213.136038 deg,
      approach rate: -0.727482 m/s,
      LOS rate: 0.011432 deg/s,
      cmd heading: 202.607918 deg,
      new cmd heading: 202.622926 deg.

2025-10-27T00:21:05.584Z,1761524465.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536437 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:05.681Z,1761524465.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300784
2025-10-27T00:21:05.932Z,1761524465.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552524
2025-10-27T00:21:06.048Z,1761524466.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908684,0.360587,0.210408],[-0.384568,-0.919110,-0.085700],[0.162486,-0.158790,0.973850]]
2025-10-27T00:21:06.086Z,1761524466.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:06.100Z,1761524466.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 564.416931 m,
      bearing: 213.141851 deg,
      approach rate: -0.717097 m/s,
      LOS rate: 0.011378 deg/s,
      cmd heading: 202.622930 deg,
      new cmd heading: 202.640379 deg.

2025-10-27T00:21:06.100Z,1761524466.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536742 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:06.185Z,1761524466.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805682
2025-10-27T00:21:06.436Z,1761524466.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.056486
2025-10-27T00:21:06.452Z,1761524466.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909261,0.358664,0.211197],[-0.382973,-0.919652,-0.087013],[0.163019,-0.160001,0.973563]]
2025-10-27T00:21:06.470Z,1761524466.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:06.472Z,1761524466.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 564.119507 m,
      bearing: 213.146627 deg,
      approach rate: -0.776236 m/s,
      LOS rate: 0.012472 deg/s,
      cmd heading: 202.640375 deg,
      new cmd heading: 202.654711 deg.

2025-10-27T00:21:06.473Z,1761524466.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536992 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:06.689Z,1761524466.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308856
2025-10-27T00:21:06.915Z,1761524466.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909766,0.356756,0.212253],[-0.381370,-0.920233,-0.087907],[0.163961,-0.160922,0.973253]]
2025-10-27T00:21:06.940Z,1761524466.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.560550
2025-10-27T00:21:06.946Z,1761524466.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:06.949Z,1761524466.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 563.769714 m,
      bearing: 213.152312 deg,
      approach rate: -0.734440 m/s,
      LOS rate: 0.011945 deg/s,
      cmd heading: 202.654704 deg,
      new cmd heading: 202.671771 deg.

2025-10-27T00:21:06.950Z,1761524466.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537290 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:07.192Z,1761524467.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812487
2025-10-27T00:21:07.367Z,1761524467.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910151,0.354871,0.213754],[-0.379817,-0.920818,-0.088507],[0.165420,-0.161743,0.972870]]
2025-10-27T00:21:07.386Z,1761524467.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:07.400Z,1761524467.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:07.407Z,1761524467.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 563.445251 m,
      bearing: 213.157648 deg,
      approach rate: -0.713976 m/s,
      LOS rate: 0.011747 deg/s,
      cmd heading: 202.671766 deg,
      new cmd heading: 202.687781 deg.

2025-10-27T00:21:07.408Z,1761524467.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537569 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:07.448Z,1761524467.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067165
2025-10-27T00:21:07.696Z,1761524467.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316997
2025-10-27T00:21:07.824Z,1761524467.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:07.826Z,1761524467.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 563.105591 m,
      bearing: 213.161974 deg,
      approach rate: -0.802049 m/s,
      LOS rate: 0.010222 deg/s,
      cmd heading: 202.687776 deg,
      new cmd heading: 202.700763 deg.

2025-10-27T00:21:07.828Z,1761524467.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537796 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:07.948Z,1761524467.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568599
2025-10-27T00:21:08.173Z,1761524468.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910689,0.351144,0.217586],[-0.377106,-0.921699,-0.090893],[0.168632,-0.164828,0.971800]]
2025-10-27T00:21:08.200Z,1761524468.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820562
2025-10-27T00:21:08.200Z,1761524468.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:08.203Z,1761524468.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 562.815552 m,
      bearing: 213.165751 deg,
      approach rate: -0.773726 m/s,
      LOS rate: 0.010082 deg/s,
      cmd heading: 202.700767 deg,
      new cmd heading: 202.712105 deg.

2025-10-27T00:21:08.204Z,1761524468.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537994 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:08.453Z,1761524468.453 [DAT](INFO): Reached modem response timeout
2025-10-27T00:21:08.454Z,1761524468.454 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:08.454Z,1761524468.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:21:08.588Z,1761524468.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910730,0.349951,0.219330],[-0.376377,-0.921896,-0.091911],[0.170035,-0.166257,0.971312]]
2025-10-27T00:21:08.624Z,1761524468.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:08.631Z,1761524468.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 562.498962 m,
      bearing: 213.169901 deg,
      approach rate: -0.744058 m/s,
      LOS rate: 0.009758 deg/s,
      cmd heading: 202.712105 deg,
      new cmd heading: 202.724562 deg.

2025-10-27T00:21:08.632Z,1761524468.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538211 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:08.705Z,1761524468.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:08.956Z,1761524468.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:08.982Z,1761524468.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910696,0.348797,0.221300],[-0.375643,-0.922144,-0.092432],[0.171830,-0.167307,0.970816]]
2025-10-27T00:21:09.008Z,1761524469.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:09.010Z,1761524469.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 562.190918 m,
      bearing: 213.173964 deg,
      approach rate: -0.805063 m/s,
      LOS rate: 0.010625 deg/s,
      cmd heading: 202.724563 deg,
      new cmd heading: 202.736760 deg.

2025-10-27T00:21:09.011Z,1761524469.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538424 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:09.208Z,1761524469.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:09.385Z,1761524469.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910639,0.348128,0.222582],[-0.374878,-0.922628,-0.090689],[0.173789,-0.166026,0.970687]]
2025-10-27T00:21:09.405Z,1761524469.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:09.407Z,1761524469.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:09.410Z,1761524469.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 561.882080 m,
      bearing: 213.178064 deg,
      approach rate: -0.771532 m/s,
      LOS rate: 0.010248 deg/s,
      cmd heading: 202.736762 deg,
      new cmd heading: 202.749068 deg.

2025-10-27T00:21:09.427Z,1761524469.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538639 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:09.462Z,1761524469.462 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:09.713Z,1761524469.713 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:09.859Z,1761524469.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:09.862Z,1761524469.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 561.561584 m,
      bearing: 213.182096 deg,
      approach rate: -0.709083 m/s,
      LOS rate: 0.008926 deg/s,
      cmd heading: 202.749070 deg,
      new cmd heading: 202.761174 deg.

2025-10-27T00:21:09.863Z,1761524469.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538850 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:09.964Z,1761524469.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:10.205Z,1761524470.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910310,0.347714,0.224569],[-0.374453,-0.922989,-0.088755],[0.176413,-0.164885,0.970408]]
2025-10-27T00:21:10.216Z,1761524470.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:10.230Z,1761524470.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:10.233Z,1761524470.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 561.298950 m,
      bearing: 213.185412 deg,
      approach rate: -0.707968 m/s,
      LOS rate: 0.008943 deg/s,
      cmd heading: 202.761173 deg,
      new cmd heading: 202.771126 deg.

2025-10-27T00:21:10.234Z,1761524470.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539024 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:10.468Z,1761524470.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:10.609Z,1761524470.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909816,0.348025,0.226081],[-0.374691,-0.923067,-0.086913],[0.178440,-0.163785,0.970224]]
2025-10-27T00:21:10.627Z,1761524470.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:10.630Z,1761524470.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 561.017883 m,
      bearing: 213.188955 deg,
      approach rate: -0.707827 m/s,
      LOS rate: 0.008926 deg/s,
      cmd heading: 202.771132 deg,
      new cmd heading: 202.781765 deg.

2025-10-27T00:21:10.631Z,1761524470.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539209 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:10.720Z,1761524470.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:10.972Z,1761524470.972 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:21:10.972Z,1761524470.972 [DAT](INFO): response not received
2025-10-27T00:21:10.973Z,1761524470.973 [DAT](INFO): DAT read: user:42>

2025-10-27T00:21:10.973Z,1761524470.973 [DAT](INFO): DAT read: Tx time:00:21:12.3494

2025-10-27T00:21:10.974Z,1761524470.974 [DAT](INFO): Ping request sent.
2025-10-27T00:21:10.974Z,1761524470.974 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:21:10.974Z,1761524470.974 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:10.975Z,1761524470.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-27T00:21:11.052Z,1761524471.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:11.057Z,1761524471.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 560.718140 m,
      bearing: 213.192737 deg,
      approach rate: -0.707258 m/s,
      LOS rate: 0.008927 deg/s,
      cmd heading: 202.781759 deg,
      new cmd heading: 202.793110 deg.

2025-10-27T00:21:11.060Z,1761524471.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539407 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:11.224Z,1761524471.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250107
2025-10-27T00:21:11.481Z,1761524471.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505877
2025-10-27T00:21:11.524Z,1761524471.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:11.526Z,1761524471.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:11.533Z,1761524471.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 560.398621 m,
      bearing: 213.196772 deg,
      approach rate: -0.672251 m/s,
      LOS rate: 0.008495 deg/s,
      cmd heading: 202.793111 deg,
      new cmd heading: 202.805224 deg.

2025-10-27T00:21:11.534Z,1761524471.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539619 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:11.728Z,1761524471.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754097
2025-10-27T00:21:11.873Z,1761524471.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:11.876Z,1761524471.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 560.156555 m,
      bearing: 213.201316 deg,
      approach rate: -0.697695 m/s,
      LOS rate: 0.013103 deg/s,
      cmd heading: 202.805228 deg,
      new cmd heading: 202.818867 deg.

2025-10-27T00:21:11.877Z,1761524471.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539857 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:11.980Z,1761524471.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006133
2025-10-27T00:21:12.232Z,1761524472.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258282
2025-10-27T00:21:12.263Z,1761524472.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:12.266Z,1761524472.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 559.901978 m,
      bearing: 213.206100 deg,
      approach rate: -0.653477 m/s,
      LOS rate: 0.012286 deg/s,
      cmd heading: 202.818861 deg,
      new cmd heading: 202.833220 deg.

2025-10-27T00:21:12.283Z,1761524472.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540107 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:12.484Z,1761524472.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510153
2025-10-27T00:21:12.630Z,1761524472.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905520,0.354840,0.232641],[-0.380393,-0.921810,-0.074614],[0.187975,-0.156059,0.969696]]
2025-10-27T00:21:12.648Z,1761524472.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:12.667Z,1761524472.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 559.651062 m,
      bearing: 213.210656 deg,
      approach rate: -0.651029 m/s,
      LOS rate: 0.011827 deg/s,
      cmd heading: 202.833218 deg,
      new cmd heading: 202.846893 deg.

2025-10-27T00:21:12.668Z,1761524472.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540346 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:12.736Z,1761524472.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762163
2025-10-27T00:21:12.988Z,1761524472.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014001
2025-10-27T00:21:13.087Z,1761524473.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:13.090Z,1761524473.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 559.370911 m,
      bearing: 213.215750 deg,
      approach rate: -0.638437 m/s,
      LOS rate: 0.011613 deg/s,
      cmd heading: 202.846892 deg,
      new cmd heading: 202.862180 deg.

2025-10-27T00:21:13.127Z,1761524473.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540613 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:13.242Z,1761524473.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267799
2025-10-27T00:21:13.495Z,1761524473.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520337
2025-10-27T00:21:13.529Z,1761524473.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:13.535Z,1761524473.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:13.537Z,1761524473.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 559.080933 m,
      bearing: 213.221027 deg,
      approach rate: -0.653510 m/s,
      LOS rate: 0.011900 deg/s,
      cmd heading: 202.862178 deg,
      new cmd heading: 202.878019 deg.

2025-10-27T00:21:13.538Z,1761524473.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540890 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:13.744Z,1761524473.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770047
2025-10-27T00:21:13.921Z,1761524473.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:13.940Z,1761524473.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 558.810486 m,
      bearing: 213.228300 deg,
      approach rate: -0.692718 m/s,
      LOS rate: 0.018638 deg/s,
      cmd heading: 202.878024 deg,
      new cmd heading: 202.899854 deg.

2025-10-27T00:21:13.941Z,1761524473.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541270 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:13.997Z,1761524473.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023074
2025-10-27T00:21:14.248Z,1761524474.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274001
2025-10-27T00:21:14.269Z,1761524474.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900697,0.363247,0.238319],[-0.388707,-0.918802,-0.068629],[0.194039,-0.154451,0.968759]]
2025-10-27T00:21:14.312Z,1761524474.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:14.314Z,1761524474.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 558.562317 m,
      bearing: 213.234725 deg,
      approach rate: -0.642823 m/s,
      LOS rate: 0.016649 deg/s,
      cmd heading: 202.899853 deg,
      new cmd heading: 202.919136 deg.

2025-10-27T00:21:14.320Z,1761524474.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541607 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:14.500Z,1761524474.500 [DAT](INFO): DAT read: Rx Time:00:21:15.5208

2025-10-27T00:21:14.501Z,1761524474.501 [DAT](INFO): Rx dataTimestamp_ set to:1761524474.500494
2025-10-27T00:21:14.501Z,1761524474.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527467
2025-10-27T00:21:14.675Z,1761524474.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899401,0.365494,0.239777],[-0.391011,-0.917907,-0.067504],[0.195420,-0.154468,0.968478]]
2025-10-27T00:21:14.708Z,1761524474.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:14.712Z,1761524474.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 558.279480 m,
      bearing: 213.241973 deg,
      approach rate: -0.706259 m/s,
      LOS rate: 0.018108 deg/s,
      cmd heading: 202.919142 deg,
      new cmd heading: 202.940897 deg.

2025-10-27T00:21:14.713Z,1761524474.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541987 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:14.752Z,1761524474.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778249
2025-10-27T00:21:15.007Z,1761524475.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032493
2025-10-27T00:21:15.094Z,1761524475.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896770,0.370218,0.242368],[-0.395694,-0.916098,-0.064738],[0.198066,-0.153959,0.968022]]
2025-10-27T00:21:15.112Z,1761524475.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 572.49 m.
2025-10-27T00:21:15.114Z,1761524475.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 572.489624 m,
      nav range: 558.002625 m,
      bearing: 213.248914 deg,
      approach rate: -0.685360 m/s,
      LOS rate: 0.017191 deg/s,
      cmd heading: 202.940903 deg,
      new cmd heading: 202.961736 deg.

2025-10-27T00:21:15.115Z,1761524475.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542351 target range: 572.489624 and range: 574.70 m.
2025-10-27T00:21:15.261Z,1761524475.261 [DAT](INFO): DAT read: 00:21:15.5208 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 408,-0.27, 2.848, 1.182, 2.621, 2.321, PHS= 0.629,-1.094, 0.256, RAW= 138.1,   2.7, CAL= 138.2,   3.4, ROT=  11.8,  -3.4

2025-10-27T00:21:15.263Z,1761524475.263 [DAT](INFO): got valid direction response:
 00:21:15.5208 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 408,-0.27, 2.848, 1.182, 2.621, 2.321, PHS= 0.629,-1.094, 0.256, RAW= 138.1,   2.7, CAL= 138.2,   3.4, ROT=  11.8,  -3.4

2025-10-27T00:21:15.264Z,1761524475.264 [DAT](INFO): DAT read: Bearing 359.0,  22.5 (Local)

2025-10-27T00:21:15.264Z,1761524475.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,  22.5 (Local)

2025-10-27T00:21:15.265Z,1761524475.265 [DAT](INFO): DAT read: Range 11 to 50 : 575.4 m  (Round-trip  767.2 ms) speed  0.3 m/s

2025-10-27T00:21:15.266Z,1761524475.266 [DAT](INFO): DAT read: user:43>

2025-10-27T00:21:15.267Z,1761524475.267 [DAT](INFO): DAT read: Tx time:00:21:16.6494

2025-10-27T00:21:15.267Z,1761524475.267 [DAT](INFO): Ping request sent.
2025-10-27T00:21:15.267Z,1761524475.267 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:21:15.268Z,1761524475.268 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:21:15.269Z,1761524475.269 [DAT](INFO): direction in FSK: [0.977144,0.204136,0.059306]
2025-10-27T00:21:15.269Z,1761524475.269 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:15.269Z,1761524475.269 [DAT](INFO): publishing direction and range info
2025-10-27T00:21:15.273Z,1761524475.273 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:15.273Z,1761524475.273 [DAT](INFO): publishing direction and range info
2025-10-27T00:21:15.590Z,1761524475.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 575.400024 m,
      deltaT: 16.891910 s,
      deltaX: 0.700012 m,
      approachRate: 0.041441 m/s,
      rangeRepo size: 4

2025-10-27T00:21:15.593Z,1761524475.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 573.138550 m,
      bearing: 216.294549 deg,
      lat: 36.779682 deg,
      lon: -121.859975 deg,
      deltaT: 16.891910 s,
      deltaX: 0.648926 m,
      approachRate: 0.038416 m/s,
      posRepo size: 4

2025-10-27T00:21:15.594Z,1761524475.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:15.612Z,1761524475.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 547.997864 m,
      bearing: 214.675336 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017191 deg/s,
      cmd heading: 202.961735 deg,
      new cmd heading: 202.986378 deg.

2025-10-27T00:21:15.613Z,1761524475.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542781 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:15.946Z,1761524475.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894974,0.372984,0.244754],[-0.398629,-0.914920,-0.063378],[0.200292,-0.154287,0.967512]]
2025-10-27T00:21:15.966Z,1761524475.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:15.968Z,1761524475.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:15.971Z,1761524475.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 547.725281 m,
      bearing: 214.684263 deg,
      approach rate: -0.719148 m/s,
      LOS rate: 0.023566 deg/s,
      cmd heading: 202.986378 deg,
      new cmd heading: 203.013175 deg.

2025-10-27T00:21:15.972Z,1761524475.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543248 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:16.012Z,1761524476.012 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:16.012Z,1761524476.012 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:16.012Z,1761524476.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:21:16.264Z,1761524476.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996474
2025-10-27T00:21:16.343Z,1761524476.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894028,0.374368,0.246094],[-0.400177,-0.914273,-0.062962],[0.201426,-0.154771,0.967199]]
2025-10-27T00:21:16.361Z,1761524476.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:16.364Z,1761524476.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 547.446533 m,
      bearing: 214.693346 deg,
      approach rate: -0.709715 m/s,
      LOS rate: 0.023136 deg/s,
      cmd heading: 203.013180 deg,
      new cmd heading: 203.040440 deg.

2025-10-27T00:21:16.365Z,1761524476.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543724 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:16.516Z,1761524476.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248280
2025-10-27T00:21:16.749Z,1761524476.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893403,0.375325,0.246904],[-0.401028,-0.913984,-0.061718],[0.202502,-0.154155,0.967072]]
2025-10-27T00:21:16.768Z,1761524476.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500744
2025-10-27T00:21:16.783Z,1761524476.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:16.786Z,1761524476.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 547.159119 m,
      bearing: 214.702686 deg,
      approach rate: -0.707886 m/s,
      LOS rate: 0.023017 deg/s,
      cmd heading: 203.040446 deg,
      new cmd heading: 203.068482 deg.

2025-10-27T00:21:16.791Z,1761524476.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544214 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:17.020Z,1761524477.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752469
2025-10-27T00:21:17.239Z,1761524477.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892776,0.375993,0.248156],[-0.401834,-0.913656,-0.061332],[0.203669,-0.154473,0.966777]]
2025-10-27T00:21:17.257Z,1761524477.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:17.260Z,1761524477.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 546.811279 m,
      bearing: 214.713963 deg,
      approach rate: -0.709973 m/s,
      LOS rate: 0.023033 deg/s,
      cmd heading: 203.068477 deg,
      new cmd heading: 203.102330 deg.

2025-10-27T00:21:17.261Z,1761524477.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544804 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:17.272Z,1761524477.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004267
2025-10-27T00:21:17.524Z,1761524477.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256342
2025-10-27T00:21:17.720Z,1761524477.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892059,0.376387,0.250126],[-0.402814,-0.913144,-0.062522],[0.204869,-0.156528,0.966192]]
2025-10-27T00:21:17.776Z,1761524477.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508491
2025-10-27T00:21:17.788Z,1761524477.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:17.795Z,1761524477.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 546.440674 m,
      bearing: 214.725942 deg,
      approach rate: -0.697898 m/s,
      LOS rate: 0.022573 deg/s,
      cmd heading: 203.102328 deg,
      new cmd heading: 203.138288 deg.

2025-10-27T00:21:17.796Z,1761524477.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545432 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:18.028Z,1761524478.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760828
2025-10-27T00:21:18.146Z,1761524478.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:18.148Z,1761524478.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:18.151Z,1761524478.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 546.179810 m,
      bearing: 214.734385 deg,
      approach rate: -0.724080 m/s,
      LOS rate: 0.023446 deg/s,
      cmd heading: 203.138282 deg,
      new cmd heading: 203.163623 deg.

2025-10-27T00:21:18.152Z,1761524478.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545874 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:18.280Z,1761524478.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012344
2025-10-27T00:21:18.521Z,1761524478.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891465,0.375209,0.253983],[-0.402747,-0.913013,-0.064824],[0.207568,-0.160079,0.965034]]
2025-10-27T00:21:18.533Z,1761524478.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265049
2025-10-27T00:21:18.569Z,1761524478.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:18.577Z,1761524478.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 545.903076 m,
      bearing: 214.743338 deg,
      approach rate: -0.657863 m/s,
      LOS rate: 0.021295 deg/s,
      cmd heading: 203.163622 deg,
      new cmd heading: 203.190496 deg.

2025-10-27T00:21:18.578Z,1761524478.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546343 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:18.785Z,1761524478.785 [DAT](INFO): DAT read: Rx Time:00:21:19.8077

2025-10-27T00:21:18.785Z,1761524478.785 [DAT](INFO): Rx dataTimestamp_ set to:1761524478.784839
2025-10-27T00:21:18.786Z,1761524478.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518473
2025-10-27T00:21:18.921Z,1761524478.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891547,0.373854,0.255689],[-0.401753,-0.913417,-0.065302],[0.209137,-0.160944,0.964551]]
2025-10-27T00:21:18.942Z,1761524478.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:18.945Z,1761524478.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 545.619873 m,
      bearing: 214.752545 deg,
      approach rate: -0.765952 m/s,
      LOS rate: 0.024914 deg/s,
      cmd heading: 203.190492 deg,
      new cmd heading: 203.218127 deg.

2025-10-27T00:21:18.946Z,1761524478.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546825 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:19.036Z,1761524479.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768680
2025-10-27T00:21:19.290Z,1761524479.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022231
2025-10-27T00:21:19.381Z,1761524479.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891834,0.371826,0.257639],[-0.400303,-0.913956,-0.066649],[0.210689,-0.162574,0.963940]]
2025-10-27T00:21:19.406Z,1761524479.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 573.14 m.
2025-10-27T00:21:19.409Z,1761524479.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 573.138550 m,
      nav range: 545.289246 m,
      bearing: 214.763359 deg,
      approach rate: -0.707153 m/s,
      LOS rate: 0.023142 deg/s,
      cmd heading: 203.218127 deg,
      new cmd heading: 203.250587 deg.

2025-10-27T00:21:19.410Z,1761524479.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547392 target range: 573.138550 and range: 575.40 m.
2025-10-27T00:21:19.556Z,1761524479.556 [DAT](INFO): DAT read: 00:21:19.8077 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 312,-0.50, 1.682,-0.052, 1.598, 1.236, PHS= 0.548,-1.243, 0.318, RAW= 143.2,   4.5, CAL= 142.8,   5.0, ROT=   7.2,  -5.0

2025-10-27T00:21:19.558Z,1761524479.558 [DAT](INFO): got valid direction response:
 00:21:19.8077 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 312,-0.50, 1.682,-0.052, 1.598, 1.236, PHS= 0.548,-1.243, 0.318, RAW= 143.2,   4.5, CAL= 142.8,   5.0, ROT=   7.2,  -5.0

2025-10-27T00:21:19.572Z,1761524479.572 [DAT](INFO): DAT read: Bearing 359.4,  18.3 (Local)

2025-10-27T00:21:19.572Z,1761524479.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  18.3 (Local)

2025-10-27T00:21:19.573Z,1761524479.573 [DAT](INFO): DAT read: Range 11 to 50 : 565.5 m  (Round-trip  754.1 ms) speed  0.7 m/s

2025-10-27T00:21:19.574Z,1761524479.574 [DAT](INFO): DAT read: user:44>

2025-10-27T00:21:19.580Z,1761524479.580 [DAT](INFO): DAT read: Tx time:00:21:20.8994

2025-10-27T00:21:19.581Z,1761524479.581 [DAT](INFO): Ping request sent.
2025-10-27T00:21:19.581Z,1761524479.581 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:21:19.581Z,1761524479.581 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:21:19.587Z,1761524479.587 [DAT](INFO): direction in FSK: [0.988339,0.124856,0.087156]
2025-10-27T00:21:19.587Z,1761524479.587 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:19.588Z,1761524479.588 [DAT](INFO): publishing direction and range info
2025-10-27T00:21:19.597Z,1761524479.597 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:19.597Z,1761524479.597 [DAT](INFO): publishing direction and range info
2025-10-27T00:21:19.875Z,1761524479.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 565.500000 m,
      deltaT: 4.289431 s,
      deltaX: -9.900024 m,
      approachRate: -2.308004 m/s,
      rangeRepo size: 4

2025-10-27T00:21:19.877Z,1761524479.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 563.258179 m,
      bearing: 212.394672 deg,
      lat: 36.779682 deg,
      lon: -121.859908 deg,
      deltaT: 4.289431 s,
      deltaX: -9.880371 m,
      approachRate: -2.303422 m/s,
      posRepo size: 4

2025-10-27T00:21:19.878Z,1761524479.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:19.900Z,1761524479.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 541.599365 m,
      bearing: 214.258482 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023142 deg/s,
      cmd heading: 203.250584 deg,
      new cmd heading: 203.283064 deg.

2025-10-27T00:21:19.901Z,1761524479.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547959 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:20.318Z,1761524480.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:20.320Z,1761524480.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:20.323Z,1761524480.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 541.280701 m,
      bearing: 214.268663 deg,
      approach rate: -0.714821 m/s,
      LOS rate: 0.022851 deg/s,
      cmd heading: 203.283068 deg,
      new cmd heading: 203.313629 deg.

2025-10-27T00:21:20.324Z,1761524480.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548492 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:20.552Z,1761524480.552 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:20.552Z,1761524480.552 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:20.552Z,1761524480.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:21:20.678Z,1761524480.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893261,0.364691,0.262839],[-0.394360,-0.916381,-0.068750],[0.215788,-0.165065,0.962387]]
2025-10-27T00:21:20.708Z,1761524480.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:20.712Z,1761524480.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 541.009216 m,
      bearing: 214.277542 deg,
      approach rate: -0.699459 m/s,
      LOS rate: 0.022887 deg/s,
      cmd heading: 203.313626 deg,
      new cmd heading: 203.340276 deg.

2025-10-27T00:21:20.714Z,1761524480.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548957 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:20.805Z,1761524480.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223997
2025-10-27T00:21:21.057Z,1761524481.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476332
2025-10-27T00:21:21.079Z,1761524481.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894026,0.361713,0.264349],[-0.391882,-0.917338,-0.070133],[0.217130,-0.166294,0.961874]]
2025-10-27T00:21:21.119Z,1761524481.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:21.121Z,1761524481.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 540.716614 m,
      bearing: 214.287211 deg,
      approach rate: -0.712978 m/s,
      LOS rate: 0.023572 deg/s,
      cmd heading: 203.340278 deg,
      new cmd heading: 203.369300 deg.

2025-10-27T00:21:21.122Z,1761524481.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.549464 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:21.308Z,1761524481.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727445
2025-10-27T00:21:21.561Z,1761524481.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980161
2025-10-27T00:21:21.595Z,1761524481.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:21.598Z,1761524481.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 540.380432 m,
      bearing: 214.298334 deg,
      approach rate: -0.705661 m/s,
      LOS rate: 0.023363 deg/s,
      cmd heading: 203.369306 deg,
      new cmd heading: 203.402697 deg.

2025-10-27T00:21:21.599Z,1761524481.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550047 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:21.813Z,1761524481.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232212
2025-10-27T00:21:21.910Z,1761524481.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896258,0.353943,0.267293],[-0.384972,-0.920076,-0.072503],[0.220268,-0.167882,0.960884]]
2025-10-27T00:21:21.928Z,1761524481.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:21.931Z,1761524481.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 540.146301 m,
      bearing: 214.306291 deg,
      approach rate: -0.702937 m/s,
      LOS rate: 0.023900 deg/s,
      cmd heading: 203.402692 deg,
      new cmd heading: 203.426573 deg.

2025-10-27T00:21:21.932Z,1761524481.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550463 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:22.066Z,1761524482.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484490
2025-10-27T00:21:22.310Z,1761524482.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896665,0.352113,0.268345],[-0.383620,-0.920524,-0.073972],[0.220971,-0.169270,0.960479]]
2025-10-27T00:21:22.316Z,1761524482.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735322
2025-10-27T00:21:22.328Z,1761524482.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:22.330Z,1761524482.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:22.333Z,1761524482.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 539.863953 m,
      bearing: 214.315943 deg,
      approach rate: -0.701942 m/s,
      LOS rate: 0.024009 deg/s,
      cmd heading: 203.426570 deg,
      new cmd heading: 203.455543 deg.

2025-10-27T00:21:22.334Z,1761524482.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550969 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:22.568Z,1761524482.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987195
2025-10-27T00:21:22.718Z,1761524482.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896693,0.351674,0.268826],[-0.383102,-0.920793,-0.073300],[0.221756,-0.168715,0.960396]]
2025-10-27T00:21:22.736Z,1761524482.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:22.739Z,1761524482.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 539.578613 m,
      bearing: 214.325725 deg,
      approach rate: -0.703229 m/s,
      LOS rate: 0.024121 deg/s,
      cmd heading: 203.455544 deg,
      new cmd heading: 203.484906 deg.

2025-10-27T00:21:22.740Z,1761524482.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.551481 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:22.821Z,1761524482.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239929
2025-10-27T00:21:23.072Z,1761524483.072 [DAT](INFO): DAT read: Rx Time:00:21:24.0680

2025-10-27T00:21:23.072Z,1761524483.072 [DAT](INFO): Rx dataTimestamp_ set to:1761524483.072173
2025-10-27T00:21:23.073Z,1761524483.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492280
2025-10-27T00:21:23.117Z,1761524483.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896497,0.351700,0.269444],[-0.383111,-0.920834,-0.072743],[0.222529,-0.168441,0.960265]]
2025-10-27T00:21:23.149Z,1761524483.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:23.152Z,1761524483.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 539.295776 m,
      bearing: 214.335431 deg,
      approach rate: -0.684573 m/s,
      LOS rate: 0.023504 deg/s,
      cmd heading: 203.484900 deg,
      new cmd heading: 203.514033 deg.

2025-10-27T00:21:23.153Z,1761524483.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.551990 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:23.324Z,1761524483.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743174
2025-10-27T00:21:23.524Z,1761524483.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896321,0.351702,0.270027],[-0.383092,-0.920884,-0.072202],[0.223270,-0.168161,0.960142]]
2025-10-27T00:21:23.582Z,1761524483.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000545
2025-10-27T00:21:23.652Z,1761524483.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:23.659Z,1761524483.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 538.941040 m,
      bearing: 214.347621 deg,
      approach rate: -0.704989 m/s,
      LOS rate: 0.024242 deg/s,
      cmd heading: 203.514038 deg,
      new cmd heading: 203.550632 deg.

2025-10-27T00:21:23.660Z,1761524483.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552629 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:23.834Z,1761524483.834 [DAT](INFO): DAT read: 00:21:24.0680 LVL= 26816, 29649, 27522, 31187, AGC= 84, IDX=  34,-0.23,-0.752,-2.517,-0.841,-1.017, PHS= 0.367,-1.455, 0.132, RAW= 143.2,  11.1, CAL= 142.7,  12.1, ROT=   7.3, -12.1

2025-10-27T00:21:23.835Z,1761524483.835 [DAT](INFO): got valid direction response:
 00:21:24.0680 LVL= 26816, 29649, 27522, 31187, AGC= 84, IDX=  34,-0.23,-0.752,-2.517,-0.841,-1.017, PHS= 0.367,-1.455, 0.132, RAW= 143.2,  11.1, CAL= 142.7,  12.1, ROT=   7.3, -12.1

2025-10-27T00:21:23.835Z,1761524483.835 [DAT](INFO): DAT read: $Error in header

2025-10-27T00:21:23.836Z,1761524483.836 [DAT](INFO): Received a bad header
2025-10-27T00:21:23.847Z,1761524483.847 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:21:23.848Z,1761524483.848 [DAT](INFO): direction in FSK: [0.969858,0.124242,0.209619]
2025-10-27T00:21:23.851Z,1761524483.851 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:23.851Z,1761524483.851 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:23.851Z,1761524483.851 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:23.967Z,1761524483.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895838,0.352490,0.270603],[-0.383857,-0.920615,-0.071566],[0.223895,-0.167984,0.960027]]
2025-10-27T00:21:23.985Z,1761524483.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:23.988Z,1761524483.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 538.701538 m,
      bearing: 214.355836 deg,
      approach rate: -0.719430 m/s,
      LOS rate: 0.024685 deg/s,
      cmd heading: 203.550634 deg,
      new cmd heading: 203.575287 deg.

2025-10-27T00:21:23.989Z,1761524483.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553059 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:24.080Z,1761524484.080 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:24.080Z,1761524484.080 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:24.080Z,1761524484.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:24.332Z,1761524484.332 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:24.332Z,1761524484.332 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:24.332Z,1761524484.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:24.370Z,1761524484.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895164,0.354277,0.270499],[-0.385274,-0.920155,-0.069845],[0.224157,-0.166739,0.960183]]
2025-10-27T00:21:24.386Z,1761524484.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:24.388Z,1761524484.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:24.407Z,1761524484.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 538.418640 m,
      bearing: 214.365496 deg,
      approach rate: -0.701639 m/s,
      LOS rate: 0.023971 deg/s,
      cmd heading: 203.575291 deg,
      new cmd heading: 203.604286 deg.

2025-10-27T00:21:24.408Z,1761524484.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553565 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:24.584Z,1761524484.584 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:24.584Z,1761524484.584 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:24.584Z,1761524484.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:24.774Z,1761524484.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894220,0.356453,0.270759],[-0.387134,-0.919510,-0.068033],[0.224715,-0.165657,0.960240]]
2025-10-27T00:21:24.807Z,1761524484.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:24.809Z,1761524484.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 538.124573 m,
      bearing: 214.375478 deg,
      approach rate: -0.703423 m/s,
      LOS rate: 0.023891 deg/s,
      cmd heading: 203.604292 deg,
      new cmd heading: 203.634255 deg.

2025-10-27T00:21:24.810Z,1761524484.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554088 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:24.849Z,1761524484.849 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:24.849Z,1761524484.849 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:24.849Z,1761524484.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:25.100Z,1761524485.100 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:25.100Z,1761524485.100 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:25.100Z,1761524485.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:25.177Z,1761524485.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893079,0.359166,0.270942],[-0.389459,-0.918683,-0.065909],[0.225237,-0.164383,0.960337]]
2025-10-27T00:21:25.204Z,1761524485.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:25.206Z,1761524485.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 537.845215 m,
      bearing: 214.384888 deg,
      approach rate: -0.703180 m/s,
      LOS rate: 0.023699 deg/s,
      cmd heading: 203.634249 deg,
      new cmd heading: 203.662494 deg.

2025-10-27T00:21:25.224Z,1761524485.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554581 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:25.352Z,1761524485.352 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:25.352Z,1761524485.352 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:25.352Z,1761524485.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:25.581Z,1761524485.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891765,0.361971,0.271535],[-0.392145,-0.917631,-0.064616],[0.225779,-0.164103,0.960257]]
2025-10-27T00:21:25.604Z,1761524485.604 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:25.604Z,1761524485.604 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:25.604Z,1761524485.604 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:25.632Z,1761524485.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:25.655Z,1761524485.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 537.543762 m,
      bearing: 214.394947 deg,
      approach rate: -0.703586 m/s,
      LOS rate: 0.023490 deg/s,
      cmd heading: 203.662499 deg,
      new cmd heading: 203.692692 deg.

2025-10-27T00:21:25.656Z,1761524485.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555108 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:25.856Z,1761524485.856 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:25.856Z,1761524485.856 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:25.856Z,1761524485.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:25.986Z,1761524485.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890308,0.365649,0.271391],[-0.395199,-0.916527,-0.061616],[0.226207,-0.162111,0.960495]]
2025-10-27T00:21:26.019Z,1761524486.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:26.022Z,1761524486.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 537.273865 m,
      bearing: 214.403856 deg,
      approach rate: -0.696988 m/s,
      LOS rate: 0.023019 deg/s,
      cmd heading: 203.692688 deg,
      new cmd heading: 203.719429 deg.

2025-10-27T00:21:26.035Z,1761524486.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.555575 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:26.108Z,1761524486.108 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:26.108Z,1761524486.108 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:26.108Z,1761524486.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:26.360Z,1761524486.360 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:26.360Z,1761524486.360 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:26.360Z,1761524486.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:26.406Z,1761524486.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889061,0.368123,0.272132],[-0.397592,-0.915571,-0.060416],[0.226915,-0.161911,0.960361]]
2025-10-27T00:21:26.422Z,1761524486.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:26.424Z,1761524486.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:26.435Z,1761524486.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 536.985901 m,
      bearing: 214.413279 deg,
      approach rate: -0.711147 m/s,
      LOS rate: 0.023284 deg/s,
      cmd heading: 203.719435 deg,
      new cmd heading: 203.747721 deg.

2025-10-27T00:21:26.436Z,1761524486.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556069 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:26.612Z,1761524486.612 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:26.612Z,1761524486.612 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:26.612Z,1761524486.612 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:26.797Z,1761524486.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887682,0.371114,0.272570],[-0.400361,-0.914471,-0.058775],[0.227445,-0.161300,0.960339]]
2025-10-27T00:21:26.831Z,1761524486.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:26.834Z,1761524486.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 536.710205 m,
      bearing: 214.422212 deg,
      approach rate: -0.706130 m/s,
      LOS rate: 0.022890 deg/s,
      cmd heading: 203.747726 deg,
      new cmd heading: 203.774537 deg.

2025-10-27T00:21:26.835Z,1761524486.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556537 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:26.864Z,1761524486.864 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:26.864Z,1761524486.864 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:26.864Z,1761524486.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:27.116Z,1761524487.116 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:27.116Z,1761524487.116 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:27.116Z,1761524487.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:27.120Z,1761524487.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:21:27.199Z,1761524487.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886556,0.373767,0.272611],[-0.402543,-0.913661,-0.056420],[0.227986,-0.159757,0.960469]]
2025-10-27T00:21:27.217Z,1761524487.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:27.220Z,1761524487.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 536.426147 m,
      bearing: 214.431345 deg,
      approach rate: -0.705603 m/s,
      LOS rate: 0.022699 deg/s,
      cmd heading: 203.774541 deg,
      new cmd heading: 203.801955 deg.

2025-10-27T00:21:27.221Z,1761524487.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557015 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:27.368Z,1761524487.368 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:27.368Z,1761524487.368 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:27.368Z,1761524487.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:27.602Z,1761524487.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885603,0.375350,0.273533],[-0.404189,-0.912971,-0.055816],[0.228777,-0.159990,0.960242]]
2025-10-27T00:21:27.620Z,1761524487.620 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:27.620Z,1761524487.620 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:27.620Z,1761524487.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:27.673Z,1761524487.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:27.680Z,1761524487.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 536.113525 m,
      bearing: 214.440069 deg,
      approach rate: -0.686807 m/s,
      LOS rate: 0.019178 deg/s,
      cmd heading: 203.801958 deg,
      new cmd heading: 203.828145 deg.

2025-10-27T00:21:27.681Z,1761524487.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557472 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:27.872Z,1761524487.872 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:27.872Z,1761524487.872 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:27.872Z,1761524487.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:28.012Z,1761524488.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884770,0.376773,0.274271],[-0.405586,-0.912401,-0.054987],[0.229527,-0.159892,0.960079]]
2025-10-27T00:21:28.038Z,1761524488.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:28.042Z,1761524488.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 535.858032 m,
      bearing: 214.447158 deg,
      approach rate: -0.700953 m/s,
      LOS rate: 0.019458 deg/s,
      cmd heading: 203.828144 deg,
      new cmd heading: 203.849421 deg.

2025-10-27T00:21:28.045Z,1761524488.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557844 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:28.125Z,1761524488.125 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:28.125Z,1761524488.125 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:28.125Z,1761524488.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:28.126Z,1761524488.126 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:21:28.376Z,1761524488.376 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:28.376Z,1761524488.376 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:28.376Z,1761524488.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:28.448Z,1761524488.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:28.450Z,1761524488.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:28.453Z,1761524488.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 535.563904 m,
      bearing: 214.455328 deg,
      approach rate: -0.712267 m/s,
      LOS rate: 0.019794 deg/s,
      cmd heading: 203.849427 deg,
      new cmd heading: 203.873950 deg.

2025-10-27T00:21:28.454Z,1761524488.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558272 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:28.628Z,1761524488.628 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:28.628Z,1761524488.628 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:28.628Z,1761524488.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:28.819Z,1761524488.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883875,0.378490,0.274789],[-0.406859,-0.911979,-0.052541],[0.230716,-0.158241,0.960068]]
2025-10-27T00:21:28.838Z,1761524488.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:28.840Z,1761524488.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 535.292847 m,
      bearing: 214.462819 deg,
      approach rate: -0.699336 m/s,
      LOS rate: 0.019338 deg/s,
      cmd heading: 203.873948 deg,
      new cmd heading: 203.896434 deg.

2025-10-27T00:21:28.841Z,1761524488.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558664 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:28.880Z,1761524488.880 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:28.880Z,1761524488.880 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:28.880Z,1761524488.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:29.132Z,1761524489.132 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:29.132Z,1761524489.132 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:29.132Z,1761524489.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:29.296Z,1761524489.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883744,0.378604,0.275056],[-0.406937,-0.911964,-0.052189],[0.231082,-0.158052,0.960011]]
2025-10-27T00:21:29.313Z,1761524489.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:29.316Z,1761524489.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 534.959595 m,
      bearing: 214.472038 deg,
      approach rate: -0.700461 m/s,
      LOS rate: 0.019388 deg/s,
      cmd heading: 203.896433 deg,
      new cmd heading: 203.924105 deg.

2025-10-27T00:21:29.317Z,1761524489.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559147 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:29.386Z,1761524489.386 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:29.386Z,1761524489.386 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:29.386Z,1761524489.386 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:21:29.641Z,1761524489.641 [DAT](INFO): Reached modem response timeout
2025-10-27T00:21:29.642Z,1761524489.642 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:29.642Z,1761524489.642 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:21:29.724Z,1761524489.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883572,0.378855,0.275261],[-0.407062,-0.911948,-0.051488],[0.231517,-0.157542,0.959990]]
2025-10-27T00:21:29.771Z,1761524489.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:29.774Z,1761524489.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 534.640503 m,
      bearing: 214.479274 deg,
      approach rate: -0.697810 m/s,
      LOS rate: 0.015834 deg/s,
      cmd heading: 203.924109 deg,
      new cmd heading: 203.945830 deg.

2025-10-27T00:21:29.774Z,1761524489.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559526 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:29.892Z,1761524489.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:30.144Z,1761524490.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:30.184Z,1761524490.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883937,0.378037,0.275216],[-0.406283,-0.912278,-0.051792],[0.231495,-0.157597,0.959986]]
2025-10-27T00:21:30.201Z,1761524490.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:30.204Z,1761524490.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 534.338989 m,
      bearing: 214.486150 deg,
      approach rate: -0.700019 m/s,
      LOS rate: 0.015973 deg/s,
      cmd heading: 203.945829 deg,
      new cmd heading: 203.966469 deg.

2025-10-27T00:21:30.205Z,1761524490.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559886 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:30.396Z,1761524490.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:30.592Z,1761524490.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884780,0.376553,0.274540],[-0.404767,-0.912921,-0.052329],[0.230929,-0.157424,0.960151]]
2025-10-27T00:21:30.608Z,1761524490.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:30.610Z,1761524490.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:30.613Z,1761524490.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 534.053589 m,
      bearing: 214.492724 deg,
      approach rate: -0.697857 m/s,
      LOS rate: 0.016082 deg/s,
      cmd heading: 203.966469 deg,
      new cmd heading: 203.986200 deg.

2025-10-27T00:21:30.614Z,1761524490.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560231 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:30.648Z,1761524490.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:30.900Z,1761524490.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:30.990Z,1761524490.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885698,0.374677,0.274146],[-0.403294,-0.913444,-0.054534],[0.229985,-0.158862,0.960141]]
2025-10-27T00:21:31.037Z,1761524491.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:31.042Z,1761524491.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 533.775635 m,
      bearing: 214.499188 deg,
      approach rate: -0.652220 m/s,
      LOS rate: 0.015177 deg/s,
      cmd heading: 203.986195 deg,
      new cmd heading: 204.005599 deg.

2025-10-27T00:21:31.044Z,1761524491.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560569 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:31.153Z,1761524491.153 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:31.391Z,1761524491.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886726,0.372539,0.273737],[-0.401535,-0.914087,-0.056692],[0.229099,-0.160185,0.960132]]
2025-10-27T00:21:31.404Z,1761524491.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:31.411Z,1761524491.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:31.414Z,1761524491.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 533.495361 m,
      bearing: 214.505778 deg,
      approach rate: -0.748920 m/s,
      LOS rate: 0.017617 deg/s,
      cmd heading: 204.005593 deg,
      new cmd heading: 204.025372 deg.

2025-10-27T00:21:31.414Z,1761524491.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560915 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:31.656Z,1761524491.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:31.860Z,1761524491.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:31.863Z,1761524491.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 533.177673 m,
      bearing: 214.510890 deg,
      approach rate: -0.707158 m/s,
      LOS rate: 0.011387 deg/s,
      cmd heading: 204.025373 deg,
      new cmd heading: 204.040720 deg.

2025-10-27T00:21:31.864Z,1761524491.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561182 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:31.908Z,1761524491.908 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:21:31.909Z,1761524491.909 [DAT](INFO): response not received
2025-10-27T00:21:31.909Z,1761524491.909 [DAT](INFO): DAT read: user:46>

2025-10-27T00:21:31.910Z,1761524491.910 [DAT](INFO): DAT read: Tx time:00:21:33.3493

2025-10-27T00:21:31.910Z,1761524491.910 [DAT](INFO): Ping request sent.
2025-10-27T00:21:31.910Z,1761524491.910 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:21:31.910Z,1761524491.910 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:31.911Z,1761524491.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-10-27T00:21:32.161Z,1761524492.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251017
2025-10-27T00:21:32.219Z,1761524492.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888716,0.368094,0.273296],[-0.398089,-0.915264,-0.061783],[0.227396,-0.163704,0.959944]]
2025-10-27T00:21:32.237Z,1761524492.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:32.240Z,1761524492.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 532.911865 m,
      bearing: 214.515291 deg,
      approach rate: -0.705078 m/s,
      LOS rate: 0.011680 deg/s,
      cmd heading: 204.040714 deg,
      new cmd heading: 204.053924 deg.

2025-10-27T00:21:32.241Z,1761524492.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561413 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:32.412Z,1761524492.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501922
2025-10-27T00:21:32.614Z,1761524492.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889348,0.366513,0.273363],[-0.397091,-0.915517,-0.064395],[0.226667,-0.165820,0.959753]]
2025-10-27T00:21:32.630Z,1761524492.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:32.632Z,1761524492.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:32.651Z,1761524492.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 532.633545 m,
      bearing: 214.519942 deg,
      approach rate: -0.704002 m/s,
      LOS rate: 0.011771 deg/s,
      cmd heading: 204.053923 deg,
      new cmd heading: 204.067884 deg.

2025-10-27T00:21:32.652Z,1761524492.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561656 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:32.664Z,1761524492.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754272
2025-10-27T00:21:32.917Z,1761524492.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006410
2025-10-27T00:21:33.024Z,1761524493.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889833,0.365454,0.273205],[-0.396371,-0.915709,-0.066087],[0.226025,-0.167097,0.959683]]
2025-10-27T00:21:33.064Z,1761524493.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:33.066Z,1761524493.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 532.332092 m,
      bearing: 214.525014 deg,
      approach rate: -0.699055 m/s,
      LOS rate: 0.011767 deg/s,
      cmd heading: 204.067884 deg,
      new cmd heading: 204.083106 deg.

2025-10-27T00:21:33.071Z,1761524493.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561922 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:33.168Z,1761524493.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258178
2025-10-27T00:21:33.420Z,1761524493.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509980
2025-10-27T00:21:33.424Z,1761524493.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889931,0.365331,0.273050],[-0.396576,-0.915509,-0.067612],[0.225278,-0.168455,0.959621]]
2025-10-27T00:21:33.498Z,1761524493.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:33.521Z,1761524493.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 532.059814 m,
      bearing: 214.529595 deg,
      approach rate: -0.628710 m/s,
      LOS rate: 0.010584 deg/s,
      cmd heading: 204.083102 deg,
      new cmd heading: 204.096852 deg.

2025-10-27T00:21:33.524Z,1761524493.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562162 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:33.672Z,1761524493.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761839
2025-10-27T00:21:33.911Z,1761524493.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:33.913Z,1761524493.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 531.749512 m,
      bearing: 214.533531 deg,
      approach rate: -0.749607 m/s,
      LOS rate: 0.009514 deg/s,
      cmd heading: 204.096858 deg,
      new cmd heading: 204.108673 deg.

2025-10-27T00:21:33.914Z,1761524493.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562368 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:33.924Z,1761524493.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014064
2025-10-27T00:21:34.176Z,1761524494.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266222
2025-10-27T00:21:34.242Z,1761524494.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889222,0.367456,0.272508],[-0.398898,-0.914424,-0.068614],[0.223975,-0.169716,0.959704]]
2025-10-27T00:21:34.276Z,1761524494.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:34.278Z,1761524494.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 531.510254 m,
      bearing: 214.536503 deg,
      approach rate: -0.654988 m/s,
      LOS rate: 0.008139 deg/s,
      cmd heading: 204.108674 deg,
      new cmd heading: 204.117593 deg.

2025-10-27T00:21:34.284Z,1761524494.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562524 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:34.428Z,1761524494.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517903
2025-10-27T00:21:34.653Z,1761524494.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888349,0.370342,0.271446],[-0.401259,-0.913523,-0.066836],[0.223220,-0.168294,0.960130]]
2025-10-27T00:21:34.669Z,1761524494.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:34.671Z,1761524494.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:34.674Z,1761524494.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 531.232666 m,
      bearing: 214.539879 deg,
      approach rate: -0.702375 m/s,
      LOS rate: 0.008547 deg/s,
      cmd heading: 204.117594 deg,
      new cmd heading: 204.127728 deg.

2025-10-27T00:21:34.675Z,1761524494.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562701 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:34.681Z,1761524494.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770575
2025-10-27T00:21:34.932Z,1761524494.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021861
2025-10-27T00:21:35.053Z,1761524495.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887629,0.373070,0.270063],[-0.403266,-0.912809,-0.064464],[0.222466,-0.166128,0.960682]]
2025-10-27T00:21:35.077Z,1761524495.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:35.080Z,1761524495.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 530.958313 m,
      bearing: 214.543157 deg,
      approach rate: -0.675498 m/s,
      LOS rate: 0.008077 deg/s,
      cmd heading: 204.127730 deg,
      new cmd heading: 204.137571 deg.

2025-10-27T00:21:35.081Z,1761524495.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562873 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:35.184Z,1761524495.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273967
2025-10-27T00:21:35.436Z,1761524495.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525831
2025-10-27T00:21:35.517Z,1761524495.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886858,0.375696,0.268953],[-0.405378,-0.911992,-0.062767],[0.221702,-0.164693,0.961106]]
2025-10-27T00:21:35.568Z,1761524495.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:35.571Z,1761524495.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 530.614685 m,
      bearing: 214.548283 deg,
      approach rate: -0.699618 m/s,
      LOS rate: 0.010443 deg/s,
      cmd heading: 204.137566 deg,
      new cmd heading: 204.152953 deg.

2025-10-27T00:21:35.572Z,1761524495.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563141 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:35.689Z,1761524495.689 [DAT](INFO): DAT read: Rx Time:00:21:36.5007

2025-10-27T00:21:35.689Z,1761524495.689 [DAT](INFO): Rx dataTimestamp_ set to:1761524495.688840
2025-10-27T00:21:35.690Z,1761524495.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779959
2025-10-27T00:21:35.884Z,1761524495.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 563.26 m.
2025-10-27T00:21:35.887Z,1761524495.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 563.258179 m,
      nav range: 530.394104 m,
      bearing: 214.551578 deg,
      approach rate: -0.699134 m/s,
      LOS rate: 0.010447 deg/s,
      cmd heading: 204.152947 deg,
      new cmd heading: 204.162835 deg.

2025-10-27T00:21:35.888Z,1761524495.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563314 target range: 563.258179 and range: 565.50 m.
2025-10-27T00:21:35.941Z,1761524495.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031148
2025-10-27T00:21:36.197Z,1761524496.197 [DAT](INFO): DAT read: 00:21:36.5007 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 273, 0.30,-2.879, 1.799,-3.090, 2.812, PHS= 0.694,-0.968, 0.337, RAW= 138.2,  -0.8, CAL= 138.5,  -0.3, ROT=  11.5,   0.3

2025-10-27T00:21:36.198Z,1761524496.198 [DAT](INFO): got valid direction response:
 00:21:36.5007 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 273, 0.30,-2.879, 1.799,-3.090, 2.812, PHS= 0.694,-0.968, 0.337, RAW= 138.2,  -0.8, CAL= 138.5,  -0.3, ROT=  11.5,   0.3

2025-10-27T00:21:36.199Z,1761524496.199 [DAT](INFO): DAT read: Bearing 355.0,  23.8 (Local)

2025-10-27T00:21:36.200Z,1761524496.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,  23.8 (Local)

2025-10-27T00:21:36.201Z,1761524496.201 [DAT](INFO): DAT read: Range 11 to 50 : 560.4 m  (Round-trip  747.3 ms) speed  0.8 m/s

2025-10-27T00:21:36.201Z,1761524496.201 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:21:36.202Z,1761524496.202 [DAT](INFO): direction in FSK: [0.979911,0.199365,-0.005236]
2025-10-27T00:21:36.212Z,1761524496.212 [DAT](INFO): publishing direction and range info
2025-10-27T00:21:36.216Z,1761524496.216 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:36.217Z,1761524496.217 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:36.217Z,1761524496.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:21:36.266Z,1761524496.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884969,0.381153,0.267493],[-0.410613,-0.909682,-0.062255],[0.219605,-0.164930,0.961547]]
2025-10-27T00:21:36.344Z,1761524496.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 560.400024 m,
      deltaT: 16.646551 s,
      deltaX: -5.099976 m,
      approachRate: -0.306368 m/s,
      rangeRepo size: 4

2025-10-27T00:21:36.346Z,1761524496.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 558.017456 m,
      bearing: 216.355027 deg,
      lat: 36.779631 deg,
      lon: -121.859908 deg,
      deltaT: 16.646551 s,
      deltaX: -5.240723 m,
      approachRate: -0.314823 m/s,
      posRepo size: 4

2025-10-27T00:21:36.348Z,1761524496.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:36.350Z,1761524496.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 534.804565 m,
      bearing: 214.208647 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010447 deg/s,
      cmd heading: 204.162837 deg,
      new cmd heading: 204.177248 deg.

2025-10-27T00:21:36.359Z,1761524496.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563565 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:36.446Z,1761524496.446 [DAT](INFO): DAT read: user:47>

2025-10-27T00:21:36.449Z,1761524496.449 [DAT](INFO): DAT read: Tx time:00:21:37.8493

2025-10-27T00:21:36.450Z,1761524496.450 [DAT](INFO): Ping request sent.
2025-10-27T00:21:36.450Z,1761524496.450 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:21:36.450Z,1761524496.450 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:36.451Z,1761524496.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-27T00:21:36.682Z,1761524496.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883895,0.385044,0.265462],[-0.413391,-0.908676,-0.058442],[0.218716,-0.161396,0.962348]]
2025-10-27T00:21:36.697Z,1761524496.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246712
2025-10-27T00:21:36.732Z,1761524496.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:36.734Z,1761524496.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:36.741Z,1761524496.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 534.534424 m,
      bearing: 214.212224 deg,
      approach rate: -0.691278 m/s,
      LOS rate: 0.009159 deg/s,
      cmd heading: 204.177249 deg,
      new cmd heading: 204.187987 deg.

2025-10-27T00:21:36.742Z,1761524496.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563753 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:36.949Z,1761524496.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498946
2025-10-27T00:21:37.195Z,1761524497.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882241,0.391680,0.261224],[-0.418019,-0.906955,-0.051900],[0.216590,-0.154984,0.963882]]
2025-10-27T00:21:37.200Z,1761524497.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750322
2025-10-27T00:21:37.215Z,1761524497.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:37.218Z,1761524497.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 534.178772 m,
      bearing: 214.216762 deg,
      approach rate: -0.740485 m/s,
      LOS rate: 0.009453 deg/s,
      cmd heading: 204.187986 deg,
      new cmd heading: 204.201607 deg.

2025-10-27T00:21:37.219Z,1761524497.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.563990 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:37.454Z,1761524497.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003830
2025-10-27T00:21:37.678Z,1761524497.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881579,0.394401,0.259358],[-0.420167,-0.906048,-0.050370],[0.215125,-0.153379,0.964467]]
2025-10-27T00:21:37.705Z,1761524497.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254698
2025-10-27T00:21:37.740Z,1761524497.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:37.743Z,1761524497.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 533.817017 m,
      bearing: 214.222462 deg,
      approach rate: -0.688290 m/s,
      LOS rate: 0.010853 deg/s,
      cmd heading: 204.201606 deg,
      new cmd heading: 204.218719 deg.

2025-10-27T00:21:37.744Z,1761524497.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564289 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:37.956Z,1761524497.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506008
2025-10-27T00:21:38.151Z,1761524498.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881292,0.396194,0.257594],[-0.421610,-0.905405,-0.049870],[0.213469,-0.152555,0.964965]]
2025-10-27T00:21:38.169Z,1761524498.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:38.172Z,1761524498.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 533.521790 m,
      bearing: 214.227075 deg,
      approach rate: -0.688605 m/s,
      LOS rate: 0.010764 deg/s,
      cmd heading: 204.218722 deg,
      new cmd heading: 204.232567 deg.

2025-10-27T00:21:38.173Z,1761524498.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564531 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:38.208Z,1761524498.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758139
2025-10-27T00:21:38.460Z,1761524498.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010271
2025-10-27T00:21:38.554Z,1761524498.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881248,0.397323,0.256002],[-0.422607,-0.904916,-0.050302],[0.211674,-0.152517,0.965367]]
2025-10-27T00:21:38.584Z,1761524498.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:38.586Z,1761524498.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 533.243652 m,
      bearing: 214.231397 deg,
      approach rate: -0.670672 m/s,
      LOS rate: 0.010427 deg/s,
      cmd heading: 204.232560 deg,
      new cmd heading: 204.245533 deg.

2025-10-27T00:21:38.590Z,1761524498.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564757 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:38.715Z,1761524498.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265059
2025-10-27T00:21:38.958Z,1761524498.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881587,0.397821,0.254052],[-0.422775,-0.904845,-0.050174],[0.209917,-0.151639,0.965888]]
2025-10-27T00:21:38.964Z,1761524498.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514142
2025-10-27T00:21:38.986Z,1761524498.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:38.988Z,1761524498.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:38.991Z,1761524498.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 532.956421 m,
      bearing: 214.235867 deg,
      approach rate: -0.709802 m/s,
      LOS rate: 0.011052 deg/s,
      cmd heading: 204.245537 deg,
      new cmd heading: 204.258954 deg.

2025-10-27T00:21:38.992Z,1761524498.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564991 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:39.217Z,1761524499.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767218
2025-10-27T00:21:39.362Z,1761524499.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881788,0.398024,0.253033],[-0.423171,-0.904568,-0.051802],[0.208267,-0.152755,0.966070]]
2025-10-27T00:21:39.379Z,1761524499.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:39.382Z,1761524499.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 532.686523 m,
      bearing: 214.240061 deg,
      approach rate: -0.691125 m/s,
      LOS rate: 0.010746 deg/s,
      cmd heading: 204.258952 deg,
      new cmd heading: 204.271542 deg.

2025-10-27T00:21:39.383Z,1761524499.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565211 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:39.470Z,1761524499.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020025
2025-10-27T00:21:39.720Z,1761524499.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270036
2025-10-27T00:21:39.766Z,1761524499.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882190,0.397671,0.252188],[-0.423077,-0.904502,-0.053691],[0.206753,-0.154060,0.966188]]
2025-10-27T00:21:39.818Z,1761524499.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:39.821Z,1761524499.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 532.381409 m,
      bearing: 214.246421 deg,
      approach rate: -0.695572 m/s,
      LOS rate: 0.014508 deg/s,
      cmd heading: 204.271547 deg,
      new cmd heading: 204.290639 deg.

2025-10-27T00:21:39.821Z,1761524499.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565544 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:39.972Z,1761524499.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522035
2025-10-27T00:21:40.170Z,1761524500.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882623,0.397781,0.250494],[-0.422941,-0.904558,-0.053818],[0.205178,-0.153445,0.966621]]
2025-10-27T00:21:40.202Z,1761524500.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:40.204Z,1761524500.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 532.114136 m,
      bearing: 214.252010 deg,
      approach rate: -0.696264 m/s,
      LOS rate: 0.014565 deg/s,
      cmd heading: 204.290644 deg,
      new cmd heading: 204.307417 deg.

2025-10-27T00:21:40.205Z,1761524500.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565837 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:40.237Z,1761524500.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786898
2025-10-27T00:21:40.488Z,1761524500.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038099
2025-10-27T00:21:40.574Z,1761524500.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883126,0.397290,0.249500],[-0.422353,-0.904810,-0.054186],[0.204223,-0.153230,0.966858]]
2025-10-27T00:21:40.604Z,1761524500.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:40.611Z,1761524500.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 531.843079 m,
      bearing: 214.257707 deg,
      approach rate: -0.673091 m/s,
      LOS rate: 0.014154 deg/s,
      cmd heading: 204.307419 deg,
      new cmd heading: 204.324519 deg.

2025-10-27T00:21:40.612Z,1761524500.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566136 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:40.741Z,1761524500.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290358
2025-10-27T00:21:40.983Z,1761524500.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883623,0.396112,0.249610],[-0.421856,-0.904840,-0.057463],[0.203095,-0.156075,0.966640]]
2025-10-27T00:21:40.992Z,1761524500.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542163
2025-10-27T00:21:41.009Z,1761524501.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:41.013Z,1761524501.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:41.017Z,1761524501.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 531.556396 m,
      bearing: 214.263755 deg,
      approach rate: -0.702626 m/s,
      LOS rate: 0.014831 deg/s,
      cmd heading: 204.324522 deg,
      new cmd heading: 204.342676 deg.

2025-10-27T00:21:41.020Z,1761524501.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566453 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:41.244Z,1761524501.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793977
2025-10-27T00:21:41.394Z,1761524501.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883819,0.395296,0.250210],[-0.422058,-0.904451,-0.061932],[0.201821,-0.160340,0.966209]]
2025-10-27T00:21:41.412Z,1761524501.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:41.415Z,1761524501.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 531.271179 m,
      bearing: 214.269768 deg,
      approach rate: -0.713022 m/s,
      LOS rate: 0.015041 deg/s,
      cmd heading: 204.342676 deg,
      new cmd heading: 204.360726 deg.

2025-10-27T00:21:41.416Z,1761524501.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566767 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:41.501Z,1761524501.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050136
2025-10-27T00:21:41.748Z,1761524501.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298547
2025-10-27T00:21:41.836Z,1761524501.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884043,0.394057,0.251369],[-0.422172,-0.903992,-0.067602],[0.200597,-0.165885,0.965527]]
2025-10-27T00:21:41.899Z,1761524501.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:41.902Z,1761524501.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 530.945801 m,
      bearing: 214.274973 deg,
      approach rate: -0.674290 m/s,
      LOS rate: 0.010792 deg/s,
      cmd heading: 204.360722 deg,
      new cmd heading: 204.376345 deg.

2025-10-27T00:21:41.903Z,1761524501.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567040 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:42.002Z,1761524502.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551702
2025-10-27T00:21:42.252Z,1761524502.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.801885
2025-10-27T00:21:42.356Z,1761524502.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884003,0.392757,0.253535],[-0.422844,-0.903062,-0.075383],[0.199351,-0.173844,0.964384]]
2025-10-27T00:21:42.385Z,1761524502.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:42.388Z,1761524502.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 530.594360 m,
      bearing: 214.280573 deg,
      approach rate: -0.716794 m/s,
      LOS rate: 0.011430 deg/s,
      cmd heading: 204.376349 deg,
      new cmd heading: 204.393161 deg.

2025-10-27T00:21:42.389Z,1761524502.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567334 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:42.505Z,1761524502.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054639
2025-10-27T00:21:42.756Z,1761524502.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306063
2025-10-27T00:21:42.801Z,1761524502.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883833,0.393268,0.253336],[-0.423058,-0.903071,-0.074065],[0.199653,-0.172637,0.964539]]
2025-10-27T00:21:42.844Z,1761524502.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:42.851Z,1761524502.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 530.269165 m,
      bearing: 214.285754 deg,
      approach rate: -0.708116 m/s,
      LOS rate: 0.011287 deg/s,
      cmd heading: 204.393165 deg,
      new cmd heading: 204.408715 deg.

2025-10-27T00:21:42.852Z,1761524502.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567605 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:43.009Z,1761524503.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558809
2025-10-27T00:21:43.177Z,1761524503.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884214,0.393321,0.251921],[-0.422069,-0.903837,-0.070266],[0.200058,-0.168458,0.965194]]
2025-10-27T00:21:43.207Z,1761524503.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:43.209Z,1761524503.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:43.212Z,1761524503.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 530.007080 m,
      bearing: 214.289965 deg,
      approach rate: -0.718047 m/s,
      LOS rate: 0.011545 deg/s,
      cmd heading: 204.408711 deg,
      new cmd heading: 204.421352 deg.

2025-10-27T00:21:43.213Z,1761524503.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567826 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:43.261Z,1761524503.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810795
2025-10-27T00:21:43.513Z,1761524503.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062557
2025-10-27T00:21:43.578Z,1761524503.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884589,0.392558,0.251794],[-0.421112,-0.904340,-0.069524],[0.200415,-0.167533,0.965281]]
2025-10-27T00:21:43.634Z,1761524503.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:43.637Z,1761524503.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 529.714905 m,
      bearing: 214.294522 deg,
      approach rate: -0.687369 m/s,
      LOS rate: 0.010725 deg/s,
      cmd heading: 204.421346 deg,
      new cmd heading: 204.435023 deg.

2025-10-27T00:21:43.638Z,1761524503.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568064 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:43.764Z,1761524503.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313929
2025-10-27T00:21:43.982Z,1761524503.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885056,0.390763,0.252943],[-0.419922,-0.904728,-0.071642],[0.200850,-0.169623,0.964825]]
2025-10-27T00:21:44.017Z,1761524504.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566952
2025-10-27T00:21:44.047Z,1761524504.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:44.050Z,1761524504.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 529.431213 m,
      bearing: 214.298989 deg,
      approach rate: -0.687980 m/s,
      LOS rate: 0.010840 deg/s,
      cmd heading: 204.435020 deg,
      new cmd heading: 204.448430 deg.

2025-10-27T00:21:44.050Z,1761524504.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568298 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:44.268Z,1761524504.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817983
2025-10-27T00:21:44.387Z,1761524504.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885237,0.389202,0.254712],[-0.419270,-0.904790,-0.074623],[0.201418,-0.172852,0.964133]]
2025-10-27T00:21:44.449Z,1761524504.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:44.456Z,1761524504.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 529.171021 m,
      bearing: 214.303110 deg,
      approach rate: -0.646216 m/s,
      LOS rate: 0.010241 deg/s,
      cmd heading: 204.448435 deg,
      new cmd heading: 204.460805 deg.

2025-10-27T00:21:44.457Z,1761524504.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568514 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:44.521Z,1761524504.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071092
2025-10-27T00:21:44.772Z,1761524504.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322231
2025-10-27T00:21:44.790Z,1761524504.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885443,0.387936,0.255921],[-0.418498,-0.905028,-0.076050],[0.202113,-0.174441,0.963702]]
2025-10-27T00:21:44.818Z,1761524504.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:44.847Z,1761524504.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 528.900574 m,
      bearing: 214.307421 deg,
      approach rate: -0.733343 m/s,
      LOS rate: 0.011695 deg/s,
      cmd heading: 204.460811 deg,
      new cmd heading: 204.473750 deg.

2025-10-27T00:21:44.848Z,1761524504.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568740 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:45.025Z,1761524505.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575276
2025-10-27T00:21:45.212Z,1761524505.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885984,0.386582,0.256098],[-0.417406,-0.905428,-0.077285],[0.202001,-0.175370,0.963556]]
2025-10-27T00:21:45.228Z,1761524505.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:45.230Z,1761524505.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:45.233Z,1761524505.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 528.618164 m,
      bearing: 214.311966 deg,
      approach rate: -0.685810 m/s,
      LOS rate: 0.011042 deg/s,
      cmd heading: 204.473748 deg,
      new cmd heading: 204.487389 deg.

2025-10-27T00:21:45.234Z,1761524505.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568978 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:45.276Z,1761524505.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826037
2025-10-27T00:21:45.528Z,1761524505.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078230
2025-10-27T00:21:45.598Z,1761524505.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886524,0.384582,0.257239],[-0.416429,-0.905521,-0.081354],[0.201648,-0.179244,0.962917]]
2025-10-27T00:21:45.651Z,1761524505.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:45.654Z,1761524505.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 528.330933 m,
      bearing: 214.316025 deg,
      approach rate: -0.682260 m/s,
      LOS rate: 0.009647 deg/s,
      cmd heading: 204.487394 deg,
      new cmd heading: 204.499578 deg.

2025-10-27T00:21:45.655Z,1761524505.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569191 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:45.780Z,1761524505.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330031
2025-10-27T00:21:46.028Z,1761524506.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887239,0.382361,0.258085],[-0.414912,-0.905960,-0.084169],[0.201632,-0.181760,0.962449]]
2025-10-27T00:21:46.032Z,1761524506.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582023
2025-10-27T00:21:46.047Z,1761524506.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:46.050Z,1761524506.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 528.060669 m,
      bearing: 214.319898 deg,
      approach rate: -0.682096 m/s,
      LOS rate: 0.009781 deg/s,
      cmd heading: 204.499579 deg,
      new cmd heading: 204.511205 deg.

2025-10-27T00:21:46.051Z,1761524506.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569394 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:46.284Z,1761524506.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834235
2025-10-27T00:21:46.408Z,1761524506.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888054,0.380281,0.258354],[-0.413202,-0.906579,-0.085895],[0.201554,-0.183032,0.962224]]
2025-10-27T00:21:46.430Z,1761524506.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:46.433Z,1761524506.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 527.800415 m,
      bearing: 214.323687 deg,
      approach rate: -0.679683 m/s,
      LOS rate: 0.009901 deg/s,
      cmd heading: 204.511204 deg,
      new cmd heading: 204.522577 deg.

2025-10-27T00:21:46.434Z,1761524506.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569592 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:46.536Z,1761524506.536 [DAT](INFO): Reached modem response timeout
2025-10-27T00:21:46.537Z,1761524506.537 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:46.537Z,1761524506.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:21:46.788Z,1761524506.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:46.810Z,1761524506.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888807,0.378310,0.258658],[-0.411695,-0.907062,-0.088017],[0.201321,-0.184718,0.961951]]
2025-10-27T00:21:46.835Z,1761524506.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:46.853Z,1761524506.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 527.524414 m,
      bearing: 214.327762 deg,
      approach rate: -0.682384 m/s,
      LOS rate: 0.010079 deg/s,
      cmd heading: 204.522583 deg,
      new cmd heading: 204.534814 deg.

2025-10-27T00:21:46.854Z,1761524506.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569806 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:47.040Z,1761524507.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:47.219Z,1761524507.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889842,0.376938,0.257098],[-0.409690,-0.908107,-0.086578],[0.200838,-0.182372,0.962499]]
2025-10-27T00:21:47.255Z,1761524507.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:47.257Z,1761524507.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:47.261Z,1761524507.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 527.236816 m,
      bearing: 214.332086 deg,
      approach rate: -0.680339 m/s,
      LOS rate: 0.010236 deg/s,
      cmd heading: 204.534809 deg,
      new cmd heading: 204.547790 deg.

2025-10-27T00:21:47.262Z,1761524507.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570032 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:47.292Z,1761524507.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:47.544Z,1761524507.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:47.622Z,1761524507.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891147,0.375618,0.254495],[-0.407021,-0.909675,-0.082618],[0.200475,-0.177210,0.963539]]
2025-10-27T00:21:47.676Z,1761524507.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:47.679Z,1761524507.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 526.947937 m,
      bearing: 214.337387 deg,
      approach rate: -0.689557 m/s,
      LOS rate: 0.012659 deg/s,
      cmd heading: 204.547787 deg,
      new cmd heading: 204.563697 deg.

2025-10-27T00:21:47.680Z,1761524507.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570310 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:47.796Z,1761524507.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:48.033Z,1761524508.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892470,0.373089,0.253578],[-0.404132,-0.911021,-0.081961],[0.200436,-0.175626,0.963836]]
2025-10-27T00:21:48.048Z,1761524508.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:48.052Z,1761524508.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:48.055Z,1761524508.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 526.688965 m,
      bearing: 214.342237 deg,
      approach rate: -0.688576 m/s,
      LOS rate: 0.012901 deg/s,
      cmd heading: 204.563701 deg,
      new cmd heading: 204.578257 deg.

2025-10-27T00:21:48.056Z,1761524508.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570564 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:48.300Z,1761524508.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:48.430Z,1761524508.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893431,0.370355,0.254203],[-0.402122,-0.911617,-0.085155],[0.200199,-0.178301,0.963395]]
2025-10-27T00:21:48.472Z,1761524508.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:48.474Z,1761524508.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 526.409790 m,
      bearing: 214.347542 deg,
      approach rate: -0.665651 m/s,
      LOS rate: 0.012657 deg/s,
      cmd heading: 204.578263 deg,
      new cmd heading: 204.594188 deg.

2025-10-27T00:21:48.485Z,1761524508.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570842 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:48.553Z,1761524508.553 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:21:48.804Z,1761524508.804 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:21:48.804Z,1761524508.804 [DAT](INFO): response not received
2025-10-27T00:21:48.805Z,1761524508.805 [DAT](INFO): DAT read: user:48>

2025-10-27T00:21:48.805Z,1761524508.805 [DAT](INFO): DAT read: Tx time:00:21:50.2993

2025-10-27T00:21:48.806Z,1761524508.806 [DAT](INFO): Ping request sent.
2025-10-27T00:21:48.806Z,1761524508.806 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:21:48.806Z,1761524508.806 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:48.807Z,1761524508.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-27T00:21:48.832Z,1761524508.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894198,0.367496,0.255650],[-0.400454,-0.911904,-0.089825],[0.200118,-0.182698,0.962587]]
2025-10-27T00:21:48.885Z,1761524508.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:48.892Z,1761524508.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 526.122253 m,
      bearing: 214.353072 deg,
      approach rate: -0.695501 m/s,
      LOS rate: 0.013384 deg/s,
      cmd heading: 204.594191 deg,
      new cmd heading: 204.610791 deg.

2025-10-27T00:21:48.893Z,1761524508.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571132 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:49.056Z,1761524509.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250391
2025-10-27T00:21:49.249Z,1761524509.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894669,0.365124,0.257393],[-0.399575,-0.911703,-0.095585],[0.199766,-0.188365,0.961568]]
2025-10-27T00:21:49.270Z,1761524509.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:49.273Z,1761524509.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:49.275Z,1761524509.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 525.846985 m,
      bearing: 214.358402 deg,
      approach rate: -0.710433 m/s,
      LOS rate: 0.013762 deg/s,
      cmd heading: 204.610789 deg,
      new cmd heading: 204.626786 deg.

2025-10-27T00:21:49.276Z,1761524509.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571411 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:49.308Z,1761524509.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502082
2025-10-27T00:21:49.560Z,1761524509.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754095
2025-10-27T00:21:49.638Z,1761524509.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894779,0.364765,0.257521],[-0.399616,-0.911491,-0.097422],[0.199192,-0.190080,0.961349]]
2025-10-27T00:21:49.708Z,1761524509.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:49.716Z,1761524509.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 525.546021 m,
      bearing: 214.363094 deg,
      approach rate: -0.699083 m/s,
      LOS rate: 0.010905 deg/s,
      cmd heading: 204.626785 deg,
      new cmd heading: 204.640868 deg.

2025-10-27T00:21:49.717Z,1761524509.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571657 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:49.812Z,1761524509.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006082
2025-10-27T00:21:50.046Z,1761524510.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894797,0.364928,0.257228],[-0.399459,-0.911695,-0.096147],[0.199427,-0.188784,0.961556]]
2025-10-27T00:21:50.064Z,1761524510.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258134
2025-10-27T00:21:50.068Z,1761524510.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:50.070Z,1761524510.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 525.281067 m,
      bearing: 214.367232 deg,
      approach rate: -0.726485 m/s,
      LOS rate: 0.011354 deg/s,
      cmd heading: 204.640869 deg,
      new cmd heading: 204.653291 deg.

2025-10-27T00:21:50.072Z,1761524510.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571874 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:50.316Z,1761524510.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510086
2025-10-27T00:21:50.503Z,1761524510.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894399,0.366737,0.256037],[-0.400428,-0.911590,-0.093067],[0.199270,-0.185763,0.962176]]
2025-10-27T00:21:50.533Z,1761524510.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:50.536Z,1761524510.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 524.947998 m,
      bearing: 214.372402 deg,
      approach rate: -0.715580 m/s,
      LOS rate: 0.011113 deg/s,
      cmd heading: 204.653286 deg,
      new cmd heading: 204.668804 deg.

2025-10-27T00:21:50.537Z,1761524510.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572145 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:50.569Z,1761524510.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762500
2025-10-27T00:21:50.820Z,1761524510.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014101
2025-10-27T00:21:50.895Z,1761524510.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893719,0.369183,0.254894],[-0.402030,-0.911209,-0.089836],[0.199096,-0.182763,0.962787]]
2025-10-27T00:21:50.919Z,1761524510.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:50.921Z,1761524510.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 524.673096 m,
      bearing: 214.376619 deg,
      approach rate: -0.713589 m/s,
      LOS rate: 0.010952 deg/s,
      cmd heading: 204.668804 deg,
      new cmd heading: 204.681461 deg.

2025-10-27T00:21:50.922Z,1761524510.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572366 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:51.072Z,1761524511.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266117
2025-10-27T00:21:51.325Z,1761524511.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518840
2025-10-27T00:21:51.375Z,1761524511.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892636,0.372564,0.253767],[-0.404460,-0.910507,-0.085956],[0.199033,-0.179366,0.963439]]
2025-10-27T00:21:51.392Z,1761524511.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:51.394Z,1761524511.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:51.397Z,1761524511.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 524.334473 m,
      bearing: 214.381716 deg,
      approach rate: -0.712099 m/s,
      LOS rate: 0.010726 deg/s,
      cmd heading: 204.681467 deg,
      new cmd heading: 204.696769 deg.

2025-10-27T00:21:51.398Z,1761524511.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572633 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:51.576Z,1761524511.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770299
2025-10-27T00:21:51.769Z,1761524511.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890951,0.377946,0.251719],[-0.408236,-0.909408,-0.079500],[0.198868,-0.173592,0.964530]]
2025-10-27T00:21:51.817Z,1761524511.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:51.820Z,1761524511.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 524.036194 m,
      bearing: 214.384984 deg,
      approach rate: -0.704911 m/s,
      LOS rate: 0.007729 deg/s,
      cmd heading: 204.696767 deg,
      new cmd heading: 204.706578 deg.

2025-10-27T00:21:51.821Z,1761524511.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572804 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:51.840Z,1761524511.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034585
2025-10-27T00:21:52.092Z,1761524512.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285959
2025-10-27T00:21:52.174Z,1761524512.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889068,0.383593,0.249830],[-0.412290,-0.908136,-0.072846],[0.198937,-0.167768,0.965546]]
2025-10-27T00:21:52.191Z,1761524512.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:52.194Z,1761524512.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 523.772705 m,
      bearing: 214.387745 deg,
      approach rate: -0.704163 m/s,
      LOS rate: 0.007382 deg/s,
      cmd heading: 204.706575 deg,
      new cmd heading: 204.714862 deg.

2025-10-27T00:21:52.211Z,1761524512.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572948 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:52.344Z,1761524512.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538438
2025-10-27T00:21:52.581Z,1761524512.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886642,0.389997,0.248532],[-0.417425,-0.906230,-0.067112],[0.199054,-0.163248,0.966296]]
2025-10-27T00:21:52.596Z,1761524512.596 [DAT](INFO): DAT read: Rx Time:00:21:53.4263

2025-10-27T00:21:52.597Z,1761524512.597 [DAT](INFO): Rx dataTimestamp_ set to:1761524512.596276
2025-10-27T00:21:52.597Z,1761524512.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791254
2025-10-27T00:21:52.601Z,1761524512.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:52.604Z,1761524512.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 523.486206 m,
      bearing: 214.390569 deg,
      approach rate: -0.699099 m/s,
      LOS rate: 0.006895 deg/s,
      cmd heading: 204.714867 deg,
      new cmd heading: 204.723343 deg.

2025-10-27T00:21:52.605Z,1761524512.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573097 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:52.848Z,1761524512.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042090
2025-10-27T00:21:52.992Z,1761524512.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883826,0.397862,0.246085],[-0.423284,-0.904105,-0.058515],[0.199206,-0.155881,0.967480]]
2025-10-27T00:21:53.017Z,1761524513.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 558.02 m.
2025-10-27T00:21:53.020Z,1761524513.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 558.017456 m,
      nav range: 523.191467 m,
      bearing: 214.393266 deg,
      approach rate: -0.708984 m/s,
      LOS rate: 0.006491 deg/s,
      cmd heading: 204.723350 deg,
      new cmd heading: 204.731445 deg.

2025-10-27T00:21:53.021Z,1761524513.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573238 target range: 558.017456 and range: 560.40 m.
2025-10-27T00:21:53.108Z,1761524513.108 [DAT](INFO): DAT read: 00:21:53.4263 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 166, 0.41,-3.045, 1.753, 3.050, 2.843, PHS= 0.497,-1.045, 0.163, RAW= 138.1,   5.5, CAL= 138.0,   6.4, ROT=  12.0,  -6.4

2025-10-27T00:21:53.110Z,1761524513.110 [DAT](INFO): got valid direction response:
 00:21:53.4263 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 166, 0.41,-3.045, 1.753, 3.050, 2.843, PHS= 0.497,-1.045, 0.163, RAW= 138.1,   5.5, CAL= 138.0,   6.4, ROT=  12.0,  -6.4

2025-10-27T00:21:53.111Z,1761524513.111 [DAT](INFO): DAT read: Bearing   0.2,  22.0 (Local)

2025-10-27T00:21:53.112Z,1761524513.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  22.0 (Local)

2025-10-27T00:21:53.113Z,1761524513.113 [DAT](INFO): DAT read: Range 11 to 50 : 542.1 m  (Round-trip  722.9 ms) speed  0.5 m/s

2025-10-27T00:21:53.114Z,1761524513.114 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:21:53.115Z,1761524513.115 [DAT](INFO): direction in FSK: [0.972052,0.206616,0.111469]
2025-10-27T00:21:53.116Z,1761524513.116 [DAT](INFO): publishing direction and range info
2025-10-27T00:21:53.119Z,1761524513.119 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:53.119Z,1761524513.119 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:53.119Z,1761524513.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:21:53.352Z,1761524513.352 [DAT](INFO): DAT read: user:49>

2025-10-27T00:21:53.353Z,1761524513.353 [DAT](INFO): DAT read: Tx time:00:21:54.7493

2025-10-27T00:21:53.353Z,1761524513.353 [DAT](INFO): Ping request sent.
2025-10-27T00:21:53.353Z,1761524513.353 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:21:53.353Z,1761524513.353 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:53.354Z,1761524513.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-27T00:21:53.385Z,1761524513.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881354,0.405519,0.242422],[-0.428149,-0.902489,-0.046918],[0.199757,-0.145144,0.969036]]
2025-10-27T00:21:53.480Z,1761524513.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 542.099976 m,
      deltaT: 16.908965 s,
      deltaX: -18.300049 m,
      approachRate: -1.082269 m/s,
      rangeRepo size: 4

2025-10-27T00:21:53.498Z,1761524513.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 539.773560 m,
      bearing: 219.178314 deg,
      lat: 36.779682 deg,
      lon: -121.860188 deg,
      deltaT: 16.908965 s,
      deltaX: -18.243896 m,
      approachRate: -1.078948 m/s,
      posRepo size: 4

2025-10-27T00:21:53.505Z,1761524513.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:53.513Z,1761524513.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 532.776428 m,
      bearing: 216.952717 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006491 deg/s,
      cmd heading: 204.731451 deg,
      new cmd heading: 204.740209 deg.

2025-10-27T00:21:53.514Z,1761524513.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573391 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:53.606Z,1761524513.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253229
2025-10-27T00:21:53.824Z,1761524513.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878795,0.412200,0.240439],[-0.432986,-0.900572,-0.038634],[0.200608,-0.138058,0.969895]]
2025-10-27T00:21:53.860Z,1761524513.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507228
2025-10-27T00:21:53.883Z,1761524513.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:53.885Z,1761524513.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:53.888Z,1761524513.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 532.468201 m,
      bearing: 216.956885 deg,
      approach rate: -0.737036 m/s,
      LOS rate: 0.009972 deg/s,
      cmd heading: 204.740207 deg,
      new cmd heading: 204.752717 deg.

2025-10-27T00:21:53.889Z,1761524513.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573609 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:54.112Z,1761524514.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758890
2025-10-27T00:21:54.227Z,1761524514.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876746,0.417380,0.238977],[-0.436531,-0.899151,-0.031131],[0.201883,-0.131615,0.970526]]
2025-10-27T00:21:54.246Z,1761524514.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:54.249Z,1761524514.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 532.223999 m,
      bearing: 216.960088 deg,
      approach rate: -0.675759 m/s,
      LOS rate: 0.008869 deg/s,
      cmd heading: 204.752720 deg,
      new cmd heading: 204.762335 deg.

2025-10-27T00:21:54.250Z,1761524514.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573777 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:54.364Z,1761524514.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010913
2025-10-27T00:21:54.616Z,1761524514.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263067
2025-10-27T00:21:54.631Z,1761524514.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874568,0.422531,0.237905],[-0.440181,-0.897588,-0.023998],[0.203401,-0.125709,0.970992]]
2025-10-27T00:21:54.649Z,1761524514.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:54.653Z,1761524514.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 531.951538 m,
      bearing: 216.963548 deg,
      approach rate: -0.676281 m/s,
      LOS rate: 0.008591 deg/s,
      cmd heading: 204.762337 deg,
      new cmd heading: 204.772720 deg.

2025-10-27T00:21:54.654Z,1761524514.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573958 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:54.868Z,1761524514.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514916
2025-10-27T00:21:55.033Z,1761524515.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872514,0.426965,0.237531],[-0.443391,-0.896150,-0.017850],[0.205242,-0.120893,0.971216]]
2025-10-27T00:21:55.075Z,1761524515.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:55.078Z,1761524515.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 531.674744 m,
      bearing: 216.966957 deg,
      approach rate: -0.675529 m/s,
      LOS rate: 0.008324 deg/s,
      cmd heading: 204.772719 deg,
      new cmd heading: 204.782951 deg.

2025-10-27T00:21:55.079Z,1761524515.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574137 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:55.120Z,1761524515.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766950
2025-10-27T00:21:55.372Z,1761524515.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018843
2025-10-27T00:21:55.452Z,1761524515.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871196,0.429105,0.238508],[-0.445038,-0.895392,-0.014669],[0.207264,-0.118925,0.971030]]
2025-10-27T00:21:55.525Z,1761524515.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:55.534Z,1761524515.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 531.365173 m,
      bearing: 216.970705 deg,
      approach rate: -0.663659 m/s,
      LOS rate: 0.008041 deg/s,
      cmd heading: 204.782950 deg,
      new cmd heading: 204.794202 deg.

2025-10-27T00:21:55.539Z,1761524515.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574333 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:55.625Z,1761524515.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271474
2025-10-27T00:21:55.841Z,1761524515.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870373,0.428816,0.242007],[-0.445752,-0.894990,-0.017290],[0.209180,-0.122923,0.970120]]
2025-10-27T00:21:55.876Z,1761524515.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522948
2025-10-27T00:21:55.890Z,1761524515.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:55.892Z,1761524515.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:55.894Z,1761524515.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 531.121277 m,
      bearing: 216.974836 deg,
      approach rate: -0.665742 m/s,
      LOS rate: 0.011280 deg/s,
      cmd heading: 204.794206 deg,
      new cmd heading: 204.806604 deg.

2025-10-27T00:21:55.896Z,1761524515.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574550 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:56.128Z,1761524516.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774819
2025-10-27T00:21:56.256Z,1761524516.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869547,0.426941,0.248211],[-0.446417,-0.894465,-0.025368],[0.211185,-0.132864,0.968374]]
2025-10-27T00:21:56.273Z,1761524516.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:56.276Z,1761524516.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 530.870972 m,
      bearing: 216.979040 deg,
      approach rate: -0.655742 m/s,
      LOS rate: 0.011019 deg/s,
      cmd heading: 204.806610 deg,
      new cmd heading: 204.819228 deg.

2025-10-27T00:21:56.277Z,1761524516.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574770 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:56.381Z,1761524516.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027404
2025-10-27T00:21:56.632Z,1761524516.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278794
2025-10-27T00:21:56.658Z,1761524516.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869213,0.424053,0.254260],[-0.446112,-0.894350,-0.033488],[0.213197,-0.142537,0.966556]]
2025-10-27T00:21:56.675Z,1761524516.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:56.678Z,1761524516.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 530.608582 m,
      bearing: 216.983441 deg,
      approach rate: -0.653588 m/s,
      LOS rate: 0.010968 deg/s,
      cmd heading: 204.819232 deg,
      new cmd heading: 204.832441 deg.

2025-10-27T00:21:56.679Z,1761524516.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575001 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:56.887Z,1761524516.887 [DAT](INFO): DAT read: Rx Time:00:21:57.8818

2025-10-27T00:21:56.887Z,1761524516.887 [DAT](INFO): Rx dataTimestamp_ set to:1761524516.886993
2025-10-27T00:21:56.888Z,1761524516.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534804
2025-10-27T00:21:57.062Z,1761524517.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868794,0.421795,0.259394],[-0.445916,-0.894204,-0.039469],[0.215303,-0.149959,0.964965]]
2025-10-27T00:21:57.087Z,1761524517.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:57.090Z,1761524517.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 530.339478 m,
      bearing: 216.987948 deg,
      approach rate: -0.653168 m/s,
      LOS rate: 0.010945 deg/s,
      cmd heading: 204.832442 deg,
      new cmd heading: 204.845970 deg.

2025-10-27T00:21:57.091Z,1761524517.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575237 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:57.136Z,1761524517.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783009
2025-10-27T00:21:57.393Z,1761524517.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037339
2025-10-27T00:21:57.510Z,1761524517.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869032,0.419486,0.262326],[-0.444370,-0.894902,-0.041067],[0.217529,-0.152258,0.964105]]
2025-10-27T00:21:57.567Z,1761524517.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.77 m.
2025-10-27T00:21:57.570Z,1761524517.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.773560 m,
      nav range: 530.031494 m,
      bearing: 216.993872 deg,
      approach rate: -0.663903 m/s,
      LOS rate: 0.012778 deg/s,
      cmd heading: 204.845966 deg,
      new cmd heading: 204.863748 deg.

2025-10-27T00:21:57.571Z,1761524517.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575547 target range: 539.773560 and range: 542.10 m.
2025-10-27T00:21:57.646Z,1761524517.646 [DAT](INFO): DAT read: 00:21:57.8818 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 495,-0.36,-0.341,-1.733,-0.379,-0.665, PHS= 0.426,-1.023, 0.241, RAW= 143.3,   5.3, CAL= 142.9,   5.8, ROT=   7.1,  -5.8

2025-10-27T00:21:57.652Z,1761524517.652 [DAT](INFO): got valid direction response:
 00:21:57.8818 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 495,-0.36,-0.341,-1.733,-0.379,-0.665, PHS= 0.426,-1.023, 0.241, RAW= 143.3,   5.3, CAL= 142.9,   5.8, ROT=   7.1,  -5.8

2025-10-27T00:21:57.653Z,1761524517.653 [DAT](INFO): DAT read: Bearing   0.1,  18.6 (Local)

2025-10-27T00:21:57.654Z,1761524517.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.1,  18.6 (Local)

2025-10-27T00:21:57.659Z,1761524517.659 [DAT](INFO): DAT read: Range 11 to 50 : 546.3 m  (Round-trip  728.4 ms) speed  0.8 m/s

2025-10-27T00:21:57.660Z,1761524517.660 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:21:57.661Z,1761524517.661 [DAT](INFO): direction in FSK: [0.987252,0.122969,0.101056]
2025-10-27T00:21:57.662Z,1761524517.662 [DAT](INFO): publishing direction and range info
2025-10-27T00:21:57.676Z,1761524517.676 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:21:57.676Z,1761524517.676 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:21:57.676Z,1761524517.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:21:57.874Z,1761524517.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869926,0.416244,0.264518],[-0.441613,-0.896220,-0.042053],[0.219562,-0.153398,0.963463]]
2025-10-27T00:21:57.892Z,1761524517.892 [DAT](INFO): DAT read: user:50>

2025-10-27T00:21:57.893Z,1761524517.893 [DAT](INFO): DAT read: Tx time:00:21:59.2993

2025-10-27T00:21:57.893Z,1761524517.893 [DAT](INFO): Ping request sent.
2025-10-27T00:21:57.893Z,1761524517.893 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:21:57.893Z,1761524517.893 [DAT](INFO): publishing transmit ping time
2025-10-27T00:21:57.894Z,1761524517.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-27T00:21:57.917Z,1761524517.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 546.299988 m,
      deltaT: 4.539561 s,
      deltaX: 4.200012 m,
      approachRate: 0.925202 m/s,
      rangeRepo size: 4

2025-10-27T00:21:57.919Z,1761524517.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 543.892517 m,
      bearing: 215.178511 deg,
      lat: 36.779668 deg,
      lon: -121.860188 deg,
      deltaT: 4.539561 s,
      deltaX: 4.118958 m,
      approachRate: 0.907347 m/s,
      posRepo size: 4

2025-10-27T00:21:57.919Z,1761524517.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:21:57.922Z,1761524517.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 531.083557 m,
      bearing: 216.894440 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012778 deg/s,
      cmd heading: 204.863751 deg,
      new cmd heading: 204.877748 deg.

2025-10-27T00:21:57.939Z,1761524517.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575791 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:21:58.144Z,1761524518.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250571
2025-10-27T00:21:58.248Z,1761524518.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:21:58.280Z,1761524518.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870916,0.411744,0.268278],[-0.438700,-0.897412,-0.046842],[0.221469,-0.158489,0.962202]]
2025-10-27T00:21:58.296Z,1761524518.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:21:58.298Z,1761524518.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:21:58.302Z,1761524518.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 530.814819 m,
      bearing: 216.899739 deg,
      approach rate: -0.702994 m/s,
      LOS rate: 0.013869 deg/s,
      cmd heading: 204.877753 deg,
      new cmd heading: 204.893658 deg.

2025-10-27T00:21:58.303Z,1761524518.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576069 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:21:58.396Z,1761524518.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502912
2025-10-27T00:21:58.648Z,1761524518.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754702
2025-10-27T00:21:58.727Z,1761524518.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:21:58.730Z,1761524518.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 530.535828 m,
      bearing: 216.905245 deg,
      approach rate: -0.650486 m/s,
      LOS rate: 0.012845 deg/s,
      cmd heading: 204.893654 deg,
      new cmd heading: 204.910181 deg.

2025-10-27T00:21:58.734Z,1761524518.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576357 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:21:58.900Z,1761524518.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006713
2025-10-27T00:21:59.085Z,1761524519.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873361,0.396967,0.282238],[-0.432726,-0.898359,-0.075492],[0.223583,-0.188063,0.956370]]
2025-10-27T00:21:59.107Z,1761524519.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:21:59.109Z,1761524519.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 530.279053 m,
      bearing: 216.910525 deg,
      approach rate: -0.676730 m/s,
      LOS rate: 0.013922 deg/s,
      cmd heading: 204.910183 deg,
      new cmd heading: 204.926030 deg.

2025-10-27T00:21:59.110Z,1761524519.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576634 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:21:59.153Z,1761524519.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260154
2025-10-27T00:21:59.251Z,1761524519.251 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:21:59.404Z,1761524519.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510933
2025-10-27T00:21:59.515Z,1761524519.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874381,0.390850,0.287565],[-0.430651,-0.898147,-0.088718],[0.223600,-0.201413,0.953643]]
2025-10-27T00:21:59.556Z,1761524519.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:21:59.559Z,1761524519.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 529.961365 m,
      bearing: 216.915064 deg,
      approach rate: -0.706770 m/s,
      LOS rate: 0.010103 deg/s,
      cmd heading: 204.926029 deg,
      new cmd heading: 204.939653 deg.

2025-10-27T00:21:59.560Z,1761524519.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576872 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:21:59.657Z,1761524519.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763317
2025-10-27T00:21:59.896Z,1761524519.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875897,0.385654,0.289958],[-0.427850,-0.898601,-0.097267],[0.223045,-0.209254,0.952084]]
2025-10-27T00:21:59.908Z,1761524519.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863
2025-10-27T00:21:59.916Z,1761524519.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:21:59.918Z,1761524519.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 529.708435 m,
      bearing: 216.918787 deg,
      approach rate: -0.703654 m/s,
      LOS rate: 0.010364 deg/s,
      cmd heading: 204.939648 deg,
      new cmd heading: 204.950825 deg.

2025-10-27T00:21:59.919Z,1761524519.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577067 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:22:00.161Z,1761524520.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267907
2025-10-27T00:22:00.294Z,1761524520.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877621,0.382138,0.289399],[-0.424863,-0.899667,-0.100455],[0.221975,-0.211116,0.951923]]
2025-10-27T00:22:00.326Z,1761524520.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:00.348Z,1761524520.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:22:00.351Z,1761524520.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 529.427246 m,
      bearing: 216.923044 deg,
      approach rate: -0.656822 m/s,
      LOS rate: 0.009949 deg/s,
      cmd heading: 204.950823 deg,
      new cmd heading: 204.963600 deg.

2025-10-27T00:22:00.352Z,1761524520.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577290 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:22:00.412Z,1761524520.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518783
2025-10-27T00:22:00.664Z,1761524520.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770750
2025-10-27T00:22:00.705Z,1761524520.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879154,0.380947,0.286300],[-0.422254,-0.901221,-0.097480],[0.220885,-0.206591,0.953168]]
2025-10-27T00:22:00.747Z,1761524520.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:22:00.750Z,1761524520.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 529.133667 m,
      bearing: 216.927584 deg,
      approach rate: -0.727086 m/s,
      LOS rate: 0.011249 deg/s,
      cmd heading: 204.963595 deg,
      new cmd heading: 204.977222 deg.

2025-10-27T00:22:00.755Z,1761524520.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577528 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:22:00.916Z,1761524520.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022813
2025-10-27T00:22:01.102Z,1761524521.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880631,0.381123,0.281486],[-0.419623,-0.903243,-0.089829],[0.220014,-0.197224,0.955351]]
2025-10-27T00:22:01.120Z,1761524521.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:22:01.139Z,1761524521.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 528.856689 m,
      bearing: 216.931946 deg,
      approach rate: -0.742705 m/s,
      LOS rate: 0.011703 deg/s,
      cmd heading: 204.977228 deg,
      new cmd heading: 204.990322 deg.

2025-10-27T00:22:01.140Z,1761524521.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577756 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:22:01.168Z,1761524521.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274872
2025-10-27T00:22:01.426Z,1761524521.426 [DAT](INFO): DAT read: Rx Time:00:22:02.4304

2025-10-27T00:22:01.428Z,1761524521.428 [DAT](INFO): Rx dataTimestamp_ set to:1761524521.427242
2025-10-27T00:22:01.430Z,1761524521.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536148
2025-10-27T00:22:01.530Z,1761524521.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881689,0.381610,0.277484],[-0.417687,-0.904806,-0.082842],[0.219456,-0.188943,0.957152]]
2025-10-27T00:22:01.593Z,1761524521.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:22:01.600Z,1761524521.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 528.528503 m,
      bearing: 216.937184 deg,
      approach rate: -0.694902 m/s,
      LOS rate: 0.011097 deg/s,
      cmd heading: 204.990315 deg,
      new cmd heading: 205.006037 deg.

2025-10-27T00:22:01.601Z,1761524521.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578030 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:22:01.673Z,1761524521.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779512
2025-10-27T00:22:01.911Z,1761524521.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882514,0.381218,0.275394],[-0.416062,-0.905869,-0.079329],[0.219229,-0.184590,0.958053]]
2025-10-27T00:22:01.926Z,1761524521.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032578
2025-10-27T00:22:02.013Z,1761524522.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.89 m.
2025-10-27T00:22:02.020Z,1761524522.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.892517 m,
      nav range: 528.231934 m,
      bearing: 216.941975 deg,
      approach rate: -0.705539 m/s,
      LOS rate: 0.011404 deg/s,
      cmd heading: 205.006038 deg,
      new cmd heading: 205.020419 deg.

2025-10-27T00:22:02.021Z,1761524522.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578281 target range: 543.892517 and range: 546.30 m.
2025-10-27T00:22:02.181Z,1761524522.181 [DAT](INFO): DAT read: 00:22:02.4304 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 307, 0.38,-0.706,-2.424,-0.808,-1.210, PHS= 0.606,-1.169, 0.358, RAW= 142.6,   2.5, CAL= 142.3,   2.9, ROT=   7.7,  -2.9

2025-10-27T00:22:02.182Z,1761524522.182 [DAT](INFO): got valid direction response:
 00:22:02.4304 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 307, 0.38,-0.706,-2.424,-0.808,-1.210, PHS= 0.606,-1.169, 0.358, RAW= 142.6,   2.5, CAL= 142.3,   2.9, ROT=   7.7,  -2.9

2025-10-27T00:22:02.183Z,1761524522.183 [DAT](INFO): DAT read: Bearing 355.6,  19.6 (Local)

2025-10-27T00:22:02.184Z,1761524522.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  19.6 (Local)

2025-10-27T00:22:02.185Z,1761524522.185 [DAT](INFO): DAT read: Range 11 to 50 : 545.2 m  (Round-trip  727.0 ms) speed  0.6 m/s

2025-10-27T00:22:02.186Z,1761524522.186 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:22:02.186Z,1761524522.186 [DAT](INFO): direction in FSK: [0.989714,0.133815,0.050593]
2025-10-27T00:22:02.187Z,1761524522.187 [DAT](INFO): publishing direction and range info
2025-10-27T00:22:02.190Z,1761524522.190 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:22:02.190Z,1761524522.190 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:22:02.190Z,1761524522.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:02.314Z,1761524522.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882878,0.380731,0.274899],[-0.415341,-0.906248,-0.078787],[0.219130,-0.183736,0.958239]]
2025-10-27T00:22:02.368Z,1761524522.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 545.200012 m,
      deltaT: 4.535518 s,
      deltaX: -1.099976 m,
      approachRate: -0.242525 m/s,
      rangeRepo size: 4

2025-10-27T00:22:02.370Z,1761524522.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 542.817871 m,
      bearing: 213.544142 deg,
      lat: 36.779631 deg,
      lon: -121.859969 deg,
      deltaT: 4.535518 s,
      deltaX: -1.074646 m,
      approachRate: -0.236940 m/s,
      posRepo size: 4

2025-10-27T00:22:02.375Z,1761524522.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:02.378Z,1761524522.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 519.915405 m,
      bearing: 214.960831 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011404 deg/s,
      cmd heading: 205.020422 deg,
      new cmd heading: 205.032563 deg.

2025-10-27T00:22:02.383Z,1761524522.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578493 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:02.429Z,1761524522.429 [DAT](INFO): DAT read: user:51>

2025-10-27T00:22:02.430Z,1761524522.430 [DAT](INFO): DAT read: Tx time:00:22:03.7993

2025-10-27T00:22:02.430Z,1761524522.430 [DAT](INFO): Ping request sent.
2025-10-27T00:22:02.430Z,1761524522.430 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:02.431Z,1761524522.431 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:02.432Z,1761524522.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001180
2025-10-27T00:22:02.680Z,1761524522.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249622
2025-10-27T00:22:02.724Z,1761524522.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882989,0.380610,0.274710],[-0.415125,-0.906367,-0.078551],[0.219091,-0.183399,0.958313]]
2025-10-27T00:22:02.745Z,1761524522.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:02.747Z,1761524522.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:02.750Z,1761524522.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 519.629822 m,
      bearing: 214.964448 deg,
      approach rate: -0.753252 m/s,
      LOS rate: 0.009544 deg/s,
      cmd heading: 205.032566 deg,
      new cmd heading: 205.043422 deg.

2025-10-27T00:22:02.751Z,1761524522.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578683 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:02.933Z,1761524522.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502310
2025-10-27T00:22:03.122Z,1761524523.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882510,0.382565,0.273533],[-0.416196,-0.906138,-0.075459],[0.218990,-0.180437,0.958898]]
2025-10-27T00:22:03.159Z,1761524523.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:03.162Z,1761524523.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 519.347412 m,
      bearing: 214.967983 deg,
      approach rate: -0.685805 m/s,
      LOS rate: 0.008589 deg/s,
      cmd heading: 205.043426 deg,
      new cmd heading: 205.054037 deg.

2025-10-27T00:22:03.162Z,1761524523.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578868 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:03.184Z,1761524523.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753563
2025-10-27T00:22:03.437Z,1761524523.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006142
2025-10-27T00:22:03.527Z,1761524523.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881761,0.386161,0.270883],[-0.417728,-0.906010,-0.068184],[0.219093,-0.173277,0.960194]]
2025-10-27T00:22:03.577Z,1761524523.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:03.579Z,1761524523.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 519.043396 m,
      bearing: 214.969743 deg,
      approach rate: -0.727738 m/s,
      LOS rate: 0.004217 deg/s,
      cmd heading: 205.054040 deg,
      new cmd heading: 205.059326 deg.

2025-10-27T00:22:03.580Z,1761524523.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578960 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:03.688Z,1761524523.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257811
2025-10-27T00:22:03.933Z,1761524523.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881093,0.390149,0.267319],[-0.419081,-0.906032,-0.058965],[0.219195,-0.163982,0.961802]]
2025-10-27T00:22:03.943Z,1761524523.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512108
2025-10-27T00:22:03.990Z,1761524523.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:03.997Z,1761524523.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 518.778137 m,
      bearing: 214.971249 deg,
      approach rate: -0.641253 m/s,
      LOS rate: 0.003641 deg/s,
      cmd heading: 205.059327 deg,
      new cmd heading: 205.063845 deg.

2025-10-27T00:22:03.998Z,1761524523.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579039 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:04.192Z,1761524524.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761326
2025-10-27T00:22:04.341Z,1761524524.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880292,0.393763,0.264646],[-0.420718,-0.905709,-0.051843],[0.219278,-0.156979,0.962951]]
2025-10-27T00:22:04.361Z,1761524524.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:04.367Z,1761524524.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 518.496948 m,
      bearing: 214.972798 deg,
      approach rate: -0.758666 m/s,
      LOS rate: 0.004184 deg/s,
      cmd heading: 205.063849 deg,
      new cmd heading: 205.068500 deg.

2025-10-27T00:22:04.368Z,1761524524.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579121 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:04.444Z,1761524524.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013538
2025-10-27T00:22:04.696Z,1761524524.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265945
2025-10-27T00:22:04.748Z,1761524524.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878816,0.397423,0.264078],[-0.424115,-0.904191,-0.050639],[0.218652,-0.156502,0.963171]]
2025-10-27T00:22:04.764Z,1761524524.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:04.766Z,1761524524.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:04.769Z,1761524524.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 518.215210 m,
      bearing: 214.974236 deg,
      approach rate: -0.694739 m/s,
      LOS rate: 0.003547 deg/s,
      cmd heading: 205.068507 deg,
      new cmd heading: 205.072822 deg.

2025-10-27T00:22:04.770Z,1761524524.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579196 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:04.948Z,1761524524.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517331
2025-10-27T00:22:05.146Z,1761524525.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878437,0.398660,0.263475],[-0.425080,-0.903789,-0.049724],[0.218303,-0.155677,0.963384]]
2025-10-27T00:22:05.179Z,1761524525.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:05.182Z,1761524525.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 517.937317 m,
      bearing: 214.975625 deg,
      approach rate: -0.673184 m/s,
      LOS rate: 0.003366 deg/s,
      cmd heading: 205.072823 deg,
      new cmd heading: 205.076991 deg.

2025-10-27T00:22:05.184Z,1761524525.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579269 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:05.203Z,1761524525.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772683
2025-10-27T00:22:05.456Z,1761524525.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025157
2025-10-27T00:22:05.550Z,1761524525.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877951,0.400372,0.262498],[-0.425992,-0.903521,-0.046689],[0.218480,-0.152813,0.963802]]
2025-10-27T00:22:05.602Z,1761524525.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:05.605Z,1761524525.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 517.648499 m,
      bearing: 214.978769 deg,
      approach rate: -0.682708 m/s,
      LOS rate: 0.007437 deg/s,
      cmd heading: 205.076990 deg,
      new cmd heading: 205.086428 deg.

2025-10-27T00:22:05.606Z,1761524525.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579433 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:05.704Z,1761524525.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273733
2025-10-27T00:22:05.958Z,1761524525.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527317
2025-10-27T00:22:06.024Z,1761524526.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878065,0.400248,0.262303],[-0.425267,-0.903988,-0.044195],[0.219430,-0.150355,0.963973]]
2025-10-27T00:22:06.043Z,1761524526.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:06.045Z,1761524526.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 517.357178 m,
      bearing: 214.981972 deg,
      approach rate: -0.661586 m/s,
      LOS rate: 0.007279 deg/s,
      cmd heading: 205.086429 deg,
      new cmd heading: 205.096045 deg.

2025-10-27T00:22:06.046Z,1761524526.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579601 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:06.208Z,1761524526.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777379
2025-10-27T00:22:06.358Z,1761524526.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878240,0.398439,0.264463],[-0.424304,-0.904320,-0.046604],[0.220590,-0.153142,0.963269]]
2025-10-27T00:22:06.396Z,1761524526.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:06.398Z,1761524526.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 517.137329 m,
      bearing: 214.984411 deg,
      approach rate: -0.622492 m/s,
      LOS rate: 0.006908 deg/s,
      cmd heading: 205.096046 deg,
      new cmd heading: 205.103365 deg.

2025-10-27T00:22:06.403Z,1761524526.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579729 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:06.461Z,1761524526.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030008
2025-10-27T00:22:06.712Z,1761524526.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281793
2025-10-27T00:22:06.760Z,1761524526.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878196,0.396393,0.267665],[-0.423884,-0.904244,-0.051621],[0.221573,-0.158792,0.962128]]
2025-10-27T00:22:06.789Z,1761524526.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:06.791Z,1761524526.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:06.793Z,1761524526.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 516.871643 m,
      bearing: 214.987357 deg,
      approach rate: -0.672757 m/s,
      LOS rate: 0.007464 deg/s,
      cmd heading: 205.103368 deg,
      new cmd heading: 205.112212 deg.

2025-10-27T00:22:06.794Z,1761524526.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579883 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:06.966Z,1761524526.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535235
2025-10-27T00:22:07.162Z,1761524527.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878082,0.394146,0.271332],[-0.423423,-0.904144,-0.056885],[0.222902,-0.164838,0.960803]]
2025-10-27T00:22:07.188Z,1761524527.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:07.190Z,1761524527.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 516.601379 m,
      bearing: 214.990355 deg,
      approach rate: -0.680304 m/s,
      LOS rate: 0.007549 deg/s,
      cmd heading: 205.112206 deg,
      new cmd heading: 205.121203 deg.

2025-10-27T00:22:07.192Z,1761524527.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580040 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:07.216Z,1761524527.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785522
2025-10-27T00:22:07.472Z,1761524527.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041059
2025-10-27T00:22:07.565Z,1761524527.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878031,0.391295,0.275589],[-0.422787,-0.904004,-0.063458],[0.224302,-0.172234,0.959179]]
2025-10-27T00:22:07.608Z,1761524527.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:07.611Z,1761524527.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 516.323669 m,
      bearing: 214.994481 deg,
      approach rate: -0.660301 m/s,
      LOS rate: 0.009815 deg/s,
      cmd heading: 205.121209 deg,
      new cmd heading: 205.133593 deg.

2025-10-27T00:22:07.612Z,1761524527.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580257 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:07.720Z,1761524527.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289663
2025-10-27T00:22:07.979Z,1761524527.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548240
2025-10-27T00:22:07.985Z,1761524527.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877593,0.387307,0.282530],[-0.422786,-0.903101,-0.075236],[0.226014,-0.185476,0.956303]]
2025-10-27T00:22:08.020Z,1761524528.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:08.023Z,1761524528.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 516.062500 m,
      bearing: 214.998353 deg,
      approach rate: -0.634655 m/s,
      LOS rate: 0.009413 deg/s,
      cmd heading: 205.133599 deg,
      new cmd heading: 205.145220 deg.

2025-10-27T00:22:08.028Z,1761524528.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580460 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:08.232Z,1761524528.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.801770
2025-10-27T00:22:08.374Z,1761524528.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876888,0.385412,0.287272],[-0.423340,-0.902279,-0.081708],[0.227708,-0.193263,0.954358]]
2025-10-27T00:22:08.392Z,1761524528.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:08.394Z,1761524528.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 515.806641 m,
      bearing: 215.002121 deg,
      approach rate: -0.689224 m/s,
      LOS rate: 0.010157 deg/s,
      cmd heading: 205.145223 deg,
      new cmd heading: 205.156535 deg.

2025-10-27T00:22:08.412Z,1761524528.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580657 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:08.484Z,1761524528.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.053588
2025-10-27T00:22:08.736Z,1761524528.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305382
2025-10-27T00:22:08.778Z,1761524528.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876440,0.384504,0.289843],[-0.423357,-0.902114,-0.083427],[0.229393,-0.195825,0.953431]]
2025-10-27T00:22:08.793Z,1761524528.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:08.796Z,1761524528.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:08.798Z,1761524528.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 515.540405 m,
      bearing: 215.006038 deg,
      approach rate: -0.658433 m/s,
      LOS rate: 0.009693 deg/s,
      cmd heading: 205.156534 deg,
      new cmd heading: 205.168292 deg.

2025-10-27T00:22:08.815Z,1761524528.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580862 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:08.988Z,1761524528.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557447
2025-10-27T00:22:09.181Z,1761524529.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876076,0.384598,0.290819],[-0.423636,-0.901992,-0.083325],[0.230269,-0.196201,0.953143]]
2025-10-27T00:22:09.209Z,1761524529.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:09.211Z,1761524529.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 515.267517 m,
      bearing: 215.010045 deg,
      approach rate: -0.660706 m/s,
      LOS rate: 0.009706 deg/s,
      cmd heading: 205.168296 deg,
      new cmd heading: 205.180322 deg.

2025-10-27T00:22:09.212Z,1761524529.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581072 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:09.249Z,1761524529.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818548
2025-10-27T00:22:09.503Z,1761524529.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.071871
2025-10-27T00:22:09.586Z,1761524529.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875664,0.385589,0.290747],[-0.424045,-0.902024,-0.080860],[0.231082,-0.194096,0.953377]]
2025-10-27T00:22:09.636Z,1761524529.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:09.639Z,1761524529.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 514.978149 m,
      bearing: 215.013510 deg,
      approach rate: -0.676972 m/s,
      LOS rate: 0.008110 deg/s,
      cmd heading: 205.180317 deg,
      new cmd heading: 205.190716 deg.

2025-10-27T00:22:09.640Z,1761524529.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581254 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:09.752Z,1761524529.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.321559
2025-10-27T00:22:10.000Z,1761524530.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875563,0.387131,0.288996],[-0.423682,-0.902758,-0.074310],[0.232126,-0.187505,0.954442]]
2025-10-27T00:22:10.004Z,1761524530.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.573576
2025-10-27T00:22:10.019Z,1761524530.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:10.022Z,1761524530.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 514.718811 m,
      bearing: 215.016616 deg,
      approach rate: -0.677239 m/s,
      LOS rate: 0.008117 deg/s,
      cmd heading: 205.190713 deg,
      new cmd heading: 205.200037 deg.

2025-10-27T00:22:10.023Z,1761524530.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581416 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:10.256Z,1761524530.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.825860
2025-10-27T00:22:10.395Z,1761524530.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875928,0.388001,0.286716],[-0.422496,-0.903839,-0.067612],[0.232911,-0.180360,0.955627]]
2025-10-27T00:22:10.416Z,1761524530.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:10.418Z,1761524530.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 514.450378 m,
      bearing: 215.019862 deg,
      approach rate: -0.676760 m/s,
      LOS rate: 0.008186 deg/s,
      cmd heading: 205.200043 deg,
      new cmd heading: 205.209784 deg.

2025-10-27T00:22:10.435Z,1761524530.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581586 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:10.509Z,1761524530.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078202
2025-10-27T00:22:10.760Z,1761524530.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.329445
2025-10-27T00:22:10.805Z,1761524530.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876367,0.388643,0.284494],[-0.421289,-0.904826,-0.061688],[0.233443,-0.173916,0.956691]]
2025-10-27T00:22:10.821Z,1761524530.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:10.824Z,1761524530.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:10.826Z,1761524530.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 514.174866 m,
      bearing: 215.023227 deg,
      approach rate: -0.675412 m/s,
      LOS rate: 0.008254 deg/s,
      cmd heading: 205.209782 deg,
      new cmd heading: 205.219884 deg.

2025-10-27T00:22:10.827Z,1761524530.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581763 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:11.012Z,1761524531.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.581309
2025-10-27T00:22:11.205Z,1761524531.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876883,0.387974,0.283818],[-0.420078,-0.905497,-0.060073],[0.233690,-0.171903,0.956994]]
2025-10-27T00:22:11.231Z,1761524531.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:11.234Z,1761524531.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 513.898743 m,
      bearing: 215.026641 deg,
      approach rate: -0.677701 m/s,
      LOS rate: 0.008385 deg/s,
      cmd heading: 205.219877 deg,
      new cmd heading: 205.230126 deg.

2025-10-27T00:22:11.235Z,1761524531.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581941 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:11.269Z,1761524531.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838295
2025-10-27T00:22:11.520Z,1761524531.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.089557
2025-10-27T00:22:11.609Z,1761524531.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877089,0.387238,0.284187],[-0.419466,-0.905760,-0.060397],[0.234017,-0.172180,0.956865]]
2025-10-27T00:22:11.670Z,1761524531.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:11.673Z,1761524531.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 513.595337 m,
      bearing: 215.028556 deg,
      approach rate: -0.691293 m/s,
      LOS rate: 0.004365 deg/s,
      cmd heading: 205.230123 deg,
      new cmd heading: 205.235870 deg.

2025-10-27T00:22:11.674Z,1761524531.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582042 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:11.772Z,1761524531.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.341525
2025-10-27T00:22:12.014Z,1761524532.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877322,0.386794,0.284073],[-0.418800,-0.906118,-0.059637],[0.234336,-0.171291,0.956946]]
2025-10-27T00:22:12.024Z,1761524532.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.593464
2025-10-27T00:22:12.054Z,1761524532.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:12.057Z,1761524532.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 513.329712 m,
      bearing: 215.030254 deg,
      approach rate: -0.690839 m/s,
      LOS rate: 0.004418 deg/s,
      cmd heading: 205.235874 deg,
      new cmd heading: 205.240970 deg.

2025-10-27T00:22:12.058Z,1761524532.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582131 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:12.277Z,1761524532.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.846124
2025-10-27T00:22:12.418Z,1761524532.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877737,0.385964,0.283918],[-0.417734,-0.906658,-0.058899],[0.234684,-0.170300,0.957038]]
2025-10-27T00:22:12.435Z,1761524532.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:12.438Z,1761524532.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 513.066101 m,
      bearing: 215.031974 deg,
      approach rate: -0.692745 m/s,
      LOS rate: 0.004523 deg/s,
      cmd heading: 205.240969 deg,
      new cmd heading: 205.246133 deg.

2025-10-27T00:22:12.464Z,1761524532.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582221 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:12.528Z,1761524532.528 [DAT](INFO): Reached modem response timeout
2025-10-27T00:22:12.528Z,1761524532.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:12.528Z,1761524532.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:12.780Z,1761524532.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:12.821Z,1761524532.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878151,0.384058,0.285221],[-0.416431,-0.907143,-0.060634],[0.235449,-0.172021,0.956542]]
2025-10-27T00:22:12.846Z,1761524532.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:12.848Z,1761524532.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:12.851Z,1761524532.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 512.780518 m,
      bearing: 215.033886 deg,
      approach rate: -0.690721 m/s,
      LOS rate: 0.004626 deg/s,
      cmd heading: 205.246133 deg,
      new cmd heading: 205.251871 deg.

2025-10-27T00:22:12.852Z,1761524532.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582321 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:13.032Z,1761524533.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:13.225Z,1761524533.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878112,0.382010,0.288075],[-0.415958,-0.907050,-0.065107],[0.236427,-0.176998,0.955392]]
2025-10-27T00:22:13.243Z,1761524533.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:13.246Z,1761524533.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 512.507324 m,
      bearing: 215.035735 deg,
      approach rate: -0.692139 m/s,
      LOS rate: 0.004687 deg/s,
      cmd heading: 205.251870 deg,
      new cmd heading: 205.257420 deg.

2025-10-27T00:22:13.263Z,1761524533.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582418 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:13.284Z,1761524533.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:13.536Z,1761524533.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:13.631Z,1761524533.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877659,0.380356,0.291624],[-0.416571,-0.906274,-0.071670],[0.237031,-0.184384,0.953844]]
2025-10-27T00:22:13.667Z,1761524533.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:13.670Z,1761524533.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 512.221985 m,
      bearing: 215.037390 deg,
      approach rate: -0.673529 m/s,
      LOS rate: 0.003909 deg/s,
      cmd heading: 205.257416 deg,
      new cmd heading: 205.262384 deg.

2025-10-27T00:22:13.670Z,1761524533.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582505 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:13.788Z,1761524533.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:14.040Z,1761524534.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:14.071Z,1761524534.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:14.074Z,1761524534.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 511.949493 m,
      bearing: 215.038972 deg,
      approach rate: -0.674093 m/s,
      LOS rate: 0.003916 deg/s,
      cmd heading: 205.262389 deg,
      new cmd heading: 205.267138 deg.

2025-10-27T00:22:14.075Z,1761524534.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582587 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:14.292Z,1761524534.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:14.442Z,1761524534.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876070,0.381571,0.294796],[-0.418994,-0.904986,-0.073786],[0.238632,-0.188159,0.952707]]
2025-10-27T00:22:14.491Z,1761524534.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:14.497Z,1761524534.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 511.680786 m,
      bearing: 215.040443 deg,
      approach rate: -0.640267 m/s,
      LOS rate: 0.003507 deg/s,
      cmd heading: 205.267142 deg,
      new cmd heading: 205.271557 deg.

2025-10-27T00:22:14.498Z,1761524534.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582664 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:14.544Z,1761524534.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:14.796Z,1761524534.796 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:22:14.796Z,1761524534.796 [DAT](INFO): response not received
2025-10-27T00:22:14.797Z,1761524534.797 [DAT](INFO): DAT read: user:52>

2025-10-27T00:22:14.797Z,1761524534.797 [DAT](INFO): DAT read: Tx time:00:22:16.2493

2025-10-27T00:22:14.798Z,1761524534.798 [DAT](INFO): Ping request sent.
2025-10-27T00:22:14.798Z,1761524534.798 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:14.798Z,1761524534.798 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:14.799Z,1761524534.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-27T00:22:14.854Z,1761524534.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875045,0.384426,0.294131],[-0.420907,-0.904384,-0.070184],[0.239027,-0.185217,0.953185]]
2025-10-27T00:22:14.890Z,1761524534.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:14.896Z,1761524534.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:14.904Z,1761524534.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 511.399902 m,
      bearing: 215.041912 deg,
      approach rate: -0.692381 m/s,
      LOS rate: 0.003622 deg/s,
      cmd heading: 205.271555 deg,
      new cmd heading: 205.275963 deg.

2025-10-27T00:22:14.905Z,1761524534.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582741 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:15.051Z,1761524535.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252876
2025-10-27T00:22:15.301Z,1761524535.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503112
2025-10-27T00:22:15.358Z,1761524535.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874287,0.387822,0.291918],[-0.422269,-0.904253,-0.063359],[0.239396,-0.178661,0.954343]]
2025-10-27T00:22:15.376Z,1761524535.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:15.379Z,1761524535.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 511.070557 m,
      bearing: 215.043577 deg,
      approach rate: -0.686522 m/s,
      LOS rate: 0.003474 deg/s,
      cmd heading: 205.275967 deg,
      new cmd heading: 205.280967 deg.

2025-10-27T00:22:15.380Z,1761524535.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582829 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:15.555Z,1761524535.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757301
2025-10-27T00:22:15.754Z,1761524535.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873466,0.392013,0.288762],[-0.423941,-0.904012,-0.055109],[0.239441,-0.170554,0.955813]]
2025-10-27T00:22:15.801Z,1761524535.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:15.804Z,1761524535.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006241
2025-10-27T00:22:15.805Z,1761524535.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 510.793793 m,
      bearing: 215.045759 deg,
      approach rate: -0.651471 m/s,
      LOS rate: 0.005138 deg/s,
      cmd heading: 205.280967 deg,
      new cmd heading: 205.287515 deg.

2025-10-27T00:22:15.806Z,1761524535.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582943 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:16.056Z,1761524536.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258155
2025-10-27T00:22:16.215Z,1761524536.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872803,0.395513,0.285980],[-0.425388,-0.903714,-0.048425],[0.239291,-0.163918,0.957011]]
2025-10-27T00:22:16.233Z,1761524536.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:16.236Z,1761524536.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 510.512329 m,
      bearing: 215.047935 deg,
      approach rate: -0.651486 m/s,
      LOS rate: 0.005039 deg/s,
      cmd heading: 205.287510 deg,
      new cmd heading: 205.294041 deg.

2025-10-27T00:22:16.237Z,1761524536.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583057 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:16.309Z,1761524536.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863
2025-10-27T00:22:16.560Z,1761524536.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762355
2025-10-27T00:22:16.656Z,1761524536.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:16.659Z,1761524536.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 510.236603 m,
      bearing: 215.050068 deg,
      approach rate: -0.650918 m/s,
      LOS rate: 0.005039 deg/s,
      cmd heading: 205.294040 deg,
      new cmd heading: 205.300444 deg.

2025-10-27T00:22:16.660Z,1761524536.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583169 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:16.812Z,1761524536.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014154
2025-10-27T00:22:17.032Z,1761524537.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871956,0.400250,0.281943],[-0.427563,-0.903088,-0.040275],[0.238500,-0.155667,0.958585]]
2025-10-27T00:22:17.049Z,1761524537.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:17.050Z,1761524537.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:17.053Z,1761524537.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 509.979706 m,
      bearing: 215.051996 deg,
      approach rate: -0.651975 m/s,
      LOS rate: 0.004896 deg/s,
      cmd heading: 205.300446 deg,
      new cmd heading: 205.306234 deg.

2025-10-27T00:22:17.054Z,1761524537.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583270 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:17.064Z,1761524537.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266097
2025-10-27T00:22:17.316Z,1761524537.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518126
2025-10-27T00:22:17.430Z,1761524537.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871741,0.401529,0.280789],[-0.428196,-0.902875,-0.038267],[0.238152,-0.153592,0.959006]]
2025-10-27T00:22:17.525Z,1761524537.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:17.532Z,1761524537.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 509.680084 m,
      bearing: 215.054228 deg,
      approach rate: -0.630854 m/s,
      LOS rate: 0.004701 deg/s,
      cmd heading: 205.306238 deg,
      new cmd heading: 205.312936 deg.

2025-10-27T00:22:17.533Z,1761524537.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583387 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:17.571Z,1761524537.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772870
2025-10-27T00:22:17.820Z,1761524537.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022037
2025-10-27T00:22:17.846Z,1761524537.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871882,0.401563,0.280303],[-0.427980,-0.903007,-0.037580],[0.238025,-0.152729,0.959176]]
2025-10-27T00:22:17.908Z,1761524537.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:17.910Z,1761524537.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 509.438690 m,
      bearing: 215.057068 deg,
      approach rate: -0.639871 m/s,
      LOS rate: 0.007534 deg/s,
      cmd heading: 205.312932 deg,
      new cmd heading: 205.321458 deg.

2025-10-27T00:22:17.917Z,1761524537.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583535 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:18.072Z,1761524538.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274202
2025-10-27T00:22:18.252Z,1761524538.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872150,0.400424,0.281096],[-0.427485,-0.903146,-0.039807],[0.237931,-0.154881,0.958854]]
2025-10-27T00:22:18.270Z,1761524538.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:18.273Z,1761524538.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 509.187775 m,
      bearing: 215.060040 deg,
      approach rate: -0.683109 m/s,
      LOS rate: 0.008095 deg/s,
      cmd heading: 205.321456 deg,
      new cmd heading: 205.330376 deg.

2025-10-27T00:22:18.274Z,1761524538.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583691 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:18.325Z,1761524538.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526985
2025-10-27T00:22:18.576Z,1761524538.576 [DAT](INFO): DAT read: Rx Time:00:22:19.3538

2025-10-27T00:22:18.576Z,1761524538.576 [DAT](INFO): Rx dataTimestamp_ set to:1761524538.576073
2025-10-27T00:22:18.577Z,1761524538.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779116
2025-10-27T00:22:18.653Z,1761524538.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872474,0.398964,0.282164],[-0.426932,-0.903263,-0.042947],[0.237734,-0.157935,0.958404]]
2025-10-27T00:22:18.675Z,1761524538.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.82 m.
2025-10-27T00:22:18.677Z,1761524538.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.817871 m,
      nav range: 508.925812 m,
      bearing: 215.063165 deg,
      approach rate: -0.647425 m/s,
      LOS rate: 0.007727 deg/s,
      cmd heading: 205.330376 deg,
      new cmd heading: 205.339756 deg.

2025-10-27T00:22:18.678Z,1761524538.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583855 target range: 542.817871 and range: 545.20 m.
2025-10-27T00:22:18.828Z,1761524538.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030447
2025-10-27T00:22:19.058Z,1761524539.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872912,0.397588,0.282751],[-0.426094,-0.903564,-0.044905],[0.237630,-0.159676,0.958142]]
2025-10-27T00:22:19.085Z,1761524539.085 [DAT](INFO): DAT read: 00:22:19.3538 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 144,-0.11, 1.723, 0.138, 1.573, 1.058, PHS= 0.767,-0.875, 0.471, RAW= 140.3,  -4.8, CAL= 140.3,  -5.5, ROT=   9.7,   5.5

2025-10-27T00:22:19.086Z,1761524539.086 [DAT](INFO): got valid direction response:
 00:22:19.3538 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 144,-0.11, 1.723, 0.138, 1.573, 1.058, PHS= 0.767,-0.875, 0.471, RAW= 140.3,  -4.8, CAL= 140.3,  -5.5, ROT=   9.7,   5.5

2025-10-27T00:22:19.088Z,1761524539.088 [DAT](INFO): DAT read: Bearing 347.1,  24.1 (Local)

2025-10-27T00:22:19.088Z,1761524539.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1,  24.1 (Local)

2025-10-27T00:22:19.089Z,1761524539.089 [DAT](INFO): DAT read: Range 11 to 50 : 525.2 m  (Round-trip  700.3 ms) speed  0.4 m/s

2025-10-27T00:22:19.090Z,1761524539.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:22:19.091Z,1761524539.091 [DAT](INFO): direction in FSK: [0.981165,0.167714,-0.095846]
2025-10-27T00:22:19.091Z,1761524539.091 [DAT](INFO): publishing direction and range info
2025-10-27T00:22:19.094Z,1761524539.094 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:22:19.095Z,1761524539.095 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:22:19.099Z,1761524539.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:19.144Z,1761524539.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 525.200012 m,
      deltaT: 16.904129 s,
      deltaX: -20.000000 m,
      approachRate: -1.183143 m/s,
      rangeRepo size: 4

2025-10-27T00:22:19.146Z,1761524539.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 522.872803 m,
      bearing: 214.684035 deg,
      lat: 36.779631 deg,
      lon: -121.860007 deg,
      deltaT: 16.904129 s,
      deltaX: -19.945068 m,
      approachRate: -1.179893 m/s,
      posRepo size: 4

2025-10-27T00:22:19.158Z,1761524539.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:19.169Z,1761524539.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 510.601349 m,
      bearing: 215.374596 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007727 deg/s,
      cmd heading: 205.339761 deg,
      new cmd heading: 205.350514 deg.

2025-10-27T00:22:19.170Z,1761524539.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584043 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:19.332Z,1761524539.332 [DAT](INFO): DAT read: user:53>

2025-10-27T00:22:19.333Z,1761524539.333 [DAT](INFO): DAT read: Tx time:00:22:20.7493

2025-10-27T00:22:19.333Z,1761524539.333 [DAT](INFO): Ping request sent.
2025-10-27T00:22:19.333Z,1761524539.333 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:19.333Z,1761524539.333 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:19.334Z,1761524539.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-27T00:22:19.519Z,1761524539.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873636,0.395073,0.284039],[-0.424776,-0.903962,-0.049176],[0.237332,-0.163615,0.957551]]
2025-10-27T00:22:19.560Z,1761524539.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:19.562Z,1761524539.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:19.584Z,1761524539.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250640
2025-10-27T00:22:19.586Z,1761524539.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 510.282562 m,
      bearing: 215.377777 deg,
      approach rate: -0.752686 m/s,
      LOS rate: 0.007515 deg/s,
      cmd heading: 205.350512 deg,
      new cmd heading: 205.360060 deg.

2025-10-27T00:22:19.596Z,1761524539.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584209 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:19.836Z,1761524539.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502806
2025-10-27T00:22:19.865Z,1761524539.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874369,0.392080,0.285923],[-0.423368,-0.904309,-0.054625],[0.237145,-0.168813,0.956694]]
2025-10-27T00:22:19.899Z,1761524539.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:19.902Z,1761524539.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 510.066223 m,
      bearing: 215.379983 deg,
      approach rate: -0.642061 m/s,
      LOS rate: 0.006550 deg/s,
      cmd heading: 205.360060 deg,
      new cmd heading: 205.366682 deg.

2025-10-27T00:22:19.903Z,1761524539.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584325 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:20.088Z,1761524540.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754834
2025-10-27T00:22:20.318Z,1761524540.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:20.320Z,1761524540.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 509.787445 m,
      bearing: 215.382829 deg,
      approach rate: -0.666130 m/s,
      LOS rate: 0.006803 deg/s,
      cmd heading: 205.366686 deg,
      new cmd heading: 205.375227 deg.

2025-10-27T00:22:20.321Z,1761524540.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584474 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:20.341Z,1761524540.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008047
2025-10-27T00:22:20.592Z,1761524540.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259244
2025-10-27T00:22:20.675Z,1761524540.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876135,0.385784,0.289065],[-0.419847,-0.905314,-0.064303],[0.236887,-0.177701,0.955148]]
2025-10-27T00:22:20.700Z,1761524540.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:20.704Z,1761524540.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 509.527008 m,
      bearing: 215.385620 deg,
      approach rate: -0.682499 m/s,
      LOS rate: 0.007319 deg/s,
      cmd heading: 205.375223 deg,
      new cmd heading: 205.383601 deg.

2025-10-27T00:22:20.705Z,1761524540.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584620 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:20.844Z,1761524540.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510810
2025-10-27T00:22:21.087Z,1761524541.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877087,0.382993,0.289888],[-0.418069,-0.905858,-0.068113],[0.236511,-0.180935,0.954634]]
2025-10-27T00:22:21.096Z,1761524541.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762855
2025-10-27T00:22:21.106Z,1761524541.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:21.109Z,1761524541.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 509.254700 m,
      bearing: 215.388610 deg,
      approach rate: -0.669393 m/s,
      LOS rate: 0.007354 deg/s,
      cmd heading: 205.383597 deg,
      new cmd heading: 205.392572 deg.

2025-10-27T00:22:21.110Z,1761524541.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584777 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:21.348Z,1761524541.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014803
2025-10-27T00:22:21.519Z,1761524541.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878021,0.380628,0.290175],[-0.416406,-0.906400,-0.071035],[0.235976,-0.183201,0.954334]]
2025-10-27T00:22:21.596Z,1761524541.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:21.599Z,1761524541.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 508.950134 m,
      bearing: 215.390768 deg,
      approach rate: -0.672417 m/s,
      LOS rate: 0.004767 deg/s,
      cmd heading: 205.392572 deg,
      new cmd heading: 205.399050 deg.

2025-10-27T00:22:21.600Z,1761524541.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864
2025-10-27T00:22:21.604Z,1761524541.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584890 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:21.856Z,1761524541.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522485
2025-10-27T00:22:21.912Z,1761524541.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878663,0.378950,0.290426],[-0.415252,-0.906759,-0.073168],[0.235619,-0.184890,0.954096]]
2025-10-27T00:22:21.938Z,1761524541.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:21.958Z,1761524541.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:21.966Z,1761524541.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 508.696320 m,
      bearing: 215.392609 deg,
      approach rate: -0.638736 m/s,
      LOS rate: 0.004636 deg/s,
      cmd heading: 205.399047 deg,
      new cmd heading: 205.404574 deg.

2025-10-27T00:22:21.975Z,1761524541.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584986 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:22.104Z,1761524542.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785
2025-10-27T00:22:22.356Z,1761524542.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023062
2025-10-27T00:22:22.435Z,1761524542.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878836,0.378649,0.290296],[-0.415111,-0.906760,-0.073962],[0.235223,-0.185506,0.954074]]
2025-10-27T00:22:22.462Z,1761524542.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:22.481Z,1761524542.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 508.338318 m,
      bearing: 215.395219 deg,
      approach rate: -0.707694 m/s,
      LOS rate: 0.005162 deg/s,
      cmd heading: 205.404579 deg,
      new cmd heading: 205.412414 deg.

2025-10-27T00:22:22.482Z,1761524542.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585123 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:22.608Z,1761524542.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275068
2025-10-27T00:22:22.849Z,1761524542.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878617,0.379064,0.290419],[-0.415915,-0.906273,-0.075389],[0.234621,-0.187027,0.953925]]
2025-10-27T00:22:22.860Z,1761524542.860 [DAT](INFO): DAT read: Rx Time:00:22:23.8615

2025-10-27T00:22:22.861Z,1761524542.861 [DAT](INFO): Rx dataTimestamp_ set to:1761524542.860318
2025-10-27T00:22:22.861Z,1761524542.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528012
2025-10-27T00:22:22.871Z,1761524542.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:22.873Z,1761524542.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 508.061920 m,
      bearing: 215.397212 deg,
      approach rate: -0.676749 m/s,
      LOS rate: 0.004882 deg/s,
      cmd heading: 205.412420 deg,
      new cmd heading: 205.418402 deg.

2025-10-27T00:22:22.874Z,1761524542.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585227 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:23.113Z,1761524543.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779393
2025-10-27T00:22:23.319Z,1761524543.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878115,0.380013,0.290695],[-0.417370,-0.905460,-0.077099],[0.233914,-0.189029,0.953704]]
2025-10-27T00:22:23.367Z,1761524543.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033056
2025-10-27T00:22:23.371Z,1761524543.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.87 m.
2025-10-27T00:22:23.400Z,1761524543.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.872803 m,
      nav range: 507.740540 m,
      bearing: 215.399478 deg,
      approach rate: -0.644034 m/s,
      LOS rate: 0.004544 deg/s,
      cmd heading: 205.418404 deg,
      new cmd heading: 205.425206 deg.

2025-10-27T00:22:23.401Z,1761524543.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585346 target range: 522.872803 and range: 525.20 m.
2025-10-27T00:22:23.621Z,1761524543.621 [DAT](INFO): DAT read: 00:22:23.8615 LVL= 29408, 28817, 32754, 30835, AGC= 81, IDX=   6,-0.03, 2.706, 1.013, 2.497, 2.080, PHS= 0.728,-1.022, 0.372, RAW= 138.9,  -1.0, CAL= 139.1,  -0.5, ROT=  10.9,   0.5

2025-10-27T00:22:23.622Z,1761524543.622 [DAT](INFO): got valid direction response:
 00:22:23.8615 LVL= 29408, 28817, 32754, 30835, AGC= 81, IDX=   6,-0.03, 2.706, 1.013, 2.497, 2.080, PHS= 0.728,-1.022, 0.372, RAW= 138.9,  -1.0, CAL= 139.1,  -0.5, ROT=  10.9,   0.5

2025-10-27T00:22:23.623Z,1761524543.623 [DAT](INFO): DAT read: Bearing 352.4,  24.2 (Local)

2025-10-27T00:22:23.624Z,1761524543.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,  24.2 (Local)

2025-10-27T00:22:23.625Z,1761524543.625 [DAT](INFO): DAT read: Range 11 to 50 : 531.0 m  (Round-trip  708.1 ms) speed  0.4 m/s

2025-10-27T00:22:23.626Z,1761524543.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:22:23.626Z,1761524543.626 [DAT](INFO): direction in FSK: [0.981921,0.189088,-0.008727]
2025-10-27T00:22:23.627Z,1761524543.627 [DAT](INFO): publishing direction and range info
2025-10-27T00:22:23.631Z,1761524543.631 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:22:23.631Z,1761524543.631 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:22:23.631Z,1761524543.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:23.795Z,1761524543.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876938,0.382945,0.290401],[-0.420182,-0.904211,-0.076482],[0.233295,-0.189092,0.953844]]
2025-10-27T00:22:23.845Z,1761524543.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 531.000000 m,
      deltaT: 4.535871 s,
      deltaX: 5.799988 m,
      approachRate: 1.278693 m/s,
      rangeRepo size: 4

2025-10-27T00:22:23.847Z,1761524543.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 528.661377 m,
      bearing: 216.379609 deg,
      lat: 36.779588 deg,
      lon: -121.860007 deg,
      deltaT: 4.535871 s,
      deltaX: 5.788574 m,
      approachRate: 1.276177 m/s,
      posRepo size: 4

2025-10-27T00:22:23.848Z,1761524543.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:23.868Z,1761524543.868 [DAT](INFO): DAT read: user:54>

2025-10-27T00:22:23.869Z,1761524543.869 [DAT](INFO): DAT read: Tx time:00:22:25.2493

2025-10-27T00:22:23.869Z,1761524543.869 [DAT](INFO): Ping request sent.
2025-10-27T00:22:23.869Z,1761524543.869 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:23.869Z,1761524543.869 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:23.870Z,1761524543.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-10-27T00:22:23.870Z,1761524543.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 511.231628 m,
      bearing: 215.097678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004544 deg/s,
      cmd heading: 205.425207 deg,
      new cmd heading: 205.431680 deg.

2025-10-27T00:22:23.875Z,1761524543.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585459 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:24.120Z,1761524544.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251035
2025-10-27T00:22:24.196Z,1761524544.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875950,0.386786,0.288284],[-0.422611,-0.903450,-0.071961],[0.232617,-0.184866,0.954837]]
2025-10-27T00:22:24.212Z,1761524544.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:24.214Z,1761524544.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:24.217Z,1761524544.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 510.977844 m,
      bearing: 215.099201 deg,
      approach rate: -0.686480 m/s,
      LOS rate: 0.004124 deg/s,
      cmd heading: 205.431682 deg,
      new cmd heading: 205.436255 deg.

2025-10-27T00:22:24.218Z,1761524544.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585539 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:24.372Z,1761524544.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502754
2025-10-27T00:22:24.598Z,1761524544.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874933,0.391234,0.285355],[-0.425247,-0.902646,-0.066291],[0.231640,-0.179347,0.956127]]
2025-10-27T00:22:24.621Z,1761524544.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:24.624Z,1761524544.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754796
2025-10-27T00:22:24.625Z,1761524544.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 510.701721 m,
      bearing: 215.100770 deg,
      approach rate: -0.678408 m/s,
      LOS rate: 0.003855 deg/s,
      cmd heading: 205.436258 deg,
      new cmd heading: 205.440965 deg.

2025-10-27T00:22:24.626Z,1761524544.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585621 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:24.877Z,1761524544.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007625
2025-10-27T00:22:25.002Z,1761524545.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874380,0.396473,0.279766],[-0.427248,-0.902366,-0.056523],[0.230042,-0.168952,0.958403]]
2025-10-27T00:22:25.059Z,1761524545.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:25.062Z,1761524545.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 510.426666 m,
      bearing: 215.102266 deg,
      approach rate: -0.677964 m/s,
      LOS rate: 0.003691 deg/s,
      cmd heading: 205.440971 deg,
      new cmd heading: 205.445463 deg.

2025-10-27T00:22:25.062Z,1761524545.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585700 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:25.129Z,1761524545.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259384
2025-10-27T00:22:25.380Z,1761524545.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510670
2025-10-27T00:22:25.414Z,1761524545.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874204,0.400148,0.275044],[-0.428570,-0.902141,-0.049691],[0.228245,-0.161316,0.960147]]
2025-10-27T00:22:25.498Z,1761524545.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:25.512Z,1761524545.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 510.143372 m,
      bearing: 215.103767 deg,
      approach rate: -0.602844 m/s,
      LOS rate: 0.003195 deg/s,
      cmd heading: 205.445465 deg,
      new cmd heading: 205.449969 deg.

2025-10-27T00:22:25.513Z,1761524545.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585778 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:25.633Z,1761524545.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763400
2025-10-27T00:22:25.820Z,1761524545.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873770,0.403321,0.271767],[-0.430394,-0.901472,-0.045931],[0.226466,-0.157100,0.961266]]
2025-10-27T00:22:25.864Z,1761524545.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:25.867Z,1761524545.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 509.864441 m,
      bearing: 215.105432 deg,
      approach rate: -0.759328 m/s,
      LOS rate: 0.004535 deg/s,
      cmd heading: 205.449973 deg,
      new cmd heading: 205.454971 deg.

2025-10-27T00:22:25.868Z,1761524545.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585866 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:25.887Z,1761524545.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017951
2025-10-27T00:22:26.136Z,1761524546.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266622
2025-10-27T00:22:26.222Z,1761524546.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873803,0.406084,0.267516],[-0.431334,-0.901270,-0.040779],[0.224545,-0.151022,0.962690]]
2025-10-27T00:22:26.239Z,1761524546.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:26.241Z,1761524546.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:26.244Z,1761524546.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 509.613983 m,
      bearing: 215.106905 deg,
      approach rate: -0.664820 m/s,
      LOS rate: 0.003913 deg/s,
      cmd heading: 205.454973 deg,
      new cmd heading: 205.459395 deg.

2025-10-27T00:22:26.245Z,1761524546.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585943 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:26.388Z,1761524546.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518679
2025-10-27T00:22:26.630Z,1761524546.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874335,0.407118,0.264185],[-0.431185,-0.901470,-0.037833],[0.222752,-0.146991,0.963730]]
2025-10-27T00:22:26.640Z,1761524546.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770850
2025-10-27T00:22:26.665Z,1761524546.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:26.668Z,1761524546.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 509.331451 m,
      bearing: 215.108582 deg,
      approach rate: -0.666052 m/s,
      LOS rate: 0.003955 deg/s,
      cmd heading: 205.459399 deg,
      new cmd heading: 205.464432 deg.

2025-10-27T00:22:26.669Z,1761524546.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586031 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:26.893Z,1761524546.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023608
2025-10-27T00:22:27.030Z,1761524547.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874775,0.407907,0.261498],[-0.431247,-0.901500,-0.036387],[0.220897,-0.144601,0.964518]]
2025-10-27T00:22:27.051Z,1761524547.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:27.054Z,1761524547.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 509.077087 m,
      bearing: 215.110099 deg,
      approach rate: -0.665820 m/s,
      LOS rate: 0.003972 deg/s,
      cmd heading: 205.464426 deg,
      new cmd heading: 205.468978 deg.

2025-10-27T00:22:27.055Z,1761524547.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586110 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:27.144Z,1761524547.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274826
2025-10-27T00:22:27.396Z,1761524547.396 [DAT](INFO): DAT read: Rx Time:00:22:28.3589

2025-10-27T00:22:27.397Z,1761524547.397 [DAT](INFO): Rx dataTimestamp_ set to:1761524547.396376
2025-10-27T00:22:27.397Z,1761524547.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528007
2025-10-27T00:22:27.523Z,1761524547.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.66 m.
2025-10-27T00:22:27.526Z,1761524547.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.661377 m,
      nav range: 508.760193 m,
      bearing: 215.111990 deg,
      approach rate: -0.665915 m/s,
      LOS rate: 0.003977 deg/s,
      cmd heading: 205.468974 deg,
      new cmd heading: 205.474652 deg.

2025-10-27T00:22:27.527Z,1761524547.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586209 target range: 528.661377 and range: 531.00 m.
2025-10-27T00:22:27.648Z,1761524547.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778759
2025-10-27T00:22:27.841Z,1761524547.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875578,0.407227,0.259864],[-0.431572,-0.901099,-0.042034],[0.217045,-0.148954,0.964730]]
2025-10-27T00:22:27.906Z,1761524547.906 [DAT](INFO): DAT read: 00:22:28.3589 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 289, 0.36, 1.946, 0.273, 1.901, 1.455, PHS= 0.593,-1.137, 0.402, RAW= 144.2,   1.8, CAL= 143.8,   2.0, ROT=   6.2,  -2.0

2025-10-27T00:22:27.908Z,1761524547.908 [DAT](INFO): got valid direction response:
 00:22:28.3589 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 289, 0.36, 1.946, 0.273, 1.901, 1.455, PHS= 0.593,-1.137, 0.402, RAW= 144.2,   1.8, CAL= 143.8,   2.0, ROT=   6.2,  -2.0

2025-10-27T00:22:27.908Z,1761524547.908 [DAT](INFO): DAT read: Bearing 354.9,  18.3 (Local)

2025-10-27T00:22:27.909Z,1761524547.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.9,  18.3 (Local)

2025-10-27T00:22:27.910Z,1761524547.910 [DAT](INFO): DAT read: Range 11 to 50 : 529.2 m  (Round-trip  705.6 ms) speed  0.4 m/s

2025-10-27T00:22:27.912Z,1761524547.912 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:22:27.914Z,1761524547.914 [DAT](INFO): direction in FSK: [0.993545,0.107934,0.034899]
2025-10-27T00:22:27.914Z,1761524547.914 [DAT](INFO): publishing direction and range info
2025-10-27T00:22:27.937Z,1761524547.937 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:22:27.937Z,1761524547.937 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:22:27.938Z,1761524547.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:28.039Z,1761524548.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 529.200012 m,
      deltaT: 4.284971 s,
      deltaX: -1.799988 m,
      approachRate: -0.420070 m/s,
      rangeRepo size: 4

2025-10-27T00:22:28.041Z,1761524548.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 526.829285 m,
      bearing: 212.852154 deg,
      lat: 36.779533 deg,
      lon: -121.859969 deg,
      deltaT: 4.284971 s,
      deltaX: -1.832092 m,
      approachRate: -0.427562 m/s,
      posRepo size: 4

2025-10-27T00:22:28.042Z,1761524548.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:28.049Z,1761524548.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 511.553192 m,
      bearing: 214.413646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003977 deg/s,
      cmd heading: 205.474657 deg,
      new cmd heading: 205.480634 deg.

2025-10-27T00:22:28.049Z,1761524548.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586314 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:28.152Z,1761524548.152 [DAT](INFO): DAT read: user:55>

2025-10-27T00:22:28.153Z,1761524548.153 [DAT](INFO): DAT read: Tx time:00:22:29.5992

2025-10-27T00:22:28.153Z,1761524548.153 [DAT](INFO): Ping request sent.
2025-10-27T00:22:28.153Z,1761524548.153 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:28.153Z,1761524548.153 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:28.154Z,1761524548.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-10-27T00:22:28.377Z,1761524548.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876125,0.405609,0.260549],[-0.432557,-0.900023,-0.053412],[0.212835,-0.159498,0.963982]]
2025-10-27T00:22:28.404Z,1761524548.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250809
2025-10-27T00:22:28.422Z,1761524548.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:28.443Z,1761524548.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:28.446Z,1761524548.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 511.285675 m,
      bearing: 214.415374 deg,
      approach rate: -0.657400 m/s,
      LOS rate: 0.004248 deg/s,
      cmd heading: 205.480640 deg,
      new cmd heading: 205.485827 deg.

2025-10-27T00:22:28.451Z,1761524548.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586404 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:28.656Z,1761524548.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502998
2025-10-27T00:22:28.788Z,1761524548.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876446,0.405161,0.260167],[-0.432936,-0.899587,-0.057530],[0.210735,-0.163057,0.963848]]
2025-10-27T00:22:28.806Z,1761524548.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:28.809Z,1761524548.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 511.015137 m,
      bearing: 214.417118 deg,
      approach rate: -0.721330 m/s,
      LOS rate: 0.004654 deg/s,
      cmd heading: 205.485831 deg,
      new cmd heading: 205.491068 deg.

2025-10-27T00:22:28.810Z,1761524548.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586496 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:28.909Z,1761524548.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755882
2025-10-27T00:22:29.160Z,1761524549.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006709
2025-10-27T00:22:29.193Z,1761524549.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876715,0.404729,0.259932],[-0.433233,-0.899207,-0.061120],[0.208995,-0.166196,0.963691]]
2025-10-27T00:22:29.211Z,1761524549.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:29.214Z,1761524549.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 510.747070 m,
      bearing: 214.418845 deg,
      approach rate: -0.661334 m/s,
      LOS rate: 0.004262 deg/s,
      cmd heading: 205.491063 deg,
      new cmd heading: 205.496246 deg.

2025-10-27T00:22:29.215Z,1761524549.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586586 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:29.371Z,1761524549.371 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:22:29.413Z,1761524549.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259980
2025-10-27T00:22:29.593Z,1761524549.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876486,0.405317,0.259788],[-0.434615,-0.898278,-0.064847],[0.207078,-0.169745,0.963486]]
2025-10-27T00:22:29.647Z,1761524549.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:29.650Z,1761524549.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 510.463776 m,
      bearing: 214.420339 deg,
      approach rate: -0.649766 m/s,
      LOS rate: 0.003429 deg/s,
      cmd heading: 205.496241 deg,
      new cmd heading: 205.500726 deg.

2025-10-27T00:22:29.651Z,1761524549.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586664 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:29.664Z,1761524549.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510874
2025-10-27T00:22:29.919Z,1761524549.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765354
2025-10-27T00:22:29.994Z,1761524549.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876433,0.406014,0.258879],[-0.435499,-0.897736,-0.066410],[0.205442,-0.170945,0.963624]]
2025-10-27T00:22:30.026Z,1761524550.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:30.028Z,1761524550.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 510.214539 m,
      bearing: 214.421633 deg,
      approach rate: -0.658523 m/s,
      LOS rate: 0.003421 deg/s,
      cmd heading: 205.500721 deg,
      new cmd heading: 205.504605 deg.

2025-10-27T00:22:30.029Z,1761524550.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586732 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:30.168Z,1761524550.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014850
2025-10-27T00:22:30.375Z,1761524550.375 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:22:30.404Z,1761524550.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876245,0.407623,0.256981],[-0.436515,-0.897342,-0.065051],[0.204083,-0.169176,0.964225]]
2025-10-27T00:22:30.422Z,1761524550.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268184
2025-10-27T00:22:30.456Z,1761524550.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:30.458Z,1761524550.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:30.464Z,1761524550.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 509.936005 m,
      bearing: 214.423049 deg,
      approach rate: -0.644892 m/s,
      LOS rate: 0.003280 deg/s,
      cmd heading: 205.504601 deg,
      new cmd heading: 205.508850 deg.

2025-10-27T00:22:30.465Z,1761524550.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586806 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:30.672Z,1761524550.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518708
2025-10-27T00:22:30.807Z,1761524550.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876325,0.408705,0.254981],[-0.436956,-0.897233,-0.063582],[0.202791,-0.167134,0.964853]]
2025-10-27T00:22:30.825Z,1761524550.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:30.828Z,1761524550.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 509.691528 m,
      bearing: 214.424282 deg,
      approach rate: -0.665608 m/s,
      LOS rate: 0.003359 deg/s,
      cmd heading: 205.508849 deg,
      new cmd heading: 205.512550 deg.

2025-10-27T00:22:30.829Z,1761524550.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586871 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:30.925Z,1761524550.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771651
2025-10-27T00:22:31.176Z,1761524551.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023147
2025-10-27T00:22:31.222Z,1761524551.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876193,0.408978,0.254995],[-0.437875,-0.896564,-0.066623],[0.201372,-0.170030,0.964644]]
2025-10-27T00:22:31.240Z,1761524551.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:31.243Z,1761524551.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 509.419647 m,
      bearing: 214.425630 deg,
      approach rate: -0.654941 m/s,
      LOS rate: 0.003248 deg/s,
      cmd heading: 205.512551 deg,
      new cmd heading: 205.516596 deg.

2025-10-27T00:22:31.244Z,1761524551.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586941 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:31.430Z,1761524551.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277040
2025-10-27T00:22:31.659Z,1761524551.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876234,0.410072,0.253090],[-0.438615,-0.896215,-0.066450],[0.199574,-0.169235,0.965158]]
2025-10-27T00:22:31.681Z,1761524551.681 [DAT](INFO): DAT read: Rx Time:00:22:32.7046

2025-10-27T00:22:31.681Z,1761524551.681 [DAT](INFO): Rx dataTimestamp_ set to:1761524551.680834
2025-10-27T00:22:31.682Z,1761524551.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528829
2025-10-27T00:22:31.755Z,1761524551.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:31.758Z,1761524551.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 509.075043 m,
      bearing: 214.426420 deg,
      approach rate: -0.669643 m/s,
      LOS rate: 0.001536 deg/s,
      cmd heading: 205.516595 deg,
      new cmd heading: 205.518966 deg.

2025-10-27T00:22:31.759Z,1761524551.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586983 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:31.933Z,1761524551.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779734
2025-10-27T00:22:32.064Z,1761524552.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876696,0.410980,0.249999],[-0.438612,-0.896352,-0.064589],[0.197542,-0.166277,0.966090]]
2025-10-27T00:22:32.088Z,1761524552.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.83 m.
2025-10-27T00:22:32.091Z,1761524552.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 526.829285 m,
      nav range: 508.852936 m,
      bearing: 214.426933 deg,
      approach rate: -0.666078 m/s,
      LOS rate: 0.001541 deg/s,
      cmd heading: 205.518971 deg,
      new cmd heading: 205.520513 deg.

2025-10-27T00:22:32.092Z,1761524552.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587010 target range: 526.829285 and range: 529.20 m.
2025-10-27T00:22:32.187Z,1761524552.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033292
2025-10-27T00:22:32.441Z,1761524552.441 [DAT](INFO): DAT read: 00:22:32.7046 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 394,-0.01,-1.796, 2.888,-1.897,-2.346, PHS= 0.652,-1.004, 0.405, RAW= 142.1,  -0.7, CAL= 141.9,  -0.5, ROT=   8.1,   0.5

2025-10-27T00:22:32.442Z,1761524552.442 [DAT](INFO): got valid direction response:
 00:22:32.7046 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 394,-0.01,-1.796, 2.888,-1.897,-2.346, PHS= 0.652,-1.004, 0.405, RAW= 142.1,  -0.7, CAL= 141.9,  -0.5, ROT=   8.1,   0.5

2025-10-27T00:22:32.444Z,1761524552.444 [DAT](INFO): DAT read: Bearing 352.9,  19.4 (Local)

2025-10-27T00:22:32.444Z,1761524552.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.9,  19.4 (Local)

2025-10-27T00:22:32.445Z,1761524552.445 [DAT](INFO): DAT read: Range 11 to 50 : 525.9 m  (Round-trip  701.3 ms) speed  0.0 m/s

2025-10-27T00:22:32.446Z,1761524552.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:22:32.447Z,1761524552.447 [DAT](INFO): direction in FSK: [0.989986,0.140896,-0.008727]
2025-10-27T00:22:32.447Z,1761524552.447 [DAT](INFO): publishing direction and range info
2025-10-27T00:22:32.450Z,1761524552.450 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:22:32.450Z,1761524552.450 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:22:32.472Z,1761524552.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:32.522Z,1761524552.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877145,0.411244,0.247980],[-0.438758,-0.896198,-0.065724],[0.195211,-0.166452,0.966533]]
2025-10-27T00:22:32.579Z,1761524552.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 525.900024 m,
      deltaT: 4.535187 s,
      deltaX: -3.299988 m,
      approachRate: -0.727641 m/s,
      rangeRepo size: 4

2025-10-27T00:22:32.581Z,1761524552.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 523.519836 m,
      bearing: 214.576017 deg,
      lat: 36.779514 deg,
      lon: -121.860007 deg,
      deltaT: 4.535187 s,
      deltaX: -3.309448 m,
      approachRate: -0.729727 m/s,
      posRepo size: 4

2025-10-27T00:22:32.582Z,1761524552.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:32.588Z,1761524552.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 512.268738 m,
      bearing: 214.596912 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001541 deg/s,
      cmd heading: 205.520515 deg,
      new cmd heading: 205.522743 deg.

2025-10-27T00:22:32.589Z,1761524552.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587049 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:32.691Z,1761524552.691 [DAT](INFO): DAT read: user:56>

2025-10-27T00:22:32.692Z,1761524552.692 [DAT](INFO): DAT read: Tx time:00:22:34.0992

2025-10-27T00:22:32.693Z,1761524552.693 [DAT](INFO): Ping request sent.
2025-10-27T00:22:32.693Z,1761524552.693 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:32.693Z,1761524552.693 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:32.694Z,1761524552.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001099
2025-10-27T00:22:32.929Z,1761524552.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877554,0.411364,0.246329],[-0.438973,-0.895951,-0.067634],[0.192877,-0.167485,0.966823]]
2025-10-27T00:22:32.944Z,1761524552.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251107
2025-10-27T00:22:32.949Z,1761524552.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:32.951Z,1761524552.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:32.954Z,1761524552.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 512.006409 m,
      bearing: 214.597608 deg,
      approach rate: -0.688804 m/s,
      LOS rate: 0.001828 deg/s,
      cmd heading: 205.522742 deg,
      new cmd heading: 205.524830 deg.

2025-10-27T00:22:32.955Z,1761524552.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587085 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:33.197Z,1761524553.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503930
2025-10-27T00:22:33.316Z,1761524553.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878202,0.411460,0.243848],[-0.438608,-0.896139,-0.067507],[0.190745,-0.166238,0.967461]]
2025-10-27T00:22:33.334Z,1761524553.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:33.337Z,1761524553.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 511.748230 m,
      bearing: 214.598311 deg,
      approach rate: -0.673324 m/s,
      LOS rate: 0.001836 deg/s,
      cmd heading: 205.524832 deg,
      new cmd heading: 205.526943 deg.

2025-10-27T00:22:33.338Z,1761524553.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587122 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:33.453Z,1761524553.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759624
2025-10-27T00:22:33.700Z,1761524553.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007308
2025-10-27T00:22:33.729Z,1761524553.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879014,0.411322,0.241141],[-0.438042,-0.896398,-0.067750],[0.188291,-0.165183,0.968122]]
2025-10-27T00:22:33.781Z,1761524553.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:33.788Z,1761524553.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 511.454285 m,
      bearing: 214.598840 deg,
      approach rate: -0.657525 m/s,
      LOS rate: 0.001184 deg/s,
      cmd heading: 205.526949 deg,
      new cmd heading: 205.528537 deg.

2025-10-27T00:22:33.792Z,1761524553.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587150 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:33.952Z,1761524553.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259107
2025-10-27T00:22:34.122Z,1761524554.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879940,0.411188,0.237969],[-0.437210,-0.896862,-0.066980],[0.185884,-0.162981,0.968961]]
2025-10-27T00:22:34.159Z,1761524554.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:34.161Z,1761524554.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 511.186188 m,
      bearing: 214.599358 deg,
      approach rate: -0.710721 m/s,
      LOS rate: 0.001374 deg/s,
      cmd heading: 205.528534 deg,
      new cmd heading: 205.530088 deg.

2025-10-27T00:22:34.162Z,1761524554.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587177 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:34.205Z,1761524554.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511475
2025-10-27T00:22:34.456Z,1761524554.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762828
2025-10-27T00:22:34.526Z,1761524554.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880740,0.411117,0.235119],[-0.436606,-0.897174,-0.066746],[0.183502,-0.161440,0.969672]]
2025-10-27T00:22:34.544Z,1761524554.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:34.547Z,1761524554.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 510.923584 m,
      bearing: 214.599893 deg,
      approach rate: -0.680746 m/s,
      LOS rate: 0.001387 deg/s,
      cmd heading: 205.530091 deg,
      new cmd heading: 205.531696 deg.

2025-10-27T00:22:34.548Z,1761524554.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587205 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:34.550Z,1761524554.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 68.209312 m.
2025-10-27T00:22:34.709Z,1761524554.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015289
2025-10-27T00:22:34.941Z,1761524554.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881845,0.410159,0.232634],[-0.435300,-0.897773,-0.067217],[0.181283,-0.160541,0.970239]]
2025-10-27T00:22:34.958Z,1761524554.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:34.960Z,1761524554.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267003
2025-10-27T00:22:34.962Z,1761524554.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:34.965Z,1761524554.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 510.639771 m,
      bearing: 214.600526 deg,
      approach rate: -0.679638 m/s,
      LOS rate: 0.001516 deg/s,
      cmd heading: 205.531703 deg,
      new cmd heading: 205.533603 deg.

2025-10-27T00:22:34.966Z,1761524554.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587238 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:35.212Z,1761524555.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518759
2025-10-27T00:22:35.342Z,1761524555.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882967,0.408527,0.231244],[-0.434061,-0.898100,-0.070760],[0.178773,-0.162853,0.970319]]
2025-10-27T00:22:35.412Z,1761524555.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:35.417Z,1761524555.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 510.353058 m,
      bearing: 214.601222 deg,
      approach rate: -0.641098 m/s,
      LOS rate: 0.001558 deg/s,
      cmd heading: 205.533602 deg,
      new cmd heading: 205.535692 deg.

2025-10-27T00:22:35.423Z,1761524555.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587275 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:35.467Z,1761524555.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773724
2025-10-27T00:22:35.718Z,1761524555.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024537
2025-10-27T00:22:35.801Z,1761524555.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884239,0.406733,0.229541],[-0.432472,-0.898635,-0.073643],[0.176321,-0.164388,0.970509]]
2025-10-27T00:22:35.853Z,1761524555.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:35.860Z,1761524555.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 510.056976 m,
      bearing: 214.601919 deg,
      approach rate: -0.666990 m/s,
      LOS rate: 0.001571 deg/s,
      cmd heading: 205.535692 deg,
      new cmd heading: 205.537783 deg.

2025-10-27T00:22:35.861Z,1761524555.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587311 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:35.968Z,1761524555.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275343
2025-10-27T00:22:36.220Z,1761524556.220 [DAT](INFO): DAT read: Rx Time:00:22:37.2000

2025-10-27T00:22:36.221Z,1761524556.221 [DAT](INFO): Rx dataTimestamp_ set to:1761524556.220258
2025-10-27T00:22:36.221Z,1761524556.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528037
2025-10-27T00:22:36.239Z,1761524556.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:36.242Z,1761524556.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 509.796448 m,
      bearing: 214.602533 deg,
      approach rate: -0.675504 m/s,
      LOS rate: 0.001592 deg/s,
      cmd heading: 205.537782 deg,
      new cmd heading: 205.539624 deg.

2025-10-27T00:22:36.243Z,1761524556.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587343 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:36.473Z,1761524556.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780010
2025-10-27T00:22:36.607Z,1761524556.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886625,0.403730,0.225608],[-0.429651,-0.899556,-0.078728],[0.171162,-0.166735,0.971032]]
2025-10-27T00:22:36.627Z,1761524556.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.52 m.
2025-10-27T00:22:36.630Z,1761524556.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.519836 m,
      nav range: 509.545105 m,
      bearing: 214.603233 deg,
      approach rate: -0.647102 m/s,
      LOS rate: 0.001803 deg/s,
      cmd heading: 205.539626 deg,
      new cmd heading: 205.541727 deg.

2025-10-27T00:22:36.631Z,1761524556.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587380 target range: 523.519836 and range: 525.90 m.
2025-10-27T00:22:36.746Z,1761524556.746 [DAT](INFO): DAT read: 00:22:37.2000 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 276, 0.19, 0.863,-0.749, 0.734, 0.447, PHS= 0.519,-1.151, 0.243, RAW= 141.1,   5.1, CAL= 140.9,   5.7, ROT=   9.1,  -5.7

2025-10-27T00:22:36.756Z,1761524556.756 [DAT](INFO): got valid direction response:
 00:22:37.2000 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 276, 0.19, 0.863,-0.749, 0.734, 0.447, PHS= 0.519,-1.151, 0.243, RAW= 141.1,   5.1, CAL= 140.9,   5.7, ROT=   9.1,  -5.7

2025-10-27T00:22:36.757Z,1761524556.757 [DAT](INFO): DAT read: Bearing 359.3,  17.7 (Local)

2025-10-27T00:22:36.757Z,1761524556.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  17.7 (Local)

2025-10-27T00:22:36.758Z,1761524556.758 [DAT](INFO): DAT read: Range 11 to 50 : 522.5 m  (Round-trip  696.7 ms) speed  0.6 m/s

2025-10-27T00:22:36.764Z,1761524556.764 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:22:36.765Z,1761524556.765 [DAT](INFO): direction in FSK: [0.982532,0.157376,0.099320]
2025-10-27T00:22:36.765Z,1761524556.765 [DAT](INFO): publishing direction and range info
2025-10-27T00:22:36.773Z,1761524556.773 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:22:36.774Z,1761524556.774 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:22:36.779Z,1761524556.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:36.976Z,1761524556.976 [DAT](INFO): DAT read: user:57>

2025-10-27T00:22:36.977Z,1761524556.977 [DAT](INFO): DAT read: Tx time:00:22:38.3992

2025-10-27T00:22:36.977Z,1761524556.977 [DAT](INFO): Ping request sent.
2025-10-27T00:22:36.977Z,1761524556.977 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:36.978Z,1761524556.978 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:36.978Z,1761524556.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-27T00:22:37.010Z,1761524557.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887705,0.402635,0.223305],[-0.428593,-0.899830,-0.081331],[0.168189,-0.167905,0.971350]]
2025-10-27T00:22:37.061Z,1761524557.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 522.500000 m,
      deltaT: 4.290623 s,
      deltaX: -3.400024 m,
      approachRate: -0.792431 m/s,
      rangeRepo size: 4

2025-10-27T00:22:37.062Z,1761524557.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 520.069824 m,
      bearing: 215.964601 deg,
      lat: 36.779533 deg,
      lon: -121.860033 deg,
      deltaT: 4.290623 s,
      deltaX: -3.450012 m,
      approachRate: -0.804082 m/s,
      posRepo size: 4

2025-10-27T00:22:37.067Z,1761524557.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:37.070Z,1761524557.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 508.791534 m,
      bearing: 214.964078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001803 deg/s,
      cmd heading: 205.541730 deg,
      new cmd heading: 205.544070 deg.

2025-10-27T00:22:37.075Z,1761524557.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587421 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:37.229Z,1761524557.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251261
2025-10-27T00:22:37.484Z,1761524557.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506268
2025-10-27T00:22:37.533Z,1761524557.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888757,0.401907,0.220414],[-0.427538,-0.900232,-0.082425],[0.165297,-0.167492,0.971917]]
2025-10-27T00:22:37.589Z,1761524557.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:37.595Z,1761524557.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:37.598Z,1761524557.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 508.448059 m,
      bearing: 214.965485 deg,
      approach rate: -0.646873 m/s,
      LOS rate: 0.002651 deg/s,
      cmd heading: 205.544066 deg,
      new cmd heading: 205.548289 deg.

2025-10-27T00:22:37.599Z,1761524557.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587494 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:37.733Z,1761524557.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755537
2025-10-27T00:22:37.942Z,1761524557.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889673,0.400992,0.218376],[-0.426771,-0.900310,-0.085488],[0.162326,-0.169253,0.972113]]
2025-10-27T00:22:37.960Z,1761524557.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:37.963Z,1761524557.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 508.192963 m,
      bearing: 214.966566 deg,
      approach rate: -0.690843 m/s,
      LOS rate: 0.002928 deg/s,
      cmd heading: 205.548287 deg,
      new cmd heading: 205.551530 deg.

2025-10-27T00:22:37.964Z,1761524557.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587551 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:37.984Z,1761524557.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006615
2025-10-27T00:22:38.236Z,1761524558.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258485
2025-10-27T00:22:38.389Z,1761524558.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891065,0.401491,0.211680],[-0.426366,-0.900347,-0.087104],[0.155614,-0.167869,0.973450]]
2025-10-27T00:22:38.442Z,1761524558.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:38.449Z,1761524558.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 507.882812 m,
      bearing: 214.967918 deg,
      approach rate: -0.643023 m/s,
      LOS rate: 0.002805 deg/s,
      cmd heading: 205.551524 deg,
      new cmd heading: 205.555584 deg.

2025-10-27T00:22:38.450Z,1761524558.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587622 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:38.488Z,1761524558.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510647
2025-10-27T00:22:38.740Z,1761524558.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762629
2025-10-27T00:22:38.794Z,1761524558.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891628,0.402085,0.208154],[-0.426430,-0.900270,-0.087588],[0.152177,-0.166859,0.974166]]
2025-10-27T00:22:38.812Z,1761524558.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:38.814Z,1761524558.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 507.635956 m,
      bearing: 214.969002 deg,
      approach rate: -0.668345 m/s,
      LOS rate: 0.002935 deg/s,
      cmd heading: 205.555581 deg,
      new cmd heading: 205.558834 deg.

2025-10-27T00:22:38.816Z,1761524558.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587678 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:38.992Z,1761524558.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014538
2025-10-27T00:22:39.202Z,1761524559.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891929,0.403053,0.204964],[-0.426912,-0.900007,-0.087938],[0.149025,-0.165936,0.974811]]
2025-10-27T00:22:39.220Z,1761524559.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:39.222Z,1761524559.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 507.369019 m,
      bearing: 214.970166 deg,
      approach rate: -0.654532 m/s,
      LOS rate: 0.002857 deg/s,
      cmd heading: 205.558832 deg,
      new cmd heading: 205.562328 deg.

2025-10-27T00:22:39.223Z,1761524559.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587739 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:39.265Z,1761524559.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.286946
2025-10-27T00:22:39.518Z,1761524559.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.540460
2025-10-27T00:22:39.596Z,1761524559.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892159,0.404510,0.201056],[-0.427560,-0.899800,-0.086908],[0.145755,-0.163500,0.975717]]
2025-10-27T00:22:39.643Z,1761524559.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:39.645Z,1761524559.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:39.648Z,1761524559.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 507.088196 m,
      bearing: 214.972103 deg,
      approach rate: -0.659971 m/s,
      LOS rate: 0.004555 deg/s,
      cmd heading: 205.562329 deg,
      new cmd heading: 205.568144 deg.

2025-10-27T00:22:39.649Z,1761524559.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587841 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:39.772Z,1761524559.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.794384
2025-10-27T00:22:40.002Z,1761524560.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892224,0.405917,0.197911],[-0.428567,-0.899242,-0.087715],[0.142365,-0.163079,0.976287]]
2025-10-27T00:22:40.020Z,1761524560.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:40.022Z,1761524560.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 506.840088 m,
      bearing: 214.973792 deg,
      approach rate: -0.662077 m/s,
      LOS rate: 0.004508 deg/s,
      cmd heading: 205.568149 deg,
      new cmd heading: 205.573217 deg.

2025-10-27T00:22:40.024Z,1761524560.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.046915
2025-10-27T00:22:40.025Z,1761524560.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587929 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:40.276Z,1761524560.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.298620
2025-10-27T00:22:40.414Z,1761524560.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892506,0.406489,0.195448],[-0.428942,-0.898917,-0.089199],[0.139433,-0.163447,0.976649]]
2025-10-27T00:22:40.451Z,1761524560.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:40.454Z,1761524560.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 506.565582 m,
      bearing: 214.975656 deg,
      approach rate: -0.661423 m/s,
      LOS rate: 0.004495 deg/s,
      cmd heading: 205.573217 deg,
      new cmd heading: 205.578814 deg.

2025-10-27T00:22:40.455Z,1761524560.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588027 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:40.529Z,1761524560.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.551176
2025-10-27T00:22:40.783Z,1761524560.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.805708
2025-10-27T00:22:40.806Z,1761524560.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892597,0.407614,0.192672],[-0.429664,-0.898533,-0.089595],[0.136602,-0.162756,0.977165]]
2025-10-27T00:22:40.841Z,1761524560.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:40.844Z,1761524560.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 506.296783 m,
      bearing: 214.977466 deg,
      approach rate: -0.661510 m/s,
      LOS rate: 0.004454 deg/s,
      cmd heading: 205.578818 deg,
      new cmd heading: 205.584248 deg.

2025-10-27T00:22:40.845Z,1761524560.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588122 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:41.033Z,1761524561.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.055124
2025-10-27T00:22:41.217Z,1761524561.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892528,0.409166,0.189675],[-0.430788,-0.897949,-0.090050],[0.133474,-0.162082,0.977709]]
2025-10-27T00:22:41.235Z,1761524561.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:41.237Z,1761524561.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 506.036469 m,
      bearing: 214.979188 deg,
      approach rate: -0.661800 m/s,
      LOS rate: 0.004382 deg/s,
      cmd heading: 205.584254 deg,
      new cmd heading: 205.589425 deg.

2025-10-27T00:22:41.238Z,1761524561.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588212 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:41.284Z,1761524561.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.306868
2025-10-27T00:22:41.536Z,1761524561.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.558470
2025-10-27T00:22:41.613Z,1761524561.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892764,0.409914,0.186929],[-0.431254,-0.897597,-0.091323],[0.130352,-0.162144,0.978119]]
2025-10-27T00:22:41.657Z,1761524561.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:41.659Z,1761524561.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:41.661Z,1761524561.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 505.754883 m,
      bearing: 214.980507 deg,
      approach rate: -0.664147 m/s,
      LOS rate: 0.003113 deg/s,
      cmd heading: 205.589432 deg,
      new cmd heading: 205.593392 deg.

2025-10-27T00:22:41.662Z,1761524561.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588282 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:41.788Z,1761524561.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.810578
2025-10-27T00:22:42.040Z,1761524562.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.062599
2025-10-27T00:22:42.053Z,1761524562.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:42.056Z,1761524562.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 505.492401 m,
      bearing: 214.981738 deg,
      approach rate: -0.665135 m/s,
      LOS rate: 0.003121 deg/s,
      cmd heading: 205.593393 deg,
      new cmd heading: 205.597088 deg.

2025-10-27T00:22:42.057Z,1761524562.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588346 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:42.292Z,1761524562.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.314862
2025-10-27T00:22:42.426Z,1761524562.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893584,0.410767,0.181049],[-0.431304,-0.897440,-0.092616],[0.124437,-0.160848,0.979103]]
2025-10-27T00:22:42.461Z,1761524562.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:42.464Z,1761524562.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 505.231781 m,
      bearing: 214.982970 deg,
      approach rate: -0.639868 m/s,
      LOS rate: 0.003025 deg/s,
      cmd heading: 205.597095 deg,
      new cmd heading: 205.600791 deg.

2025-10-27T00:22:42.465Z,1761524562.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588411 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:42.545Z,1761524562.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.567306
2025-10-27T00:22:42.796Z,1761524562.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.818506
2025-10-27T00:22:42.826Z,1761524562.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894283,0.410149,0.178987],[-0.430571,-0.897604,-0.094427],[0.121931,-0.161511,0.979309]]
2025-10-27T00:22:42.843Z,1761524562.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:42.846Z,1761524562.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 504.966492 m,
      bearing: 214.984256 deg,
      approach rate: -0.693478 m/s,
      LOS rate: 0.003363 deg/s,
      cmd heading: 205.600797 deg,
      new cmd heading: 205.604656 deg.

2025-10-27T00:22:42.847Z,1761524562.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588478 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:43.049Z,1761524563.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.071594
2025-10-27T00:22:43.230Z,1761524563.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895316,0.409148,0.176091],[-0.429202,-0.898161,-0.095356],[0.119143,-0.160952,0.979745]]
2025-10-27T00:22:43.259Z,1761524563.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:43.262Z,1761524563.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 504.697510 m,
      bearing: 214.985612 deg,
      approach rate: -0.652687 m/s,
      LOS rate: 0.003293 deg/s,
      cmd heading: 205.604663 deg,
      new cmd heading: 205.608734 deg.

2025-10-27T00:22:43.267Z,1761524563.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588549 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:43.300Z,1761524563.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.322691
2025-10-27T00:22:43.552Z,1761524563.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.574525
2025-10-27T00:22:43.634Z,1761524563.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896507,0.407412,0.174041],[-0.427519,-0.898607,-0.098659],[0.116200,-0.162855,0.979784]]
2025-10-27T00:22:43.690Z,1761524563.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:43.698Z,1761524563.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:43.706Z,1761524563.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 504.416290 m,
      bearing: 214.985764 deg,
      approach rate: -0.635414 m/s,
      LOS rate: 0.000344 deg/s,
      cmd heading: 205.608734 deg,
      new cmd heading: 205.609190 deg.

2025-10-27T00:22:43.716Z,1761524563.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588557 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:43.806Z,1761524563.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.828122
2025-10-27T00:22:44.041Z,1761524564.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897621,0.406006,0.171571],[-0.425972,-0.899081,-0.101001],[0.113249,-0.163745,0.979981]]
2025-10-27T00:22:44.056Z,1761524564.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.078656
2025-10-27T00:22:44.060Z,1761524564.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:44.063Z,1761524564.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 504.156982 m,
      bearing: 214.985962 deg,
      approach rate: -0.715176 m/s,
      LOS rate: 0.000548 deg/s,
      cmd heading: 205.609185 deg,
      new cmd heading: 205.609780 deg.

2025-10-27T00:22:44.064Z,1761524564.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588568 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:44.312Z,1761524564.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.334602
2025-10-27T00:22:44.443Z,1761524564.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899149,0.403736,0.168903],[-0.423409,-0.900136,-0.102371],[0.110705,-0.163561,0.980302]]
2025-10-27T00:22:44.461Z,1761524564.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:44.464Z,1761524564.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 503.888641 m,
      bearing: 214.986259 deg,
      approach rate: -0.669448 m/s,
      LOS rate: 0.000740 deg/s,
      cmd heading: 205.609786 deg,
      new cmd heading: 205.610676 deg.

2025-10-27T00:22:44.465Z,1761524564.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588583 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:44.560Z,1761524564.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.582622
2025-10-27T00:22:44.812Z,1761524564.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.834558
2025-10-27T00:22:44.846Z,1761524564.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900440,0.401888,0.166414],[-0.421306,-0.900957,-0.103815],[0.108210,-0.163590,0.980576]]
2025-10-27T00:22:44.877Z,1761524564.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:44.882Z,1761524564.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 503.611542 m,
      bearing: 214.986644 deg,
      approach rate: -0.666456 m/s,
      LOS rate: 0.000926 deg/s,
      cmd heading: 205.610674 deg,
      new cmd heading: 205.611828 deg.

2025-10-27T00:22:44.884Z,1761524564.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588603 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:45.064Z,1761524565.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.086437
2025-10-27T00:22:45.254Z,1761524565.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901688,0.399970,0.164264],[-0.419239,-0.901695,-0.105759],[0.105816,-0.164228,0.980730]]
2025-10-27T00:22:45.273Z,1761524565.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:45.275Z,1761524565.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 503.348297 m,
      bearing: 214.987084 deg,
      approach rate: -0.665356 m/s,
      LOS rate: 0.001113 deg/s,
      cmd heading: 205.611835 deg,
      new cmd heading: 205.613155 deg.

2025-10-27T00:22:45.276Z,1761524565.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588627 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:45.316Z,1761524565.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.338691
2025-10-27T00:22:45.568Z,1761524565.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.590540
2025-10-27T00:22:45.654Z,1761524565.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902954,0.397738,0.162723],[-0.417094,-0.902304,-0.108995],[0.103474,-0.166288,0.980633]]
2025-10-27T00:22:45.705Z,1761524565.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:45.708Z,1761524565.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:45.713Z,1761524565.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 503.068451 m,
      bearing: 214.987131 deg,
      approach rate: -0.642556 m/s,
      LOS rate: 0.000108 deg/s,
      cmd heading: 205.613160 deg,
      new cmd heading: 205.613301 deg.

2025-10-27T00:22:45.714Z,1761524565.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588629 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:45.820Z,1761524565.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.842628
2025-10-27T00:22:46.072Z,1761524566.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.094735
2025-10-27T00:22:46.095Z,1761524566.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:46.098Z,1761524566.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 502.813965 m,
      bearing: 214.987173 deg,
      approach rate: -0.658291 m/s,
      LOS rate: 0.000111 deg/s,
      cmd heading: 205.613296 deg,
      new cmd heading: 205.613425 deg.

2025-10-27T00:22:46.098Z,1761524566.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588631 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:46.325Z,1761524566.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.347718
2025-10-27T00:22:46.498Z,1761524566.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:46.501Z,1761524566.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 502.552246 m,
      bearing: 214.987217 deg,
      approach rate: -0.649334 m/s,
      LOS rate: 0.000109 deg/s,
      cmd heading: 205.613419 deg,
      new cmd heading: 205.613551 deg.

2025-10-27T00:22:46.502Z,1761524566.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588634 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:46.576Z,1761524566.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.598752
2025-10-27T00:22:46.828Z,1761524566.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.850507
2025-10-27T00:22:46.872Z,1761524566.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905040,0.395300,0.156975],[-0.414262,-0.902899,-0.114717],[0.096385,-0.168853,0.980917]]
2025-10-27T00:22:46.902Z,1761524566.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:46.923Z,1761524566.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 502.293549 m,
      bearing: 214.987369 deg,
      approach rate: -0.640073 m/s,
      LOS rate: 0.000376 deg/s,
      cmd heading: 205.613556 deg,
      new cmd heading: 205.614012 deg.

2025-10-27T00:22:46.924Z,1761524566.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588641 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:47.080Z,1761524567.080 [DAT](INFO): Reached modem response timeout
2025-10-27T00:22:47.080Z,1761524567.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:47.080Z,1761524567.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:47.270Z,1761524567.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905648,0.395080,0.153992],[-0.413432,-0.903411,-0.113675],[0.094207,-0.166615,0.981511]]
2025-10-27T00:22:47.302Z,1761524567.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:47.305Z,1761524567.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 502.029816 m,
      bearing: 214.987550 deg,
      approach rate: -0.658967 m/s,
      LOS rate: 0.000452 deg/s,
      cmd heading: 205.614007 deg,
      new cmd heading: 205.614550 deg.

2025-10-27T00:22:47.306Z,1761524567.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588651 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:47.332Z,1761524567.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:47.584Z,1761524567.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:47.676Z,1761524567.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906221,0.394863,0.151148],[-0.412760,-0.903686,-0.113928],[0.091605,-0.165632,0.981924]]
2025-10-27T00:22:47.748Z,1761524567.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:47.750Z,1761524567.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:47.757Z,1761524567.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 501.765045 m,
      bearing: 214.988074 deg,
      approach rate: -0.591480 m/s,
      LOS rate: 0.001170 deg/s,
      cmd heading: 205.614553 deg,
      new cmd heading: 205.616125 deg.

2025-10-27T00:22:47.758Z,1761524567.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588678 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:47.837Z,1761524567.837 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:48.088Z,1761524568.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:48.098Z,1761524568.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906691,0.394821,0.148414],[-0.412377,-0.903698,-0.115215],[0.088632,-0.165667,0.982191]]
2025-10-27T00:22:48.116Z,1761524568.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:48.118Z,1761524568.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 501.514923 m,
      bearing: 214.988585 deg,
      approach rate: -0.683108 m/s,
      LOS rate: 0.001397 deg/s,
      cmd heading: 205.616124 deg,
      new cmd heading: 205.617659 deg.

2025-10-27T00:22:48.120Z,1761524568.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588705 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:48.341Z,1761524568.341 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:48.498Z,1761524568.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907152,0.395019,0.145037],[-0.412051,-0.903786,-0.115693],[0.085382,-0.164714,0.982639]]
2025-10-27T00:22:48.522Z,1761524568.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:48.525Z,1761524568.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 501.258148 m,
      bearing: 214.989124 deg,
      approach rate: -0.632242 m/s,
      LOS rate: 0.001328 deg/s,
      cmd heading: 205.617654 deg,
      new cmd heading: 205.619272 deg.

2025-10-27T00:22:48.526Z,1761524568.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588733 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:48.592Z,1761524568.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:48.844Z,1761524568.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:48.908Z,1761524568.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907422,0.395761,0.141275],[-0.412148,-0.903768,-0.115487],[0.081975,-0.163022,0.983211]]
2025-10-27T00:22:48.943Z,1761524568.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:48.946Z,1761524568.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 501.002197 m,
      bearing: 214.989661 deg,
      approach rate: -0.609158 m/s,
      LOS rate: 0.001278 deg/s,
      cmd heading: 205.619266 deg,
      new cmd heading: 205.620877 deg.

2025-10-27T00:22:48.947Z,1761524568.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588761 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:49.096Z,1761524569.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:22:49.312Z,1761524569.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907555,0.396598,0.138039],[-0.412512,-0.903501,-0.116273],[0.078605,-0.162466,0.983578]]
2025-10-27T00:22:49.330Z,1761524569.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:49.333Z,1761524569.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 500.746338 m,
      bearing: 214.990189 deg,
      approach rate: -0.659419 m/s,
      LOS rate: 0.001363 deg/s,
      cmd heading: 205.620878 deg,
      new cmd heading: 205.622464 deg.

2025-10-27T00:22:49.334Z,1761524569.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588789 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:49.349Z,1761524569.349 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:22:49.349Z,1761524569.349 [DAT](INFO): response not received
2025-10-27T00:22:49.349Z,1761524569.349 [DAT](INFO): DAT read: user:58>

2025-10-27T00:22:49.350Z,1761524569.350 [DAT](INFO): DAT read: Tx time:00:22:50.8492

2025-10-27T00:22:49.350Z,1761524569.350 [DAT](INFO): Ping request sent.
2025-10-27T00:22:49.351Z,1761524569.351 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:49.351Z,1761524569.351 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:49.359Z,1761524569.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.008747
2025-10-27T00:22:49.600Z,1761524569.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249291
2025-10-27T00:22:49.719Z,1761524569.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907732,0.397595,0.133941],[-0.412820,-0.903385,-0.116086],[0.074845,-0.160668,0.984167]]
2025-10-27T00:22:49.754Z,1761524569.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:49.760Z,1761524569.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:49.762Z,1761524569.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 500.479706 m,
      bearing: 214.992093 deg,
      approach rate: -0.620961 m/s,
      LOS rate: 0.004435 deg/s,
      cmd heading: 205.622462 deg,
      new cmd heading: 205.628176 deg.

2025-10-27T00:22:49.763Z,1761524569.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588889 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:49.852Z,1761524569.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501486
2025-10-27T00:22:50.104Z,1761524570.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753340
2025-10-27T00:22:50.115Z,1761524570.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907911,0.398414,0.130243],[-0.413013,-0.903339,-0.115753],[0.071536,-0.158886,0.984702]]
2025-10-27T00:22:50.157Z,1761524570.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:50.163Z,1761524570.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 500.243225 m,
      bearing: 214.993779 deg,
      approach rate: -0.595783 m/s,
      LOS rate: 0.004250 deg/s,
      cmd heading: 205.628173 deg,
      new cmd heading: 205.633233 deg.

2025-10-27T00:22:50.164Z,1761524570.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588977 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:50.356Z,1761524570.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005282
2025-10-27T00:22:50.522Z,1761524570.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907801,0.399686,0.127077],[-0.413750,-0.903043,-0.115432],[0.068619,-0.157367,0.985153]]
2025-10-27T00:22:50.539Z,1761524570.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:50.542Z,1761524570.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 499.988373 m,
      bearing: 214.995576 deg,
      approach rate: -0.666470 m/s,
      LOS rate: 0.004703 deg/s,
      cmd heading: 205.633227 deg,
      new cmd heading: 205.638621 deg.

2025-10-27T00:22:50.543Z,1761524570.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589071 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:50.608Z,1761524570.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257564
2025-10-27T00:22:50.860Z,1761524570.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509343
2025-10-27T00:22:50.922Z,1761524570.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907484,0.401460,0.123706],[-0.414882,-0.902713,-0.113936],[0.065930,-0.154719,0.985756]]
2025-10-27T00:22:50.964Z,1761524570.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:50.967Z,1761524570.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 499.732544 m,
      bearing: 214.997346 deg,
      approach rate: -0.603568 m/s,
      LOS rate: 0.004177 deg/s,
      cmd heading: 205.638623 deg,
      new cmd heading: 205.643934 deg.

2025-10-27T00:22:50.968Z,1761524570.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589164 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:51.112Z,1761524571.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761305
2025-10-27T00:22:51.331Z,1761524571.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907173,0.402976,0.121025],[-0.415941,-0.902286,-0.113458],[0.063478,-0.153266,0.986144]]
2025-10-27T00:22:51.349Z,1761524571.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:51.352Z,1761524571.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 499.480194 m,
      bearing: 214.999061 deg,
      approach rate: -0.653324 m/s,
      LOS rate: 0.004442 deg/s,
      cmd heading: 205.643937 deg,
      new cmd heading: 205.649084 deg.

2025-10-27T00:22:51.353Z,1761524571.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589254 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:51.364Z,1761524571.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013434
2025-10-27T00:22:51.622Z,1761524571.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271262
2025-10-27T00:22:51.733Z,1761524571.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906724,0.404643,0.118813],[-0.417218,-0.901776,-0.112820],[0.061491,-0.151867,0.986486]]
2025-10-27T00:22:51.788Z,1761524571.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:51.790Z,1761524571.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:51.797Z,1761524571.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 499.211365 m,
      bearing: 215.001658 deg,
      approach rate: -0.610030 m/s,
      LOS rate: 0.005897 deg/s,
      cmd heading: 205.649087 deg,
      new cmd heading: 205.656883 deg.

2025-10-27T00:22:51.797Z,1761524571.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589390 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:51.869Z,1761524571.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518647
2025-10-27T00:22:52.120Z,1761524572.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769214
2025-10-27T00:22:52.135Z,1761524572.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906018,0.406628,0.117411],[-0.419043,-0.900796,-0.113887],[0.059453,-0.152384,0.986532]]
2025-10-27T00:22:52.154Z,1761524572.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:52.177Z,1761524572.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 498.965607 m,
      bearing: 215.003980 deg,
      approach rate: -0.675050 m/s,
      LOS rate: 0.006382 deg/s,
      cmd heading: 205.656887 deg,
      new cmd heading: 205.663856 deg.

2025-10-27T00:22:52.178Z,1761524572.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589511 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:52.374Z,1761524572.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023301
2025-10-27T00:22:52.537Z,1761524572.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905597,0.407865,0.116362],[-0.420181,-0.900116,-0.115063],[0.057809,-0.153094,0.986519]]
2025-10-27T00:22:52.573Z,1761524572.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:52.576Z,1761524572.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 498.708252 m,
      bearing: 215.006380 deg,
      approach rate: -0.616695 m/s,
      LOS rate: 0.005752 deg/s,
      cmd heading: 205.663853 deg,
      new cmd heading: 205.671054 deg.

2025-10-27T00:22:52.577Z,1761524572.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589637 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:52.625Z,1761524572.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274667
2025-10-27T00:22:52.877Z,1761524572.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526252
2025-10-27T00:22:52.942Z,1761524572.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905113,0.409254,0.115251],[-0.421453,-0.899378,-0.116176],[0.056109,-0.153725,0.986519]]
2025-10-27T00:22:52.986Z,1761524572.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:52.989Z,1761524572.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 498.444885 m,
      bearing: 215.008796 deg,
      approach rate: -0.665353 m/s,
      LOS rate: 0.006109 deg/s,
      cmd heading: 205.671052 deg,
      new cmd heading: 205.678307 deg.

2025-10-27T00:22:52.990Z,1761524572.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589764 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:53.128Z,1761524573.128 [DAT](INFO): DAT read: Rx Time:00:22:53.9366

2025-10-27T00:22:53.128Z,1761524573.128 [DAT](INFO): Rx dataTimestamp_ set to:1761524573.128071
2025-10-27T00:22:53.129Z,1761524573.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778305
2025-10-27T00:22:53.380Z,1761524573.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029534
2025-10-27T00:22:53.409Z,1761524573.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 520.07 m.
2025-10-27T00:22:53.411Z,1761524573.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 520.069824 m,
      nav range: 498.162018 m,
      bearing: 215.011395 deg,
      approach rate: -0.640612 m/s,
      LOS rate: 0.005889 deg/s,
      cmd heading: 205.678306 deg,
      new cmd heading: 205.686107 deg.

2025-10-27T00:22:53.412Z,1761524573.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589900 target range: 520.069824 and range: 522.50 m.
2025-10-27T00:22:53.637Z,1761524573.637 [DAT](INFO): DAT read: 00:22:53.9366 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 272, 0.35, 2.410, 0.819, 2.290, 2.018, PHS= 0.494,-1.154, 0.228, RAW= 141.3,   5.7, CAL= 141.0,   6.4, ROT=   9.0,  -6.4

2025-10-27T00:22:53.638Z,1761524573.638 [DAT](INFO): got valid direction response:
 00:22:53.9366 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 272, 0.35, 2.410, 0.819, 2.290, 2.018, PHS= 0.494,-1.154, 0.228, RAW= 141.3,   5.7, CAL= 141.0,   6.4, ROT=   9.0,  -6.4

2025-10-27T00:22:53.639Z,1761524573.639 [DAT](INFO): DAT read: Bearing 357.9,  10.7 (Local)

2025-10-27T00:22:53.640Z,1761524573.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  10.7 (Local)

2025-10-27T00:22:53.641Z,1761524573.641 [DAT](INFO): DAT read: Range 11 to 50 : 512.4 m  (Round-trip  683.3 ms) speed  1.0 m/s

2025-10-27T00:22:53.642Z,1761524573.642 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:22:53.643Z,1761524573.643 [DAT](INFO): direction in FSK: [0.981533,0.155460,0.111469]
2025-10-27T00:22:53.643Z,1761524573.643 [DAT](INFO): publishing direction and range info
2025-10-27T00:22:53.646Z,1761524573.646 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:22:53.646Z,1761524573.646 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:22:53.647Z,1761524573.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:53.777Z,1761524573.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905066,0.410156,0.112369],[-0.421826,-0.899393,-0.114696],[0.054021,-0.151208,0.987025]]
2025-10-27T00:22:53.855Z,1761524573.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 512.400024 m,
      deltaT: 16.905290 s,
      deltaX: -10.099976 m,
      approachRate: -0.597445 m/s,
      rangeRepo size: 4

2025-10-27T00:22:53.857Z,1761524573.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 509.895660 m,
      bearing: 214.906473 deg,
      lat: 36.779480 deg,
      lon: -121.860070 deg,
      deltaT: 16.905290 s,
      deltaX: -10.174164 m,
      approachRate: -0.601833 m/s,
      posRepo size: 4

2025-10-27T00:22:53.858Z,1761524573.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:53.861Z,1761524573.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 504.618896 m,
      bearing: 214.931253 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005889 deg/s,
      cmd heading: 205.686106 deg,
      new cmd heading: 205.693981 deg.

2025-10-27T00:22:53.861Z,1761524573.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590037 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:53.885Z,1761524573.885 [DAT](INFO): DAT read: user:59>

2025-10-27T00:22:53.886Z,1761524573.886 [DAT](INFO): DAT read: Tx time:00:22:55.2992

2025-10-27T00:22:53.887Z,1761524573.887 [DAT](INFO): Ping request sent.
2025-10-27T00:22:53.887Z,1761524573.887 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:53.888Z,1761524573.888 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:53.889Z,1761524573.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001888
2025-10-27T00:22:54.138Z,1761524574.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251647
2025-10-27T00:22:54.182Z,1761524574.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905199,0.409941,0.112082],[-0.421636,-0.899322,-0.115943],[0.053268,-0.152210,0.986912]]
2025-10-27T00:22:54.199Z,1761524574.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:54.201Z,1761524574.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:54.204Z,1761524574.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 504.394470 m,
      bearing: 214.933092 deg,
      approach rate: -0.647628 m/s,
      LOS rate: 0.005310 deg/s,
      cmd heading: 205.693975 deg,
      new cmd heading: 205.699495 deg.

2025-10-27T00:22:54.205Z,1761524574.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590133 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:54.388Z,1761524574.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501483
2025-10-27T00:22:54.582Z,1761524574.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904975,0.410487,0.111898],[-0.422200,-0.898938,-0.116869],[0.052616,-0.153007,0.986823]]
2025-10-27T00:22:54.613Z,1761524574.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:54.616Z,1761524574.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 504.130188 m,
      bearing: 214.935243 deg,
      approach rate: -0.641300 m/s,
      LOS rate: 0.005222 deg/s,
      cmd heading: 205.699493 deg,
      new cmd heading: 205.705950 deg.

2025-10-27T00:22:54.617Z,1761524574.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590246 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:54.640Z,1761524574.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753567
2025-10-27T00:22:54.893Z,1761524574.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006586
2025-10-27T00:22:54.986Z,1761524574.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905173,0.410567,0.109983],[-0.421893,-0.899309,-0.115106],[0.051650,-0.150592,0.987246]]
2025-10-27T00:22:55.004Z,1761524575.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:55.007Z,1761524575.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 503.879364 m,
      bearing: 214.937293 deg,
      approach rate: -0.640637 m/s,
      LOS rate: 0.005238 deg/s,
      cmd heading: 205.705955 deg,
      new cmd heading: 205.712107 deg.

2025-10-27T00:22:55.008Z,1761524575.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590353 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:55.144Z,1761524575.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257164
2025-10-27T00:22:55.396Z,1761524575.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509412
2025-10-27T00:22:55.408Z,1761524575.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905603,0.409907,0.108904],[-0.421050,-0.899763,-0.114642],[0.050995,-0.149674,0.987419]]
2025-10-27T00:22:55.430Z,1761524575.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:55.433Z,1761524575.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 503.609283 m,
      bearing: 214.939530 deg,
      approach rate: -0.634130 m/s,
      LOS rate: 0.005256 deg/s,
      cmd heading: 205.712102 deg,
      new cmd heading: 205.718818 deg.

2025-10-27T00:22:55.434Z,1761524575.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590471 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:55.648Z,1761524575.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761266
2025-10-27T00:22:55.795Z,1761524575.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905901,0.408853,0.110374],[-0.420460,-0.899453,-0.119151],[0.050562,-0.154347,0.986722]]
2025-10-27T00:22:55.857Z,1761524575.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:55.865Z,1761524575.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 503.345062 m,
      bearing: 214.940962 deg,
      approach rate: -0.619734 m/s,
      LOS rate: 0.003359 deg/s,
      cmd heading: 205.718823 deg,
      new cmd heading: 205.723119 deg.

2025-10-27T00:22:55.872Z,1761524575.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590546 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:55.900Z,1761524575.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013337
2025-10-27T00:22:56.152Z,1761524576.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265559
2025-10-27T00:22:56.238Z,1761524576.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:56.241Z,1761524576.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:56.243Z,1761524576.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 503.090424 m,
      bearing: 214.942343 deg,
      approach rate: -0.663249 m/s,
      LOS rate: 0.003599 deg/s,
      cmd heading: 205.723126 deg,
      new cmd heading: 205.727271 deg.

2025-10-27T00:22:56.244Z,1761524576.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590618 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:56.404Z,1761524576.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517363
2025-10-27T00:22:56.604Z,1761524576.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905952,0.408119,0.112647],[-0.420477,-0.898410,-0.126719],[0.049487,-0.162167,0.985522]]
2025-10-27T00:22:56.623Z,1761524576.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:56.626Z,1761524576.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 502.847473 m,
      bearing: 214.943679 deg,
      approach rate: -0.634644 m/s,
      LOS rate: 0.003493 deg/s,
      cmd heading: 205.727265 deg,
      new cmd heading: 205.731276 deg.

2025-10-27T00:22:56.627Z,1761524576.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590688 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:56.656Z,1761524576.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769320
2025-10-27T00:22:56.908Z,1761524576.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021278
2025-10-27T00:22:57.006Z,1761524577.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906256,0.407235,0.113398],[-0.419854,-0.898335,-0.129295],[0.049216,-0.164786,0.985101]]
2025-10-27T00:22:57.043Z,1761524577.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:57.046Z,1761524577.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 502.589355 m,
      bearing: 214.945127 deg,
      approach rate: -0.640024 m/s,
      LOS rate: 0.003592 deg/s,
      cmd heading: 205.731281 deg,
      new cmd heading: 205.735627 deg.

2025-10-27T00:22:57.046Z,1761524577.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590764 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:57.160Z,1761524577.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273689
2025-10-27T00:22:57.412Z,1761524577.412 [DAT](INFO): DAT read: Rx Time:00:22:58.3815

2025-10-27T00:22:57.412Z,1761524577.412 [DAT](INFO): Rx dataTimestamp_ set to:1761524577.412224
2025-10-27T00:22:57.413Z,1761524577.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526393
2025-10-27T00:22:57.414Z,1761524577.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906319,0.406930,0.113989],[-0.419750,-0.898094,-0.131293],[0.048946,-0.166840,0.984768]]
2025-10-27T00:22:57.436Z,1761524577.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:57.440Z,1761524577.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 502.330627 m,
      bearing: 214.946588 deg,
      approach rate: -0.631455 m/s,
      LOS rate: 0.003568 deg/s,
      cmd heading: 205.735625 deg,
      new cmd heading: 205.740011 deg.

2025-10-27T00:22:57.443Z,1761524577.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590841 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:57.664Z,1761524577.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777181
2025-10-27T00:22:57.814Z,1761524577.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906267,0.407092,0.113830],[-0.419922,-0.897898,-0.132080],[0.048439,-0.167499,0.984681]]
2025-10-27T00:22:57.927Z,1761524577.927 [DAT](INFO): DAT read: 00:22:58.3815 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 398,-0.11, 1.556,-0.126, 1.408, 1.076, PHS= 0.582,-1.157, 0.288, RAW= 140.9,   3.6, CAL= 140.7,   4.2, ROT=   9.3,  -4.2

2025-10-27T00:22:57.928Z,1761524577.928 [DAT](INFO): got valid direction response:
 00:22:58.3815 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 398,-0.11, 1.556,-0.126, 1.408, 1.076, PHS= 0.582,-1.157, 0.288, RAW= 140.9,   3.6, CAL= 140.7,   4.2, ROT=   9.3,  -4.2

2025-10-27T00:22:57.929Z,1761524577.929 [DAT](INFO): DAT read: Bearing 355.7,  10.9 (Local)

2025-10-27T00:22:57.929Z,1761524577.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,  10.9 (Local)

2025-10-27T00:22:57.934Z,1761524577.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-10-27T00:22:57.939Z,1761524577.939 [DAT](INFO): DAT read: Range 11 to 50 : 508.7 m  (Round-trip  678.3 ms) speed  0.5 m/s

2025-10-27T00:22:57.940Z,1761524577.940 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:22:57.941Z,1761524577.941 [DAT](INFO): direction in FSK: [0.984205,0.161170,0.073238]
2025-10-27T00:22:57.941Z,1761524577.941 [DAT](INFO): publishing direction and range info
2025-10-27T00:22:57.945Z,1761524577.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.895660 m,
      nav range: 502.043213 m,
      bearing: 214.946776 deg,
      approach rate: -0.577283 m/s,
      LOS rate: 0.000377 deg/s,
      cmd heading: 205.740010 deg,
      new cmd heading: 205.740574 deg.

2025-10-27T00:22:57.946Z,1761524577.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590850 target range: 509.895660 and range: 512.40 m.
2025-10-27T00:22:57.959Z,1761524577.959 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:22:57.960Z,1761524577.960 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:22:57.960Z,1761524577.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:22:58.169Z,1761524578.169 [DAT](INFO): DAT read: user:60>

2025-10-27T00:22:58.171Z,1761524578.171 [DAT](INFO): DAT read: Tx time:00:22:59.5991

2025-10-27T00:22:58.171Z,1761524578.171 [DAT](INFO): Ping request sent.
2025-10-27T00:22:58.171Z,1761524578.171 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:22:58.172Z,1761524578.172 [DAT](INFO): publishing transmit ping time
2025-10-27T00:22:58.172Z,1761524578.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001062
2025-10-27T00:22:58.271Z,1761524578.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906214,0.407180,0.113929],[-0.420080,-0.897663,-0.133172],[0.048045,-0.168541,0.984523]]
2025-10-27T00:22:58.314Z,1761524578.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 508.700012 m,
      deltaT: 4.285708 s,
      deltaX: -3.700012 m,
      approachRate: -0.863337 m/s,
      rangeRepo size: 4

2025-10-27T00:22:58.320Z,1761524578.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 506.196777 m,
      bearing: 214.771508 deg,
      lat: 36.779477 deg,
      lon: -121.860070 deg,
      deltaT: 4.285708 s,
      deltaX: -3.698883 m,
      approachRate: -0.863074 m/s,
      posRepo size: 4

2025-10-27T00:22:58.320Z,1761524578.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:22:58.327Z,1761524578.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 502.064423 m,
      bearing: 214.923656 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000377 deg/s,
      cmd heading: 205.740570 deg,
      new cmd heading: 205.740999 deg.

2025-10-27T00:22:58.328Z,1761524578.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590858 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:22:58.421Z,1761524578.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249509
2025-10-27T00:22:58.663Z,1761524578.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906348,0.406992,0.113535],[-0.419836,-0.897749,-0.133362],[0.047649,-0.168539,0.984543]]
2025-10-27T00:22:58.672Z,1761524578.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500716
2025-10-27T00:22:58.681Z,1761524578.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:22:58.685Z,1761524578.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:22:58.689Z,1761524578.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 501.816071 m,
      bearing: 214.923813 deg,
      approach rate: -0.668432 m/s,
      LOS rate: 0.000423 deg/s,
      cmd heading: 205.740994 deg,
      new cmd heading: 205.741465 deg.

2025-10-27T00:22:58.690Z,1761524578.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590866 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:22:58.924Z,1761524578.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753138
2025-10-27T00:22:59.065Z,1761524579.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906436,0.406973,0.112905],[-0.419695,-0.897862,-0.133039],[0.047230,-0.167977,0.984659]]
2025-10-27T00:22:59.089Z,1761524579.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:22:59.092Z,1761524579.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 501.553253 m,
      bearing: 214.923983 deg,
      approach rate: -0.649447 m/s,
      LOS rate: 0.000419 deg/s,
      cmd heading: 205.741458 deg,
      new cmd heading: 205.741966 deg.

2025-10-27T00:22:59.093Z,1761524579.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590875 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:22:59.177Z,1761524579.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005401
2025-10-27T00:22:59.430Z,1761524579.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258360
2025-10-27T00:22:59.510Z,1761524579.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906141,0.407644,0.112850],[-0.420397,-0.897389,-0.134014],[0.046640,-0.168877,0.984533]]
2025-10-27T00:22:59.547Z,1761524579.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:22:59.569Z,1761524579.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 501.257324 m,
      bearing: 214.923976 deg,
      approach rate: -0.646935 m/s,
      LOS rate: -0.000014 deg/s,
      cmd heading: 205.741963 deg,
      new cmd heading: 205.741944 deg.

2025-10-27T00:22:59.570Z,1761524579.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590874 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:22:59.680Z,1761524579.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508800
2025-10-27T00:22:59.909Z,1761524579.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905590,0.409020,0.112288],[-0.421643,-0.896872,-0.133559],[0.046079,-0.168296,0.984659]]
2025-10-27T00:22:59.926Z,1761524579.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:22:59.929Z,1761524579.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 501.011566 m,
      bearing: 214.923931 deg,
      approach rate: -0.646907 m/s,
      LOS rate: -0.000120 deg/s,
      cmd heading: 205.741950 deg,
      new cmd heading: 205.741813 deg.

2025-10-27T00:22:59.930Z,1761524579.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590872 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:22:59.932Z,1761524579.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760692
2025-10-27T00:23:00.184Z,1761524580.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013138
2025-10-27T00:23:00.310Z,1761524580.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904829,0.411241,0.110295],[-0.423339,-0.896612,-0.129887],[0.045477,-0.164218,0.985375]]
2025-10-27T00:23:00.334Z,1761524580.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:23:00.336Z,1761524580.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 500.748138 m,
      bearing: 214.923815 deg,
      approach rate: -0.647099 m/s,
      LOS rate: -0.000285 deg/s,
      cmd heading: 205.741813 deg,
      new cmd heading: 205.741465 deg.

2025-10-27T00:23:00.337Z,1761524580.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590866 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:23:00.437Z,1761524580.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265344
2025-10-27T00:23:00.495Z,1761524580.495 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:23:00.688Z,1761524580.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516938
2025-10-27T00:23:00.724Z,1761524580.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904145,0.413405,0.107789],[-0.424886,-0.896473,-0.125729],[0.044653,-0.159476,0.986192]]
2025-10-27T00:23:00.741Z,1761524580.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:00.743Z,1761524580.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:23:00.746Z,1761524580.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 500.483612 m,
      bearing: 214.923633 deg,
      approach rate: -0.646323 m/s,
      LOS rate: -0.000443 deg/s,
      cmd heading: 205.741458 deg,
      new cmd heading: 205.740915 deg.

2025-10-27T00:23:00.746Z,1761524580.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590856 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:23:00.940Z,1761524580.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768630
2025-10-27T00:23:01.118Z,1761524581.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903783,0.415163,0.103996],[-0.425809,-0.896729,-0.120682],[0.043154,-0.153353,0.987229]]
2025-10-27T00:23:01.136Z,1761524581.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:23:01.139Z,1761524581.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 500.228973 m,
      bearing: 214.923414 deg,
      approach rate: -0.647529 m/s,
      LOS rate: -0.000558 deg/s,
      cmd heading: 205.740912 deg,
      new cmd heading: 205.740253 deg.

2025-10-27T00:23:01.140Z,1761524581.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590845 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:23:01.193Z,1761524581.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021451
2025-10-27T00:23:01.447Z,1761524581.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275160
2025-10-27T00:23:01.500Z,1761524581.500 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:23:01.522Z,1761524581.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903443,0.416643,0.100997],[-0.426690,-0.896715,-0.117633],[0.041554,-0.149369,0.987908]]
2025-10-27T00:23:01.571Z,1761524581.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:23:01.574Z,1761524581.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 499.941071 m,
      bearing: 214.923490 deg,
      approach rate: -0.661791 m/s,
      LOS rate: 0.000175 deg/s,
      cmd heading: 205.740256 deg,
      new cmd heading: 205.740484 deg.

2025-10-27T00:23:01.575Z,1761524581.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590849 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:23:01.696Z,1761524581.696 [DAT](INFO): DAT read: Rx Time:00:23:02.6793

2025-10-27T00:23:01.697Z,1761524581.697 [DAT](INFO): Rx dataTimestamp_ set to:1761524581.696958
2025-10-27T00:23:01.698Z,1761524581.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526477
2025-10-27T00:23:01.925Z,1761524581.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902990,0.418096,0.099018],[-0.427807,-0.896278,-0.116903],[0.039871,-0.147923,0.988195]]
2025-10-27T00:23:01.948Z,1761524581.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776660
2025-10-27T00:23:01.958Z,1761524581.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:23:01.960Z,1761524581.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 499.685303 m,
      bearing: 214.923520 deg,
      approach rate: -0.661872 m/s,
      LOS rate: 0.000078 deg/s,
      cmd heading: 205.740488 deg,
      new cmd heading: 205.740579 deg.

2025-10-27T00:23:01.961Z,1761524581.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590851 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:23:02.203Z,1761524582.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031182
2025-10-27T00:23:02.331Z,1761524582.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902582,0.419259,0.097817],[-0.428834,-0.895617,-0.118202],[0.038050,-0.148635,0.988160]]
2025-10-27T00:23:02.352Z,1761524582.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 506.20 m.
2025-10-27T00:23:02.359Z,1761524582.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 506.196777 m,
      nav range: 499.426361 m,
      bearing: 214.923519 deg,
      approach rate: -0.658322 m/s,
      LOS rate: -0.000003 deg/s,
      cmd heading: 205.740584 deg,
      new cmd heading: 205.740580 deg.

2025-10-27T00:23:02.362Z,1761524582.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590851 target range: 506.196777 and range: 508.70 m.
2025-10-27T00:23:02.461Z,1761524582.461 [DAT](INFO): DAT read: 00:23:02.6793 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 424,-0.20, 2.024, 0.572, 1.970, 1.888, PHS= 0.239,-1.271, 0.039, RAW= 143.0,  13.9, CAL= 142.4,  15.1, ROT=   7.6, -15.1

2025-10-27T00:23:02.462Z,1761524582.462 [DAT](INFO): got valid direction response:
 00:23:02.6793 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 424,-0.20, 2.024, 0.572, 1.970, 1.888, PHS= 0.239,-1.271, 0.039, RAW= 143.0,  13.9, CAL= 142.4,  15.1, ROT=   7.6, -15.1

2025-10-27T00:23:02.467Z,1761524582.467 [DAT](INFO): DAT read: Bearing   7.2,   6.6 (Local)

2025-10-27T00:23:02.469Z,1761524582.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,   6.6 (Local)

2025-10-27T00:23:02.470Z,1761524582.470 [DAT](INFO): DAT read: Range 11 to 50 : 507.0 m  (Round-trip  676.1 ms) speed  0.7 m/s

2025-10-27T00:23:02.480Z,1761524582.480 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:02.481Z,1761524582.481 [DAT](INFO): direction in FSK: [0.956991,0.127690,0.260505]
2025-10-27T00:23:02.481Z,1761524582.481 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:02.495Z,1761524582.495 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:02.495Z,1761524582.495 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:02.495Z,1761524582.495 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:02.704Z,1761524582.704 [DAT](INFO): DAT read: user:61>

2025-10-27T00:23:02.706Z,1761524582.706 [DAT](INFO): DAT read: Tx time:00:23:04.1491

2025-10-27T00:23:02.706Z,1761524582.706 [DAT](INFO): Ping request sent.
2025-10-27T00:23:02.706Z,1761524582.706 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:23:02.706Z,1761524582.706 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:02.708Z,1761524582.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001165
2025-10-27T00:23:02.733Z,1761524582.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902074,0.420730,0.096169],[-0.430116,-0.894750,-0.120089],[0.035522,-0.149693,0.988094]]
2025-10-27T00:23:02.810Z,1761524582.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 507.000000 m,
      deltaT: 4.535072 s,
      deltaX: -1.700012 m,
      approachRate: -0.374859 m/s,
      rangeRepo size: 4

2025-10-27T00:23:02.816Z,1761524582.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 504.485168 m,
      bearing: 215.382310 deg,
      lat: 36.779480 deg,
      lon: -121.860070 deg,
      deltaT: 4.535072 s,
      deltaX: -1.711609 m,
      approachRate: -0.377416 m/s,
      posRepo size: 4

2025-10-27T00:23:02.816Z,1761524582.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:02.824Z,1761524582.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 498.845428 m,
      bearing: 214.946905 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000003 deg/s,
      cmd heading: 205.740584 deg,
      new cmd heading: 205.740579 deg.

2025-10-27T00:23:02.825Z,1761524582.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590851 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:02.957Z,1761524582.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250730
2025-10-27T00:23:03.167Z,1761524583.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901792,0.421817,0.094027],[-0.430897,-0.894281,-0.120784],[0.033138,-0.149438,0.988216]]
2025-10-27T00:23:03.192Z,1761524583.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:03.194Z,1761524583.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:03.197Z,1761524583.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 498.575409 m,
      bearing: 214.946849 deg,
      approach rate: -0.700985 m/s,
      LOS rate: -0.000146 deg/s,
      cmd heading: 205.740584 deg,
      new cmd heading: 205.740415 deg.

2025-10-27T00:23:03.198Z,1761524583.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590848 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:03.212Z,1761524583.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505846
2025-10-27T00:23:03.468Z,1761524583.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761159
2025-10-27T00:23:03.697Z,1761524583.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901108,0.424226,0.089650],[-0.432635,-0.893437,-0.120821],[0.028841,-0.147658,0.988618]]
2025-10-27T00:23:03.717Z,1761524583.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010372
2025-10-27T00:23:03.760Z,1761524583.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:03.762Z,1761524583.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 498.200836 m,
      bearing: 214.947910 deg,
      approach rate: -0.662188 m/s,
      LOS rate: 0.001877 deg/s,
      cmd heading: 205.740420 deg,
      new cmd heading: 205.743606 deg.

2025-10-27T00:23:03.763Z,1761524583.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590903 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:03.968Z,1761524583.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261853
2025-10-27T00:23:04.123Z,1761524584.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:04.125Z,1761524584.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 497.960846 m,
      bearing: 214.948591 deg,
      approach rate: -0.661287 m/s,
      LOS rate: 0.001877 deg/s,
      cmd heading: 205.743603 deg,
      new cmd heading: 205.745646 deg.

2025-10-27T00:23:04.126Z,1761524584.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590939 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:04.220Z,1761524584.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514058
2025-10-27T00:23:04.472Z,1761524584.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765913
2025-10-27T00:23:04.548Z,1761524584.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900451,0.426314,0.086277],[-0.434202,-0.892706,-0.120597],[0.025608,-0.146054,0.988945]]
2025-10-27T00:23:04.582Z,1761524584.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:04.585Z,1761524584.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 497.667877 m,
      bearing: 214.949365 deg,
      approach rate: -0.637854 m/s,
      LOS rate: 0.001686 deg/s,
      cmd heading: 205.745652 deg,
      new cmd heading: 205.747975 deg.

2025-10-27T00:23:04.586Z,1761524584.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590980 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:04.724Z,1761524584.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017909
2025-10-27T00:23:04.952Z,1761524584.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900096,0.427466,0.084262],[-0.435067,-0.892186,-0.121329],[0.023313,-0.145868,0.989029]]
2025-10-27T00:23:04.971Z,1761524584.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:04.973Z,1761524584.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 497.400604 m,
      bearing: 214.950043 deg,
      approach rate: -0.687519 m/s,
      LOS rate: 0.001746 deg/s,
      cmd heading: 205.747974 deg,
      new cmd heading: 205.750010 deg.

2025-10-27T00:23:04.974Z,1761524584.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591015 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:04.976Z,1761524584.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270351
2025-10-27T00:23:05.229Z,1761524585.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523235
2025-10-27T00:23:05.365Z,1761524585.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899712,0.428617,0.082501],[-0.435988,-0.891505,-0.123021],[0.020822,-0.146653,0.988969]]
2025-10-27T00:23:05.405Z,1761524585.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:05.411Z,1761524585.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:05.414Z,1761524585.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 497.125336 m,
      bearing: 214.950711 deg,
      approach rate: -0.630914 m/s,
      LOS rate: 0.001532 deg/s,
      cmd heading: 205.750009 deg,
      new cmd heading: 205.752015 deg.

2025-10-27T00:23:05.419Z,1761524585.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591050 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:05.485Z,1761524585.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778920
2025-10-27T00:23:05.732Z,1761524585.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026226
2025-10-27T00:23:05.824Z,1761524585.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:05.827Z,1761524585.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 496.838623 m,
      bearing: 214.952879 deg,
      approach rate: -0.687562 m/s,
      LOS rate: 0.005201 deg/s,
      cmd heading: 205.752018 deg,
      new cmd heading: 205.758524 deg.

2025-10-27T00:23:05.828Z,1761524585.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591164 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:05.984Z,1761524585.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277866
2025-10-27T00:23:06.175Z,1761524586.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899276,0.430321,0.078270],[-0.437098,-0.890631,-0.125388],[0.015753,-0.146970,0.989016]]
2025-10-27T00:23:06.196Z,1761524586.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:06.199Z,1761524586.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 496.594482 m,
      bearing: 214.954693 deg,
      approach rate: -0.655804 m/s,
      LOS rate: 0.004876 deg/s,
      cmd heading: 205.758520 deg,
      new cmd heading: 205.763965 deg.

2025-10-27T00:23:06.200Z,1761524586.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591259 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:06.236Z,1761524586.236 [DAT](INFO): DAT read: Rx Time:00:23:07.2247

2025-10-27T00:23:06.237Z,1761524586.237 [DAT](INFO): Rx dataTimestamp_ set to:1761524586.236309
2025-10-27T00:23:06.237Z,1761524586.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531126
2025-10-27T00:23:06.488Z,1761524586.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781871
2025-10-27T00:23:06.578Z,1761524586.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899074,0.431113,0.076203],[-0.437591,-0.890264,-0.126272],[0.013403,-0.146874,0.989064]]
2025-10-27T00:23:06.608Z,1761524586.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.49 m.
2025-10-27T00:23:06.610Z,1761524586.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.485168 m,
      nav range: 496.327515 m,
      bearing: 214.956662 deg,
      approach rate: -0.649163 m/s,
      LOS rate: 0.004792 deg/s,
      cmd heading: 205.763970 deg,
      new cmd heading: 205.769882 deg.

2025-10-27T00:23:06.616Z,1761524586.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591362 target range: 504.485168 and range: 507.00 m.
2025-10-27T00:23:06.743Z,1761524586.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036240
2025-10-27T00:23:06.981Z,1761524586.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898935,0.431720,0.074386],[-0.437936,-0.889960,-0.127213],[0.011281,-0.146933,0.989082]]
2025-10-27T00:23:06.997Z,1761524586.997 [DAT](INFO): DAT read: 00:23:07.2247 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 392,-0.01,-0.739,-2.359,-0.823,-1.118, PHS= 0.481,-1.197, 0.251, RAW= 142.7,   6.0, CAL= 142.3,   6.6, ROT=   7.7,  -6.6

2025-10-27T00:23:06.998Z,1761524586.998 [DAT](INFO): got valid direction response:
 00:23:07.2247 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 392,-0.01,-0.739,-2.359,-0.823,-1.118, PHS= 0.481,-1.197, 0.251, RAW= 142.7,   6.0, CAL= 142.3,   6.6, ROT=   7.7,  -6.6

2025-10-27T00:23:06.000Z,1761524587.000 [DAT](INFO): DAT read: Bearing 359.1,   7.0 (Local)

2025-10-27T00:23:07.000Z,1761524587.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,   7.0 (Local)

2025-10-27T00:23:07.001Z,1761524587.001 [DAT](INFO): DAT read: Range 11 to 50 : 503.5 m  (Round-trip  671.4 ms) speed  0.4 m/s

2025-10-27T00:23:07.002Z,1761524587.002 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:07.003Z,1761524587.003 [DAT](INFO): direction in FSK: [0.984416,0.133098,0.114937]
2025-10-27T00:23:07.003Z,1761524587.003 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:07.007Z,1761524587.007 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:07.007Z,1761524587.007 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:07.007Z,1761524587.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:07.082Z,1761524587.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 503.500000 m,
      deltaT: 4.539129 s,
      deltaX: -3.500000 m,
      approachRate: -0.771073 m/s,
      rangeRepo size: 4

2025-10-27T00:23:07.088Z,1761524587.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 500.999786 m,
      bearing: 214.564597 deg,
      lat: 36.779477 deg,
      lon: -121.860070 deg,
      deltaT: 4.539129 s,
      deltaX: -3.485382 m,
      approachRate: -0.767853 m/s,
      posRepo size: 4

2025-10-27T00:23:07.089Z,1761524587.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:07.096Z,1761524587.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 496.320251 m,
      bearing: 214.935289 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004792 deg/s,
      cmd heading: 205.769885 deg,
      new cmd heading: 205.776694 deg.

2025-10-27T00:23:07.097Z,1761524587.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591481 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:07.244Z,1761524587.244 [DAT](INFO): DAT read: user:62>

2025-10-27T00:23:07.245Z,1761524587.245 [DAT](INFO): DAT read: Tx time:00:23:08.6491

2025-10-27T00:23:07.245Z,1761524587.245 [DAT](INFO): Ping request sent.
2025-10-27T00:23:07.245Z,1761524587.245 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:23:07.245Z,1761524587.245 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:07.246Z,1761524587.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-10-27T00:23:07.387Z,1761524587.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898981,0.431990,0.072235],[-0.437891,-0.889947,-0.127459],[0.009224,-0.146214,0.989210]]
2025-10-27T00:23:07.409Z,1761524587.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:07.411Z,1761524587.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:07.414Z,1761524587.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 496.090942 m,
      bearing: 214.936963 deg,
      approach rate: -0.695559 m/s,
      LOS rate: 0.005083 deg/s,
      cmd heading: 205.776688 deg,
      new cmd heading: 205.781715 deg.

2025-10-27T00:23:07.414Z,1761524587.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591568 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:07.500Z,1761524587.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254194
2025-10-27T00:23:07.748Z,1761524587.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502781
2025-10-27T00:23:07.796Z,1761524587.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899027,0.432149,0.070693],[-0.437835,-0.889733,-0.129133],[0.007093,-0.147046,0.989104]]
2025-10-27T00:23:07.855Z,1761524587.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:07.864Z,1761524587.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 495.817017 m,
      bearing: 214.938534 deg,
      approach rate: -0.640400 m/s,
      LOS rate: 0.003673 deg/s,
      cmd heading: 205.781715 deg,
      new cmd heading: 205.786429 deg.

2025-10-27T00:23:07.866Z,1761524587.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591651 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:08.000Z,1761524588.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755189
2025-10-27T00:23:08.194Z,1761524588.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898857,0.432717,0.069368],[-0.438215,-0.889201,-0.131489],[0.004785,-0.148588,0.988888]]
2025-10-27T00:23:08.212Z,1761524588.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:08.215Z,1761524588.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 495.576752 m,
      bearing: 214.939903 deg,
      approach rate: -0.643385 m/s,
      LOS rate: 0.003668 deg/s,
      cmd heading: 205.786428 deg,
      new cmd heading: 205.790537 deg.

2025-10-27T00:23:08.236Z,1761524588.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591722 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:08.252Z,1761524588.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007124
2025-10-27T00:23:08.504Z,1761524588.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258781
2025-10-27T00:23:08.598Z,1761524588.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898842,0.432959,0.068039],[-0.438263,-0.888931,-0.133143],[0.002837,-0.149493,0.988759]]
2025-10-27T00:23:08.627Z,1761524588.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:08.630Z,1761524588.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 495.310913 m,
      bearing: 214.941419 deg,
      approach rate: -0.641026 m/s,
      LOS rate: 0.003658 deg/s,
      cmd heading: 205.790540 deg,
      new cmd heading: 205.795091 deg.

2025-10-27T00:23:08.630Z,1761524588.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591802 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:08.757Z,1761524588.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511333
2025-10-27T00:23:09.001Z,1761524589.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898478,0.433829,0.067311],[-0.439017,-0.888310,-0.134795],[0.001315,-0.150661,0.988585]]
2025-10-27T00:23:09.008Z,1761524589.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762814
2025-10-27T00:23:09.022Z,1761524589.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:09.025Z,1761524589.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 495.058228 m,
      bearing: 214.942839 deg,
      approach rate: -0.639639 m/s,
      LOS rate: 0.003596 deg/s,
      cmd heading: 205.795089 deg,
      new cmd heading: 205.799351 deg.

2025-10-27T00:23:09.025Z,1761524589.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591876 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:09.260Z,1761524589.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015125
2025-10-27T00:23:09.406Z,1761524589.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898256,0.434399,0.066577],[-0.439472,-0.888007,-0.135310],[0.000342,-0.150802,0.988564]]
2025-10-27T00:23:09.466Z,1761524589.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:09.488Z,1761524589.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:09.506Z,1761524589.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 494.787079 m,
      bearing: 214.944349 deg,
      approach rate: -0.589334 m/s,
      LOS rate: 0.003282 deg/s,
      cmd heading: 205.799351 deg,
      new cmd heading: 205.803881 deg.

2025-10-27T00:23:09.512Z,1761524589.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266822
2025-10-27T00:23:09.513Z,1761524589.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591955 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:09.765Z,1761524589.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519523
2025-10-27T00:23:09.831Z,1761524589.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898098,0.434836,0.065860],[-0.439795,-0.887685,-0.136369],[-0.000835,-0.151438,0.988466]]
2025-10-27T00:23:09.906Z,1761524589.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:09.913Z,1761524589.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 494.494385 m,
      bearing: 214.945177 deg,
      approach rate: -0.689581 m/s,
      LOS rate: 0.001954 deg/s,
      cmd heading: 205.803886 deg,
      new cmd heading: 205.806374 deg.

2025-10-27T00:23:09.914Z,1761524589.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591999 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:10.016Z,1761524590.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770820
2025-10-27T00:23:10.239Z,1761524590.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898199,0.434843,0.064428],[-0.439586,-0.887826,-0.136122],[-0.001991,-0.150586,0.988595]]
2025-10-27T00:23:10.257Z,1761524590.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:10.260Z,1761524590.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 494.258514 m,
      bearing: 214.945850 deg,
      approach rate: -0.672501 m/s,
      LOS rate: 0.001918 deg/s,
      cmd heading: 205.806372 deg,
      new cmd heading: 205.808390 deg.

2025-10-27T00:23:10.261Z,1761524590.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592034 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:10.268Z,1761524590.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022822
2025-10-27T00:23:10.520Z,1761524590.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274692
2025-10-27T00:23:10.637Z,1761524590.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898188,0.435119,0.062690],[-0.439600,-0.887933,-0.135376],[-0.003240,-0.149152,0.988809]]
2025-10-27T00:23:10.670Z,1761524590.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:10.673Z,1761524590.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 493.990082 m,
      bearing: 214.946610 deg,
      approach rate: -0.650156 m/s,
      LOS rate: 0.001843 deg/s,
      cmd heading: 205.808394 deg,
      new cmd heading: 205.810677 deg.

2025-10-27T00:23:10.674Z,1761524590.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592074 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:10.773Z,1761524590.773 [DAT](INFO): DAT read: Rx Time:00:23:11.7208

2025-10-27T00:23:10.773Z,1761524590.773 [DAT](INFO): Rx dataTimestamp_ set to:1761524590.772798
2025-10-27T00:23:10.774Z,1761524590.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528441
2025-10-27T00:23:11.024Z,1761524591.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778739
2025-10-27T00:23:11.042Z,1761524591.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898544,0.434613,0.061084],[-0.438863,-0.888393,-0.134750],[-0.004298,-0.147886,0.988995]]
2025-10-27T00:23:11.060Z,1761524591.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 501.00 m.
2025-10-27T00:23:11.062Z,1761524591.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.999786 m,
      nav range: 493.736572 m,
      bearing: 214.947349 deg,
      approach rate: -0.650148 m/s,
      LOS rate: 0.001896 deg/s,
      cmd heading: 205.810675 deg,
      new cmd heading: 205.812893 deg.

2025-10-27T00:23:11.064Z,1761524591.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592113 target range: 500.999786 and range: 503.50 m.
2025-10-27T00:23:11.286Z,1761524591.286 [DAT](INFO): DAT read: 00:23:11.7208 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 401, 0.09,-1.925, 2.606,-1.925,-2.512, PHS= 0.689,-1.119, 0.544, RAW= 145.9,  -1.3, CAL= 145.4,  -1.7, ROT=   4.6,   1.7

2025-10-27T00:23:11.288Z,1761524591.288 [DAT](INFO): got valid direction response:
 00:23:11.7208 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 401, 0.09,-1.925, 2.606,-1.925,-2.512, PHS= 0.689,-1.119, 0.544, RAW= 145.9,  -1.3, CAL= 145.4,  -1.7, ROT=   4.6,   1.7

2025-10-27T00:23:11.289Z,1761524591.289 [DAT](INFO): DAT read: Bearing 351.1,   4.3 (Local)

2025-10-27T00:23:11.289Z,1761524591.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.1,   4.3 (Local)

2025-10-27T00:23:11.300Z,1761524591.300 [DAT](INFO): DAT read: Range 11 to 50 : 500.7 m  (Round-trip  667.6 ms) speed  0.4 m/s

2025-10-27T00:23:11.301Z,1761524591.301 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:11.302Z,1761524591.302 [DAT](INFO): direction in FSK: [0.996340,0.080164,-0.029666]
2025-10-27T00:23:11.302Z,1761524591.302 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:11.324Z,1761524591.324 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:11.324Z,1761524591.324 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:11.324Z,1761524591.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:11.492Z,1761524591.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899024,0.433870,0.059276],[-0.437867,-0.889006,-0.133943],[-0.005417,-0.146373,0.989215]]
2025-10-27T00:23:11.528Z,1761524591.528 [DAT](INFO): DAT read: user:63>

2025-10-27T00:23:11.529Z,1761524591.529 [DAT](INFO): DAT read: Tx time:00:23:12.9491

2025-10-27T00:23:11.529Z,1761524591.529 [DAT](INFO): Ping request sent.
2025-10-27T00:23:11.529Z,1761524591.529 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:23:11.529Z,1761524591.529 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:11.530Z,1761524591.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-27T00:23:11.581Z,1761524591.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 500.700012 m,
      deltaT: 4.284351 s,
      deltaX: -2.799988 m,
      approachRate: -0.653538 m/s,
      rangeRepo size: 4

2025-10-27T00:23:11.588Z,1761524591.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 498.202789 m,
      bearing: 210.271709 deg,
      lat: 36.779455 deg,
      lon: -121.860053 deg,
      deltaT: 4.284351 s,
      deltaX: -2.796997 m,
      approachRate: -0.652840 m/s,
      posRepo size: 4

2025-10-27T00:23:11.588Z,1761524591.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:11.595Z,1761524591.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 494.479279 m,
      bearing: 214.640909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001896 deg/s,
      cmd heading: 205.812888 deg,
      new cmd heading: 205.815850 deg.

2025-10-27T00:23:11.596Z,1761524591.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592164 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:11.780Z,1761524591.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250787
2025-10-27T00:23:11.923Z,1761524591.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899470,0.433155,0.057707],[-0.436933,-0.889507,-0.133664],[-0.006566,-0.145441,0.989345]]
2025-10-27T00:23:11.942Z,1761524591.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:11.961Z,1761524591.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:11.967Z,1761524591.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 494.218414 m,
      bearing: 214.639591 deg,
      approach rate: -0.686474 m/s,
      LOS rate: -0.003469 deg/s,
      cmd heading: 205.815852 deg,
      new cmd heading: 205.811898 deg.

2025-10-27T00:23:11.968Z,1761524591.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592095 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:12.033Z,1761524592.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503633
2025-10-27T00:23:12.284Z,1761524592.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754839
2025-10-27T00:23:12.325Z,1761524592.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899809,0.432633,0.056318],[-0.436213,-0.889830,-0.133864],[-0.007801,-0.145019,0.989398]]
2025-10-27T00:23:12.376Z,1761524592.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:12.383Z,1761524592.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 493.939697 m,
      bearing: 214.638205 deg,
      approach rate: -0.670148 m/s,
      LOS rate: -0.003333 deg/s,
      cmd heading: 205.811891 deg,
      new cmd heading: 205.807732 deg.

2025-10-27T00:23:12.384Z,1761524592.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592023 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:12.536Z,1761524592.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006785
2025-10-27T00:23:12.730Z,1761524592.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900033,0.432323,0.055106],[-0.435726,-0.889977,-0.134475],[-0.009093,-0.145044,0.989383]]
2025-10-27T00:23:12.748Z,1761524592.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:12.771Z,1761524592.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 493.683289 m,
      bearing: 214.636944 deg,
      approach rate: -0.689844 m/s,
      LOS rate: -0.003394 deg/s,
      cmd heading: 205.807738 deg,
      new cmd heading: 205.803954 deg.

2025-10-27T00:23:12.772Z,1761524592.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591957 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:12.788Z,1761524592.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259078
2025-10-27T00:23:13.040Z,1761524593.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510922
2025-10-27T00:23:13.134Z,1761524593.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900635,0.431278,0.053438],[-0.434449,-0.890571,-0.134674],[-0.010491,-0.144508,0.989448]]
2025-10-27T00:23:13.160Z,1761524593.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:13.163Z,1761524593.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 493.408997 m,
      bearing: 214.635637 deg,
      approach rate: -0.665460 m/s,
      LOS rate: -0.003175 deg/s,
      cmd heading: 205.803954 deg,
      new cmd heading: 205.800029 deg.

2025-10-27T00:23:13.164Z,1761524593.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591888 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:13.292Z,1761524593.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762900
2025-10-27T00:23:13.538Z,1761524593.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900880,0.430824,0.052967],[-0.433892,-0.890319,-0.138094],[-0.012337,-0.147388,0.989002]]
2025-10-27T00:23:13.544Z,1761524593.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015052
2025-10-27T00:23:13.598Z,1761524593.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:13.601Z,1761524593.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 493.111908 m,
      bearing: 214.633601 deg,
      approach rate: -0.678625 m/s,
      LOS rate: -0.004652 deg/s,
      cmd heading: 205.800034 deg,
      new cmd heading: 205.793924 deg.

2025-10-27T00:23:13.602Z,1761524593.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591782 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:13.796Z,1761524593.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266850
2025-10-27T00:23:13.946Z,1761524593.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901117,0.430355,0.052751],[-0.433338,-0.889908,-0.142413],[-0.014344,-0.151190,0.988401]]
2025-10-27T00:23:13.965Z,1761524593.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:13.968Z,1761524593.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:13.970Z,1761524593.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 492.860657 m,
      bearing: 214.631902 deg,
      approach rate: -0.679925 m/s,
      LOS rate: -0.004601 deg/s,
      cmd heading: 205.793928 deg,
      new cmd heading: 205.788827 deg.

2025-10-27T00:23:13.971Z,1761524593.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591693 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:14.048Z,1761524594.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518951
2025-10-27T00:23:14.300Z,1761524594.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770833
2025-10-27T00:23:14.362Z,1761524594.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901260,0.430177,0.051760],[-0.432986,-0.889802,-0.144139],[-0.015949,-0.152319,0.988203]]
2025-10-27T00:23:14.380Z,1761524594.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:14.382Z,1761524594.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 492.580048 m,
      bearing: 214.630016 deg,
      approach rate: -0.680771 m/s,
      LOS rate: -0.004578 deg/s,
      cmd heading: 205.788832 deg,
      new cmd heading: 205.783171 deg.

2025-10-27T00:23:14.412Z,1761524594.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591594 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:14.552Z,1761524594.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023007
2025-10-27T00:23:14.776Z,1761524594.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:14.779Z,1761524594.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 492.310760 m,
      bearing: 214.628204 deg,
      approach rate: -0.679599 m/s,
      LOS rate: -0.004576 deg/s,
      cmd heading: 205.783177 deg,
      new cmd heading: 205.777737 deg.

2025-10-27T00:23:14.780Z,1761524594.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591499 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:14.804Z,1761524594.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274819
2025-10-27T00:23:15.056Z,1761524595.056 [DAT](INFO): DAT read: Rx Time:00:23:16.0173

2025-10-27T00:23:15.056Z,1761524595.056 [DAT](INFO): Rx dataTimestamp_ set to:1761524595.056159
2025-10-27T00:23:15.057Z,1761524595.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527915
2025-10-27T00:23:15.155Z,1761524595.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901881,0.429385,0.047316],[-0.431522,-0.890434,-0.144622],[-0.019967,-0.150850,0.988355]]
2025-10-27T00:23:15.174Z,1761524595.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 498.20 m.
2025-10-27T00:23:15.176Z,1761524595.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 498.202789 m,
      nav range: 492.040649 m,
      bearing: 214.626429 deg,
      approach rate: -0.679407 m/s,
      LOS rate: -0.004466 deg/s,
      cmd heading: 205.777740 deg,
      new cmd heading: 205.772413 deg.

2025-10-27T00:23:15.177Z,1761524595.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591406 target range: 498.202789 and range: 500.70 m.
2025-10-27T00:23:15.308Z,1761524595.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778873
2025-10-27T00:23:15.567Z,1761524595.567 [DAT](INFO): DAT read: 00:23:16.0173 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 413, 0.01, 1.232,-0.444, 1.116, 0.776, PHS= 0.558,-1.175, 0.296, RAW= 141.9,   4.0, CAL= 141.6,   4.6, ROT=   8.4,  -4.6

2025-10-27T00:23:15.568Z,1761524595.568 [DAT](INFO): got valid direction response:
 00:23:16.0173 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 413, 0.01, 1.232,-0.444, 1.116, 0.776, PHS= 0.558,-1.175, 0.296, RAW= 141.9,   4.0, CAL= 141.6,   4.6, ROT=   8.4,  -4.6

2025-10-27T00:23:15.569Z,1761524595.569 [DAT](INFO): DAT read: Bearing 357.7,   6.1 (Local)

2025-10-27T00:23:15.570Z,1761524595.570 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,   6.1 (Local)

2025-10-27T00:23:15.572Z,1761524595.572 [DAT](INFO): DAT read: Range 11 to 50 : 498.0 m  (Round-trip  664.1 ms) speed  0.8 m/s

2025-10-27T00:23:15.572Z,1761524595.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:15.573Z,1761524595.573 [DAT](INFO): direction in FSK: [0.986086,0.145612,0.080199]
2025-10-27T00:23:15.574Z,1761524595.574 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:15.577Z,1761524595.577 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:15.577Z,1761524595.577 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:15.577Z,1761524595.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:15.602Z,1761524595.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902092,0.429045,0.046380],[-0.430991,-0.890272,-0.147183],[-0.021857,-0.152762,0.988021]]
2025-10-27T00:23:15.726Z,1761524595.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 498.000000 m,
      deltaT: 4.285340 s,
      deltaX: -2.700012 m,
      approachRate: -0.630058 m/s,
      rangeRepo size: 4

2025-10-27T00:23:15.733Z,1761524595.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 495.500305 m,
      bearing: 214.526568 deg,
      lat: 36.779446 deg,
      lon: -121.860053 deg,
      deltaT: 4.285340 s,
      deltaX: -2.702484 m,
      approachRate: -0.630635 m/s,
      posRepo size: 4

2025-10-27T00:23:15.733Z,1761524595.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:15.740Z,1761524595.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 492.526794 m,
      bearing: 214.558425 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004466 deg/s,
      cmd heading: 205.772412 deg,
      new cmd heading: 205.765016 deg.

2025-10-27T00:23:15.741Z,1761524595.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591277 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:15.813Z,1761524595.813 [DAT](INFO): DAT read: user:64>

2025-10-27T00:23:15.814Z,1761524595.814 [DAT](INFO): DAT read: Tx time:00:23:17.1991

2025-10-27T00:23:15.814Z,1761524595.814 [DAT](INFO): Ping request sent.
2025-10-27T00:23:15.814Z,1761524595.814 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:23:15.814Z,1761524595.814 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:15.815Z,1761524595.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000852
2025-10-27T00:23:15.988Z,1761524595.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902092,0.429216,0.044761],[-0.430910,-0.890295,-0.147279],[-0.023364,-0.152148,0.988082]]
2025-10-27T00:23:16.046Z,1761524596.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:16.048Z,1761524596.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:16.059Z,1761524596.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 492.320251 m,
      bearing: 214.557620 deg,
      approach rate: -0.639876 m/s,
      LOS rate: -0.002493 deg/s,
      cmd heading: 205.765022 deg,
      new cmd heading: 205.762608 deg.

2025-10-27T00:23:16.060Z,1761524596.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591235 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:16.064Z,1761524596.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249878
2025-10-27T00:23:16.318Z,1761524596.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503913
2025-10-27T00:23:16.390Z,1761524596.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902130,0.429401,0.042145],[-0.430731,-0.890593,-0.145995],[-0.025157,-0.149859,0.988387]]
2025-10-27T00:23:16.409Z,1761524596.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:16.412Z,1761524596.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 492.053741 m,
      bearing: 214.556586 deg,
      approach rate: -0.739150 m/s,
      LOS rate: -0.002872 deg/s,
      cmd heading: 205.762604 deg,
      new cmd heading: 205.759498 deg.

2025-10-27T00:23:16.413Z,1761524596.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591181 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:16.572Z,1761524596.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757681
2025-10-27T00:23:16.794Z,1761524596.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901956,0.429971,0.040001],[-0.430991,-0.890573,-0.145352],[-0.026873,-0.148342,0.988571]]
2025-10-27T00:23:16.826Z,1761524596.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011475
2025-10-27T00:23:16.830Z,1761524596.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:16.836Z,1761524596.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 491.782379 m,
      bearing: 214.555520 deg,
      approach rate: -0.644837 m/s,
      LOS rate: -0.002534 deg/s,
      cmd heading: 205.759503 deg,
      new cmd heading: 205.756305 deg.

2025-10-27T00:23:16.837Z,1761524596.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591125 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:17.076Z,1761524597.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262281
2025-10-27T00:23:17.293Z,1761524597.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901745,0.430708,0.036710],[-0.431228,-0.890431,-0.145517],[-0.029988,-0.147050,0.988674]]
2025-10-27T00:23:17.311Z,1761524597.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:17.314Z,1761524597.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 491.456268 m,
      bearing: 214.554224 deg,
      approach rate: -0.678084 m/s,
      LOS rate: -0.002696 deg/s,
      cmd heading: 205.756307 deg,
      new cmd heading: 205.752417 deg.

2025-10-27T00:23:17.314Z,1761524597.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591057 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:17.329Z,1761524597.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514381
2025-10-27T00:23:17.580Z,1761524597.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765749
2025-10-27T00:23:17.833Z,1761524597.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018736
2025-10-27T00:23:17.874Z,1761524597.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:17.877Z,1761524597.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 491.078125 m,
      bearing: 214.555493 deg,
      approach rate: -0.671553 m/s,
      LOS rate: 0.002254 deg/s,
      cmd heading: 205.752414 deg,
      new cmd heading: 205.756222 deg.

2025-10-27T00:23:17.878Z,1761524597.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591124 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:18.084Z,1761524598.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269942
2025-10-27T00:23:18.217Z,1761524598.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901156,0.432043,0.035445],[-0.432262,-0.889420,-0.148597],[-0.032675,-0.149231,0.988262]]
2025-10-27T00:23:18.234Z,1761524598.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:18.236Z,1761524598.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:18.239Z,1761524598.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 490.834991 m,
      bearing: 214.556276 deg,
      approach rate: -0.671222 m/s,
      LOS rate: 0.002162 deg/s,
      cmd heading: 205.756225 deg,
      new cmd heading: 205.758575 deg.

2025-10-27T00:23:18.240Z,1761524598.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591165 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:18.337Z,1761524598.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522704
2025-10-27T00:23:18.588Z,1761524598.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773643
2025-10-27T00:23:18.621Z,1761524598.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901049,0.432315,0.034848],[-0.432400,-0.889147,-0.149824],[-0.033786,-0.150067,0.988098]]
2025-10-27T00:23:18.650Z,1761524598.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:18.653Z,1761524598.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 490.556702 m,
      bearing: 214.557167 deg,
      approach rate: -0.672266 m/s,
      LOS rate: 0.002155 deg/s,
      cmd heading: 205.758574 deg,
      new cmd heading: 205.761251 deg.

2025-10-27T00:23:18.654Z,1761524598.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591211 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:18.840Z,1761524598.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025714
2025-10-27T00:23:19.021Z,1761524599.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900915,0.432643,0.034223],[-0.432600,-0.888906,-0.150675],[-0.034767,-0.150550,0.987991]]
2025-10-27T00:23:19.040Z,1761524599.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:19.059Z,1761524599.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 490.294983 m,
      bearing: 214.557999 deg,
      approach rate: -0.670965 m/s,
      LOS rate: 0.002135 deg/s,
      cmd heading: 205.761252 deg,
      new cmd heading: 205.763750 deg.

2025-10-27T00:23:19.060Z,1761524599.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591255 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:19.092Z,1761524599.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277996
2025-10-27T00:23:19.345Z,1761524599.345 [DAT](INFO): DAT read: Rx Time:00:23:20.2638

2025-10-27T00:23:19.345Z,1761524599.345 [DAT](INFO): Rx dataTimestamp_ set to:1761524599.344990
2025-10-27T00:23:19.347Z,1761524599.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532225
2025-10-27T00:23:19.431Z,1761524599.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900880,0.432743,0.033899],[-0.432591,-0.888633,-0.152301],[-0.035783,-0.151869,0.987753]]
2025-10-27T00:23:19.518Z,1761524599.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.50 m.
2025-10-27T00:23:19.526Z,1761524599.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.500305 m,
      nav range: 489.989594 m,
      bearing: 214.558972 deg,
      approach rate: -0.638977 m/s,
      LOS rate: 0.002035 deg/s,
      cmd heading: 205.763752 deg,
      new cmd heading: 205.766670 deg.

2025-10-27T00:23:19.526Z,1761524599.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591306 target range: 495.500305 and range: 498.00 m.
2025-10-27T00:23:19.597Z,1761524599.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782475
2025-10-27T00:23:19.854Z,1761524599.854 [DAT](INFO): DAT read: 00:23:20.2638 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 420,-0.36, 2.431, 0.998, 2.354, 2.114, PHS= 0.418,-1.072, 0.196, RAW= 142.0,   6.6, CAL= 141.7,   7.3, ROT=   8.3,  -7.3

2025-10-27T00:23:19.855Z,1761524599.855 [DAT](INFO): got valid direction response:
 00:23:20.2638 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 420,-0.36, 2.431, 0.998, 2.354, 2.114, PHS= 0.418,-1.072, 0.196, RAW= 142.0,   6.6, CAL= 141.7,   7.3, ROT=   8.3,  -7.3

2025-10-27T00:23:19.856Z,1761524599.856 [DAT](INFO): DAT read: Bearing   0.7,   4.9 (Local)

2025-10-27T00:23:19.856Z,1761524599.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,   4.9 (Local)

2025-10-27T00:23:19.857Z,1761524599.857 [DAT](INFO): DAT read: Range 11 to 50 : 495.4 m  (Round-trip  660.6 ms) speed  0.6 m/s

2025-10-27T00:23:19.858Z,1761524599.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:19.860Z,1761524599.860 [DAT](INFO): direction in FSK: [0.981505,0.143186,0.127065]
2025-10-27T00:23:19.860Z,1761524599.860 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:19.864Z,1761524599.864 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:19.864Z,1761524599.864 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:19.864Z,1761524599.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:19.896Z,1761524599.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900819,0.432778,0.035055],[-0.432677,-0.887992,-0.155758],[-0.036281,-0.155477,0.987173]]
2025-10-27T00:23:19.993Z,1761524599.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 495.399994 m,
      deltaT: 4.286699 s,
      deltaX: -2.600006 m,
      approachRate: -0.606529 m/s,
      rangeRepo size: 4

2025-10-27T00:23:19.999Z,1761524599.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 492.904541 m,
      bearing: 214.954347 deg,
      lat: 36.779446 deg,
      lon: -121.860053 deg,
      deltaT: 4.286699 s,
      deltaX: -2.595764 m,
      approachRate: -0.605539 m/s,
      posRepo size: 4

2025-10-27T00:23:19.000Z,1761524600.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:20.002Z,1761524600.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 489.670746 m,
      bearing: 214.560410 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002035 deg/s,
      cmd heading: 205.766675 deg,
      new cmd heading: 205.769570 deg.

2025-10-27T00:23:20.007Z,1761524600.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591357 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:20.100Z,1761524600.100 [DAT](INFO): DAT read: user:65>

2025-10-27T00:23:20.101Z,1761524600.101 [DAT](INFO): DAT read: Tx time:00:23:21.4991

2025-10-27T00:23:20.101Z,1761524600.101 [DAT](INFO): Ping request sent.
2025-10-27T00:23:20.101Z,1761524600.101 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:23:20.102Z,1761524600.102 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:20.102Z,1761524600.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001122
2025-10-27T00:23:20.325Z,1761524600.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900897,0.432555,0.035793],[-0.432504,-0.887751,-0.157602],[-0.036396,-0.157463,0.986854]]
2025-10-27T00:23:20.352Z,1761524600.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251168
2025-10-27T00:23:20.362Z,1761524600.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:20.364Z,1761524600.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:20.366Z,1761524600.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 489.414307 m,
      bearing: 214.561575 deg,
      approach rate: -0.689675 m/s,
      LOS rate: 0.003137 deg/s,
      cmd heading: 205.769571 deg,
      new cmd heading: 205.773070 deg.

2025-10-27T00:23:20.368Z,1761524600.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591418 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:20.604Z,1761524600.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503218
2025-10-27T00:23:20.759Z,1761524600.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:20.762Z,1761524600.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 489.151764 m,
      bearing: 214.562770 deg,
      approach rate: -0.664958 m/s,
      LOS rate: 0.003027 deg/s,
      cmd heading: 205.773068 deg,
      new cmd heading: 205.776654 deg.

2025-10-27T00:23:20.762Z,1761524600.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591480 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:20.857Z,1761524600.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755433
2025-10-27T00:23:21.108Z,1761524601.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006761
2025-10-27T00:23:21.126Z,1761524601.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901083,0.432162,0.035848],[-0.432086,-0.887762,-0.158681],[-0.036752,-0.158474,0.986679]]
2025-10-27T00:23:21.160Z,1761524601.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:21.162Z,1761524601.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 488.896637 m,
      bearing: 214.563947 deg,
      approach rate: -0.636038 m/s,
      LOS rate: 0.002935 deg/s,
      cmd heading: 205.776647 deg,
      new cmd heading: 205.780180 deg.

2025-10-27T00:23:21.164Z,1761524601.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591542 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:21.360Z,1761524601.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258822
2025-10-27T00:23:21.538Z,1761524601.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901453,0.431380,0.035961],[-0.431373,-0.888301,-0.157603],[-0.036043,-0.157585,0.986847]]
2025-10-27T00:23:21.594Z,1761524601.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:21.601Z,1761524601.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 488.606323 m,
      bearing: 214.564106 deg,
      approach rate: -0.668342 m/s,
      LOS rate: 0.000368 deg/s,
      cmd heading: 205.780185 deg,
      new cmd heading: 205.780664 deg.

2025-10-27T00:23:21.602Z,1761524601.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591550 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:21.612Z,1761524601.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511007
2025-10-27T00:23:21.864Z,1761524601.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763103
2025-10-27T00:23:21.939Z,1761524601.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902044,0.430149,0.035903],[-0.430212,-0.889163,-0.155906],[-0.035139,-0.156080,0.987119]]
2025-10-27T00:23:21.969Z,1761524601.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:21.975Z,1761524601.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 488.348297 m,
      bearing: 214.564285 deg,
      approach rate: -0.689327 m/s,
      LOS rate: 0.000477 deg/s,
      cmd heading: 205.780663 deg,
      new cmd heading: 205.781199 deg.

2025-10-27T00:23:21.976Z,1761524601.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591559 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:22.116Z,1761524602.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014808
2025-10-27T00:23:22.351Z,1761524602.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902398,0.429336,0.036723],[-0.429536,-0.889477,-0.155979],[-0.034303,-0.156529,0.987077]]
2025-10-27T00:23:22.368Z,1761524602.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266871
2025-10-27T00:23:22.369Z,1761524602.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:22.371Z,1761524602.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:22.374Z,1761524602.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 488.069855 m,
      bearing: 214.564504 deg,
      approach rate: -0.691152 m/s,
      LOS rate: 0.000545 deg/s,
      cmd heading: 205.781196 deg,
      new cmd heading: 205.781854 deg.

2025-10-27T00:23:22.375Z,1761524602.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591571 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:22.620Z,1761524602.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519173
2025-10-27T00:23:22.747Z,1761524602.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902728,0.428559,0.037673],[-0.428903,-0.889698,-0.156457],[-0.033533,-0.157397,0.986966]]
2025-10-27T00:23:22.765Z,1761524602.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:22.768Z,1761524602.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 487.802673 m,
      bearing: 214.564740 deg,
      approach rate: -0.678353 m/s,
      LOS rate: 0.000598 deg/s,
      cmd heading: 205.781852 deg,
      new cmd heading: 205.782559 deg.

2025-10-27T00:23:22.769Z,1761524602.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591583 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:22.872Z,1761524602.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770933
2025-10-27T00:23:23.124Z,1761524603.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022705
2025-10-27T00:23:23.196Z,1761524603.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:23.199Z,1761524603.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 487.520233 m,
      bearing: 214.564989 deg,
      approach rate: -0.655324 m/s,
      LOS rate: 0.000579 deg/s,
      cmd heading: 205.782562 deg,
      new cmd heading: 205.783310 deg.

2025-10-27T00:23:23.200Z,1761524603.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591596 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:23.376Z,1761524603.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274738
2025-10-27T00:23:23.607Z,1761524603.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903639,0.426635,0.037680],[-0.427006,-0.890604,-0.156493],[-0.033208,-0.157503,0.986960]]
2025-10-27T00:23:23.636Z,1761524603.636 [DAT](INFO): DAT read: 00:23:24.5598 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 400, 0.10, 2.470, 0.793, 2.428, 2.065, PHS= 0.508,-1.226, 0.320, RAW= 144.3,   4.9, CAL= 143.9,   5.4, ROT=   6.1,  -5.4

2025-10-27T00:23:23.637Z,1761524603.637 [DAT](INFO): got valid direction response:
 00:23:24.5598 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 400, 0.10, 2.470, 0.793, 2.428, 2.065, PHS= 0.508,-1.226, 0.320, RAW= 144.3,   4.9, CAL= 143.9,   5.4, ROT=   6.1,  -5.4

2025-10-27T00:23:23.638Z,1761524603.638 [DAT](INFO): DAT read: Rx Time:00:23:24.5598

2025-10-27T00:23:23.638Z,1761524603.638 [DAT](INFO): Rx dataTimestamp_ set to:1761524603.637951
2025-10-27T00:23:23.639Z,1761524603.639 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-27T00:23:23.639Z,1761524603.639 [DAT](INFO): Received low SNR in chirp
2025-10-27T00:23:23.666Z,1761524603.666 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:23:23.667Z,1761524603.667 [DAT](INFO): direction in FSK: [0.989925,0.105792,0.094108]
2025-10-27T00:23:23.670Z,1761524603.670 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:23.670Z,1761524603.670 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:23.670Z,1761524603.670 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:23.724Z,1761524603.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:23.726Z,1761524603.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 487.202179 m,
      bearing: 214.563891 deg,
      approach rate: -0.603150 m/s,
      LOS rate: -0.002084 deg/s,
      cmd heading: 205.783313 deg,
      new cmd heading: 205.780017 deg.

2025-10-27T00:23:23.731Z,1761524603.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591539 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:23.880Z,1761524603.880 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:23.880Z,1761524603.880 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:23.880Z,1761524603.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:24.055Z,1761524604.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904768,0.424205,0.038009],[-0.424577,-0.891310,-0.159066],[-0.033598,-0.160055,0.986536]]
2025-10-27T00:23:24.073Z,1761524604.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:24.076Z,1761524604.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 486.923584 m,
      bearing: 214.563021 deg,
      approach rate: -0.797492 m/s,
      LOS rate: -0.002492 deg/s,
      cmd heading: 205.780021 deg,
      new cmd heading: 205.777410 deg.

2025-10-27T00:23:24.077Z,1761524604.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591493 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:24.133Z,1761524604.133 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:24.133Z,1761524604.133 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:24.133Z,1761524604.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:24.384Z,1761524604.384 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:24.384Z,1761524604.384 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:24.384Z,1761524604.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:24.445Z,1761524604.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904968,0.423813,0.037627],[-0.424110,-0.891431,-0.159631],[-0.034112,-0.160419,0.986459]]
2025-10-27T00:23:24.477Z,1761524604.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:24.483Z,1761524604.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:24.486Z,1761524604.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 486.662384 m,
      bearing: 214.562220 deg,
      approach rate: -0.643790 m/s,
      LOS rate: -0.001974 deg/s,
      cmd heading: 205.777412 deg,
      new cmd heading: 205.775009 deg.

2025-10-27T00:23:24.486Z,1761524604.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591451 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:24.636Z,1761524604.636 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:24.636Z,1761524604.636 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:24.636Z,1761524604.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:24.853Z,1761524604.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905298,0.423257,0.035903],[-0.423356,-0.892132,-0.157701],[-0.034718,-0.157966,0.986834]]
2025-10-27T00:23:24.870Z,1761524604.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:24.873Z,1761524604.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 486.388672 m,
      bearing: 214.561401 deg,
      approach rate: -0.699250 m/s,
      LOS rate: -0.002093 deg/s,
      cmd heading: 205.775008 deg,
      new cmd heading: 205.772550 deg.

2025-10-27T00:23:24.874Z,1761524604.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591408 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:24.888Z,1761524604.888 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:24.888Z,1761524604.888 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:24.888Z,1761524604.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:25.140Z,1761524605.140 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:25.140Z,1761524605.140 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:25.140Z,1761524605.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:25.250Z,1761524605.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905614,0.422687,0.034623],[-0.422630,-0.892656,-0.156683],[-0.035321,-0.156527,0.987042]]
2025-10-27T00:23:25.284Z,1761524605.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:25.291Z,1761524605.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 486.121460 m,
      bearing: 214.560623 deg,
      approach rate: -0.645073 m/s,
      LOS rate: -0.001880 deg/s,
      cmd heading: 205.772549 deg,
      new cmd heading: 205.770212 deg.

2025-10-27T00:23:25.292Z,1761524605.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591368 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:25.393Z,1761524605.393 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:25.393Z,1761524605.393 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:25.393Z,1761524605.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:25.644Z,1761524605.644 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:25.644Z,1761524605.644 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:25.644Z,1761524605.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:25.668Z,1761524605.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905562,0.422854,0.033955],[-0.422663,-0.892516,-0.157390],[-0.036248,-0.156878,0.986953]]
2025-10-27T00:23:25.732Z,1761524605.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:25.739Z,1761524605.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 485.819000 m,
      bearing: 214.560125 deg,
      approach rate: -0.674980 m/s,
      LOS rate: -0.001113 deg/s,
      cmd heading: 205.770213 deg,
      new cmd heading: 205.768718 deg.

2025-10-27T00:23:25.744Z,1761524605.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591342 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:25.896Z,1761524605.896 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:25.896Z,1761524605.896 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:25.896Z,1761524605.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:26.095Z,1761524606.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:26.097Z,1761524606.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 485.572571 m,
      bearing: 214.559718 deg,
      approach rate: -0.680616 m/s,
      LOS rate: -0.001123 deg/s,
      cmd heading: 205.768724 deg,
      new cmd heading: 205.767504 deg.

2025-10-27T00:23:26.098Z,1761524606.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591321 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:26.148Z,1761524606.148 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:26.149Z,1761524606.149 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:26.149Z,1761524606.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:26.401Z,1761524606.401 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:26.401Z,1761524606.401 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:26.401Z,1761524606.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:26.464Z,1761524606.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905540,0.422995,0.032761],[-0.422537,-0.892212,-0.159437],[-0.038212,-0.158220,0.986664]]
2025-10-27T00:23:26.480Z,1761524606.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:26.482Z,1761524606.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:26.485Z,1761524606.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 485.315338 m,
      bearing: 214.559297 deg,
      approach rate: -0.663450 m/s,
      LOS rate: -0.001086 deg/s,
      cmd heading: 205.767508 deg,
      new cmd heading: 205.766246 deg.

2025-10-27T00:23:26.486Z,1761524606.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591299 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:26.652Z,1761524606.652 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:26.652Z,1761524606.652 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:26.652Z,1761524606.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:26.866Z,1761524606.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905244,0.423627,0.032773],[-0.423087,-0.891609,-0.161343],[-0.039129,-0.159920,0.986354]]
2025-10-27T00:23:26.892Z,1761524606.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:26.895Z,1761524606.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 485.042694 m,
      bearing: 214.558833 deg,
      approach rate: -0.664789 m/s,
      LOS rate: -0.001134 deg/s,
      cmd heading: 205.766252 deg,
      new cmd heading: 205.764857 deg.

2025-10-27T00:23:26.896Z,1761524606.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591274 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:26.904Z,1761524606.904 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:26.904Z,1761524606.904 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:26.904Z,1761524606.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:27.156Z,1761524607.156 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:27.156Z,1761524607.156 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:27.156Z,1761524607.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:27.270Z,1761524607.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904840,0.424550,0.031965],[-0.423887,-0.891316,-0.160859],[-0.039802,-0.159102,0.986460]]
2025-10-27T00:23:27.320Z,1761524607.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:27.326Z,1761524607.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 484.775574 m,
      bearing: 214.558347 deg,
      approach rate: -0.626148 m/s,
      LOS rate: -0.001138 deg/s,
      cmd heading: 205.764858 deg,
      new cmd heading: 205.763401 deg.

2025-10-27T00:23:27.329Z,1761524607.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591249 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:27.408Z,1761524607.408 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:27.408Z,1761524607.408 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:27.408Z,1761524607.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:27.660Z,1761524607.660 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:27.660Z,1761524607.660 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:27.660Z,1761524607.660 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:27.696Z,1761524607.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904601,0.425243,0.029426],[-0.424342,-0.891844,-0.156680],[-0.040384,-0.154220,0.987211]]
2025-10-27T00:23:27.744Z,1761524607.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:27.746Z,1761524607.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 484.480011 m,
      bearing: 214.558832 deg,
      approach rate: -0.695866 m/s,
      LOS rate: 0.001141 deg/s,
      cmd heading: 205.763397 deg,
      new cmd heading: 205.764851 deg.

2025-10-27T00:23:27.747Z,1761524607.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591274 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:27.912Z,1761524607.912 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:27.912Z,1761524607.912 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:27.912Z,1761524607.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:28.078Z,1761524608.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904225,0.426150,0.027826],[-0.425083,-0.891877,-0.154468],[-0.041010,-0.151502,0.987606]]
2025-10-27T00:23:28.095Z,1761524608.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:28.098Z,1761524608.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 484.247406 m,
      bearing: 214.559187 deg,
      approach rate: -0.661802 m/s,
      LOS rate: 0.001010 deg/s,
      cmd heading: 205.764845 deg,
      new cmd heading: 205.765910 deg.

2025-10-27T00:23:28.115Z,1761524608.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591293 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:28.164Z,1761524608.164 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:28.165Z,1761524608.165 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:28.165Z,1761524608.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:28.416Z,1761524608.416 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:28.416Z,1761524608.416 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:28.416Z,1761524608.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:28.482Z,1761524608.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904102,0.426482,0.026692],[-0.425296,-0.892003,-0.153146],[-0.041504,-0.149812,0.987843]]
2025-10-27T00:23:28.510Z,1761524608.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:28.512Z,1761524608.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:28.514Z,1761524608.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 483.973053 m,
      bearing: 214.559595 deg,
      approach rate: -0.658426 m/s,
      LOS rate: 0.000980 deg/s,
      cmd heading: 205.765910 deg,
      new cmd heading: 205.767135 deg.

2025-10-27T00:23:28.516Z,1761524608.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591314 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:28.668Z,1761524608.668 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:28.668Z,1761524608.668 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:28.668Z,1761524608.668 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:28.887Z,1761524608.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903809,0.427069,0.027225],[-0.425875,-0.891399,-0.155044],[-0.041946,-0.151725,0.987532]]
2025-10-27T00:23:28.905Z,1761524608.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:28.908Z,1761524608.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 483.713593 m,
      bearing: 214.559964 deg,
      approach rate: -0.660149 m/s,
      LOS rate: 0.000940 deg/s,
      cmd heading: 205.767140 deg,
      new cmd heading: 205.768248 deg.

2025-10-27T00:23:28.909Z,1761524608.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591333 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:28.920Z,1761524608.920 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:28.920Z,1761524608.920 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:28.920Z,1761524608.920 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:29.172Z,1761524609.172 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:29.172Z,1761524609.172 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:29.172Z,1761524609.172 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:29.289Z,1761524609.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903675,0.427269,0.028498],[-0.426136,-0.890733,-0.158124],[-0.042177,-0.155037,0.987008]]
2025-10-27T00:23:29.348Z,1761524609.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:29.355Z,1761524609.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 483.425507 m,
      bearing: 214.560370 deg,
      approach rate: -0.650022 m/s,
      LOS rate: 0.000916 deg/s,
      cmd heading: 205.768246 deg,
      new cmd heading: 205.769464 deg.

2025-10-27T00:23:29.356Z,1761524609.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591355 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:29.426Z,1761524609.426 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:29.427Z,1761524609.427 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:29.427Z,1761524609.427 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:29.676Z,1761524609.676 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:29.676Z,1761524609.676 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:29.676Z,1761524609.676 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:29.720Z,1761524609.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903537,0.427470,0.029836],[-0.426400,-0.890005,-0.161473],[-0.042471,-0.158619,0.986426]]
2025-10-27T00:23:29.763Z,1761524609.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:29.766Z,1761524609.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 483.143585 m,
      bearing: 214.560850 deg,
      approach rate: -0.679402 m/s,
      LOS rate: 0.001157 deg/s,
      cmd heading: 205.769462 deg,
      new cmd heading: 205.770903 deg.

2025-10-27T00:23:29.767Z,1761524609.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591380 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:29.928Z,1761524609.928 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:29.928Z,1761524609.928 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:29.928Z,1761524609.928 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:23:30.098Z,1761524610.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903496,0.427552,0.029913],[-0.426457,-0.889827,-0.162301],[-0.042775,-0.159395,0.986288]]
2025-10-27T00:23:30.116Z,1761524610.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:30.118Z,1761524610.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 482.907440 m,
      bearing: 214.561252 deg,
      approach rate: -0.669507 m/s,
      LOS rate: 0.001141 deg/s,
      cmd heading: 205.770896 deg,
      new cmd heading: 205.772103 deg.

2025-10-27T00:23:30.120Z,1761524610.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591401 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:30.180Z,1761524610.180 [DAT](INFO): Reached modem response timeout
2025-10-27T00:23:30.181Z,1761524610.181 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:30.181Z,1761524610.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:30.434Z,1761524610.434 [DAT](INFO): DAT read: 

2025-10-27T00:23:30.437Z,1761524610.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:30.503Z,1761524610.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903602,0.427332,0.029834],[-0.426231,-0.889946,-0.162242],[-0.042781,-0.159318,0.986300]]
2025-10-27T00:23:30.525Z,1761524610.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:30.527Z,1761524610.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:30.530Z,1761524610.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 482.632477 m,
      bearing: 214.561729 deg,
      approach rate: -0.668547 m/s,
      LOS rate: 0.001160 deg/s,
      cmd heading: 205.772098 deg,
      new cmd heading: 205.773529 deg.

2025-10-27T00:23:30.531Z,1761524610.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591426 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:30.684Z,1761524610.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:30.905Z,1761524610.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903779,0.426944,0.030034],[-0.425854,-0.890016,-0.162851],[-0.042797,-0.159971,0.986193]]
2025-10-27T00:23:30.923Z,1761524610.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:30.926Z,1761524610.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 482.367004 m,
      bearing: 214.562205 deg,
      approach rate: -0.670312 m/s,
      LOS rate: 0.001202 deg/s,
      cmd heading: 205.773533 deg,
      new cmd heading: 205.774960 deg.

2025-10-27T00:23:30.927Z,1761524610.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591451 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:30.936Z,1761524610.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:31.188Z,1761524611.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:31.329Z,1761524611.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903897,0.426670,0.030375],[-0.425620,-0.890050,-0.163276],[-0.042630,-0.160513,0.986113]]
2025-10-27T00:23:31.348Z,1761524611.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:31.350Z,1761524611.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 482.083038 m,
      bearing: 214.562724 deg,
      approach rate: -0.668988 m/s,
      LOS rate: 0.001225 deg/s,
      cmd heading: 205.774967 deg,
      new cmd heading: 205.776527 deg.

2025-10-27T00:23:31.351Z,1761524611.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591478 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:31.442Z,1761524611.442 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:31.623Z,1761524611.623 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:23:31.692Z,1761524611.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:31.722Z,1761524611.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903997,0.426497,0.029837],[-0.425417,-0.890373,-0.162040],[-0.042543,-0.159177,0.986333]]
2025-10-27T00:23:31.758Z,1761524611.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:31.761Z,1761524611.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 481.803864 m,
      bearing: 214.561820 deg,
      approach rate: -0.680609 m/s,
      LOS rate: -0.002206 deg/s,
      cmd heading: 205.776524 deg,
      new cmd heading: 205.773809 deg.

2025-10-27T00:23:31.762Z,1761524611.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591430 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:31.944Z,1761524611.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:32.128Z,1761524612.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904146,0.426243,0.028942],[-0.425092,-0.890807,-0.160500],[-0.042630,-0.157419,0.986611]]
2025-10-27T00:23:32.146Z,1761524612.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:32.149Z,1761524612.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 481.539490 m,
      bearing: 214.560969 deg,
      approach rate: -0.681218 m/s,
      LOS rate: -0.002194 deg/s,
      cmd heading: 205.773806 deg,
      new cmd heading: 205.771251 deg.

2025-10-27T00:23:32.150Z,1761524612.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591386 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:32.196Z,1761524612.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:32.449Z,1761524612.449 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:23:32.449Z,1761524612.449 [DAT](INFO): response not received
2025-10-27T00:23:32.450Z,1761524612.450 [DAT](INFO): DAT read: user:67>Tx time:00:23:33.9491

2025-10-27T00:23:32.450Z,1761524612.450 [DAT](ERROR): No response from remote modem.
2025-10-27T00:23:32.450Z,1761524612.450 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:32.451Z,1761524612.451 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:32.527Z,1761524612.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904428,0.425670,0.028547],[-0.424472,-0.891129,-0.160349],[-0.042817,-0.157142,0.986647]]
2025-10-27T00:23:32.548Z,1761524612.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:32.550Z,1761524612.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:32.552Z,1761524612.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 481.264832 m,
      bearing: 214.560105 deg,
      approach rate: -0.680260 m/s,
      LOS rate: -0.002141 deg/s,
      cmd heading: 205.771251 deg,
      new cmd heading: 205.768658 deg.

2025-10-27T00:23:32.553Z,1761524612.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591341 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:32.629Z,1761524612.629 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:23:32.700Z,1761524612.700 [DAT](INFO): DAT read: 

2025-10-27T00:23:32.701Z,1761524612.701 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:32.930Z,1761524612.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904276,0.426057,0.027579],[-0.424729,-0.891119,-0.159723],[-0.043475,-0.156147,0.986777]]
2025-10-27T00:23:32.951Z,1761524612.951 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:32.965Z,1761524612.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:32.968Z,1761524612.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 480.981659 m,
      bearing: 214.559200 deg,
      approach rate: -0.681560 m/s,
      LOS rate: -0.002180 deg/s,
      cmd heading: 205.768656 deg,
      new cmd heading: 205.765939 deg.

2025-10-27T00:23:32.969Z,1761524612.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591293 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:33.204Z,1761524613.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:33.340Z,1761524613.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904274,0.426192,0.025448],[-0.424662,-0.891661,-0.156855],[-0.044159,-0.152646,0.987294]]
2025-10-27T00:23:33.358Z,1761524613.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:33.377Z,1761524613.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 480.714325 m,
      bearing: 214.558336 deg,
      approach rate: -0.679755 m/s,
      LOS rate: -0.002197 deg/s,
      cmd heading: 205.765937 deg,
      new cmd heading: 205.763345 deg.

2025-10-27T00:23:33.378Z,1761524613.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591248 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:33.459Z,1761524613.459 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:33.708Z,1761524613.708 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:33.738Z,1761524613.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904221,0.426413,0.023589],[-0.424697,-0.892025,-0.154672],[-0.044912,-0.149876,0.987684]]
2025-10-27T00:23:33.783Z,1761524613.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:33.785Z,1761524613.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 480.423584 m,
      bearing: 214.556980 deg,
      approach rate: -0.685429 m/s,
      LOS rate: -0.003200 deg/s,
      cmd heading: 205.763342 deg,
      new cmd heading: 205.759270 deg.

2025-10-27T00:23:33.786Z,1761524613.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591177 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:33.960Z,1761524613.960 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:34.147Z,1761524614.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904447,0.426051,0.021374],[-0.424140,-0.892772,-0.151868],[-0.045621,-0.146422,0.988170]]
2025-10-27T00:23:34.165Z,1761524614.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:34.168Z,1761524614.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 480.161591 m,
      bearing: 214.555770 deg,
      approach rate: -0.684861 m/s,
      LOS rate: -0.003163 deg/s,
      cmd heading: 205.759271 deg,
      new cmd heading: 205.755641 deg.

2025-10-27T00:23:34.169Z,1761524614.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591113 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:34.212Z,1761524614.212 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:34.464Z,1761524614.464 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:34.545Z,1761524614.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904311,0.426393,0.020274],[-0.424342,-0.892763,-0.151356],[-0.046438,-0.145476,0.988271]]
2025-10-27T00:23:34.562Z,1761524614.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:34.564Z,1761524614.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:34.567Z,1761524614.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 479.888885 m,
      bearing: 214.554500 deg,
      approach rate: -0.682895 m/s,
      LOS rate: -0.003182 deg/s,
      cmd heading: 205.755638 deg,
      new cmd heading: 205.751825 deg.

2025-10-27T00:23:34.568Z,1761524614.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591047 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:34.716Z,1761524614.716 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:34.949Z,1761524614.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904216,0.426611,0.019918],[-0.424490,-0.892639,-0.151669],[-0.046924,-0.145596,0.988231]]
2025-10-27T00:23:34.968Z,1761524614.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:34.976Z,1761524614.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:34.978Z,1761524614.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 479.608185 m,
      bearing: 214.553185 deg,
      approach rate: -0.683281 m/s,
      LOS rate: -0.003202 deg/s,
      cmd heading: 205.751826 deg,
      new cmd heading: 205.747880 deg.

2025-10-27T00:23:34.979Z,1761524614.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590978 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:35.223Z,1761524615.223 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:35.357Z,1761524615.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904290,0.426374,0.021554],[-0.424346,-0.892162,-0.154844],[-0.046792,-0.149170,0.987704]]
2025-10-27T00:23:35.375Z,1761524615.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:35.378Z,1761524615.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 479.333649 m,
      bearing: 214.551908 deg,
      approach rate: -0.687346 m/s,
      LOS rate: -0.003200 deg/s,
      cmd heading: 205.747878 deg,
      new cmd heading: 205.744044 deg.

2025-10-27T00:23:35.379Z,1761524615.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590911 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:35.474Z,1761524615.474 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:35.724Z,1761524615.724 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:35.762Z,1761524615.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904172,0.426616,0.021739],[-0.424583,-0.891943,-0.155457],[-0.046931,-0.149789,0.987603]]
2025-10-27T00:23:35.832Z,1761524615.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:35.839Z,1761524615.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 479.049316 m,
      bearing: 214.552131 deg,
      approach rate: -0.621406 m/s,
      LOS rate: 0.000488 deg/s,
      cmd heading: 205.744040 deg,
      new cmd heading: 205.744710 deg.

2025-10-27T00:23:35.840Z,1761524615.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590923 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:35.978Z,1761524615.978 [DAT](INFO): DAT read: Rx Time:00:23:36.9993

2025-10-27T00:23:35.978Z,1761524615.978 [DAT](INFO): Rx dataTimestamp_ set to:1761524615.977741
2025-10-27T00:23:35.978Z,1761524615.978 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:36.212Z,1761524616.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:36.214Z,1761524616.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 478.781494 m,
      bearing: 214.552342 deg,
      approach rate: -0.705562 m/s,
      LOS rate: 0.000555 deg/s,
      cmd heading: 205.744709 deg,
      new cmd heading: 205.745341 deg.

2025-10-27T00:23:36.215Z,1761524616.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590934 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:36.228Z,1761524616.228 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:36.480Z,1761524616.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:36.573Z,1761524616.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904202,0.426441,0.023792],[-0.424512,-0.891189,-0.159913],[-0.046991,-0.154694,0.986844]]
2025-10-27T00:23:36.608Z,1761524616.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:36.610Z,1761524616.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.90 m.
2025-10-27T00:23:36.612Z,1761524616.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 492.904541 m,
      nav range: 478.530914 m,
      bearing: 214.552541 deg,
      approach rate: -0.629816 m/s,
      LOS rate: 0.000501 deg/s,
      cmd heading: 205.745338 deg,
      new cmd heading: 205.745935 deg.

2025-10-27T00:23:36.613Z,1761524616.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590944 target range: 492.904541 and range: 495.40 m.
2025-10-27T00:23:36.749Z,1761524616.749 [DAT](INFO): DAT read: 00:23:36.9993 LVL= 29296, 32753, 32754, 32755, AGC= 80, IDX= 340,-0.33,-3.013, 1.708, 3.130, 2.891, PHS= 0.482,-1.137, 0.195, RAW= 140.5,   6.2, CAL= 140.1,   6.9, ROT=   9.9,  -6.9

2025-10-27T00:23:36.750Z,1761524616.750 [DAT](INFO): got valid direction response:
 00:23:36.9993 LVL= 29296, 32753, 32754, 32755, AGC= 80, IDX= 340,-0.33,-3.013, 1.708, 3.130, 2.891, PHS= 0.482,-1.137, 0.195, RAW= 140.5,   6.2, CAL= 140.1,   6.9, ROT=   9.9,  -6.9

2025-10-27T00:23:36.759Z,1761524616.759 [DAT](INFO): DAT read: Bearing 359.7,   5.8 (Local)

2025-10-27T00:23:36.759Z,1761524616.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,   5.8 (Local)

2025-10-27T00:23:36.761Z,1761524616.761 [DAT](INFO): DAT read: Range 11 to 50 : 484.5 m  (Round-trip  646.0 ms) speed  0.8 m/s

2025-10-27T00:23:36.762Z,1761524616.762 [DAT](INFO): DAT read: user:68>Tx time:00:23:38.0991

2025-10-27T00:23:36.762Z,1761524616.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:36.768Z,1761524616.768 [DAT](INFO): direction in FSK: [0.977975,0.170684,0.120137]
2025-10-27T00:23:36.769Z,1761524616.769 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:36.799Z,1761524616.799 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:36.808Z,1761524616.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:36.979Z,1761524616.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904186,0.426395,0.025182],[-0.424578,-0.890758,-0.162121],[-0.046697,-0.157279,0.986450]]
2025-10-27T00:23:36.984Z,1761524616.984 [DAT](INFO): DAT read: 

2025-10-27T00:23:36.984Z,1761524616.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:37.008Z,1761524617.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 484.500000 m,
      deltaT: 16.883633 s,
      deltaX: -10.899994 m,
      approachRate: -0.645595 m/s,
      rangeRepo size: 4

2025-10-27T00:23:37.010Z,1761524617.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 482.093079 m,
      bearing: 215.970105 deg,
      lat: 36.779446 deg,
      lon: -121.860067 deg,
      deltaT: 16.883633 s,
      deltaX: -10.811462 m,
      approachRate: -0.640352 m/s,
      posRepo size: 4

2025-10-27T00:23:37.010Z,1761524617.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:37.013Z,1761524617.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 478.997406 m,
      bearing: 214.680504 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000501 deg/s,
      cmd heading: 205.745939 deg,
      new cmd heading: 205.746535 deg.

2025-10-27T00:23:37.014Z,1761524617.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590955 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:37.236Z,1761524617.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:37.382Z,1761524617.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903957,0.426811,0.026340],[-0.425070,-0.890132,-0.164260],[-0.046662,-0.159680,0.986065]]
2025-10-27T00:23:37.401Z,1761524617.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:37.403Z,1761524617.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 478.734375 m,
      bearing: 214.680764 deg,
      approach rate: -0.667182 m/s,
      LOS rate: 0.000660 deg/s,
      cmd heading: 205.746540 deg,
      new cmd heading: 205.747320 deg.

2025-10-27T00:23:37.404Z,1761524617.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590968 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:37.490Z,1761524617.490 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:37.740Z,1761524617.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:37.842Z,1761524617.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:37.861Z,1761524617.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 478.447327 m,
      bearing: 214.683084 deg,
      approach rate: -0.650560 m/s,
      LOS rate: 0.005260 deg/s,
      cmd heading: 205.747318 deg,
      new cmd heading: 205.754281 deg.

2025-10-27T00:23:37.861Z,1761524617.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591090 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:37.992Z,1761524617.992 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:38.190Z,1761524618.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902618,0.429607,0.026797],[-0.427871,-0.888691,-0.164789],[-0.046981,-0.160207,0.985965]]
2025-10-27T00:23:38.208Z,1761524618.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:38.210Z,1761524618.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 478.209259 m,
      bearing: 214.684921 deg,
      approach rate: -0.650538 m/s,
      LOS rate: 0.005022 deg/s,
      cmd heading: 205.754285 deg,
      new cmd heading: 205.759799 deg.

2025-10-27T00:23:38.211Z,1761524618.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591186 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:38.244Z,1761524618.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:38.496Z,1761524618.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:38.593Z,1761524618.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901634,0.431678,0.026638],[-0.429869,-0.887667,-0.165105],[-0.047627,-0.160315,0.985916]]
2025-10-27T00:23:38.620Z,1761524618.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:38.622Z,1761524618.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:38.624Z,1761524618.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 477.940155 m,
      bearing: 214.686927 deg,
      approach rate: -0.650121 m/s,
      LOS rate: 0.004850 deg/s,
      cmd heading: 205.759804 deg,
      new cmd heading: 205.765827 deg.

2025-10-27T00:23:38.625Z,1761524618.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591291 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:38.748Z,1761524618.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:38.000Z,1761524619.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:39.031Z,1761524619.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:39.034Z,1761524619.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 477.673737 m,
      bearing: 214.688916 deg,
      approach rate: -0.651205 m/s,
      LOS rate: 0.004864 deg/s,
      cmd heading: 205.765828 deg,
      new cmd heading: 205.771798 deg.

2025-10-27T00:23:39.034Z,1761524619.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591395 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:39.252Z,1761524619.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:39.403Z,1761524619.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899858,0.435480,0.024759],[-0.433512,-0.886633,-0.161088],[-0.048199,-0.155690,0.986629]]
2025-10-27T00:23:39.437Z,1761524619.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:39.444Z,1761524619.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 477.409302 m,
      bearing: 214.690760 deg,
      approach rate: -0.650654 m/s,
      LOS rate: 0.004540 deg/s,
      cmd heading: 205.771798 deg,
      new cmd heading: 205.777333 deg.

2025-10-27T00:23:39.449Z,1761524619.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591492 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:39.506Z,1761524619.506 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:39.756Z,1761524619.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:39.826Z,1761524619.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899453,0.436303,0.024973],[-0.434341,-0.886171,-0.161398],[-0.048288,-0.156016,0.986573]]
2025-10-27T00:23:39.869Z,1761524619.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:39.872Z,1761524619.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 477.132538 m,
      bearing: 214.692837 deg,
      approach rate: -0.641333 m/s,
      LOS rate: 0.004815 deg/s,
      cmd heading: 205.777330 deg,
      new cmd heading: 205.783564 deg.

2025-10-27T00:23:39.872Z,1761524619.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591601 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:40.008Z,1761524620.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:40.260Z,1761524620.260 [DAT](INFO): DAT read: Rx Time:00:23:41.1456

2025-10-27T00:23:40.261Z,1761524620.261 [DAT](INFO): Rx dataTimestamp_ set to:1761524620.260304
2025-10-27T00:23:40.261Z,1761524620.261 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:40.288Z,1761524620.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:40.301Z,1761524620.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 476.879822 m,
      bearing: 214.694736 deg,
      approach rate: -0.610315 m/s,
      LOS rate: 0.004588 deg/s,
      cmd heading: 205.783559 deg,
      new cmd heading: 205.789258 deg.

2025-10-27T00:23:40.302Z,1761524620.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591700 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:40.512Z,1761524620.512 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:40.696Z,1761524620.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898353,0.438569,0.024886],[-0.436593,-0.885185,-0.160733],[-0.048464,-0.155260,0.986684]]
2025-10-27T00:23:40.729Z,1761524620.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:40.739Z,1761524620.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.09 m.
2025-10-27T00:23:40.742Z,1761524620.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.093079 m,
      nav range: 476.579681 m,
      bearing: 214.696900 deg,
      approach rate: -0.669379 m/s,
      LOS rate: 0.004830 deg/s,
      cmd heading: 205.789256 deg,
      new cmd heading: 205.795753 deg.

2025-10-27T00:23:40.751Z,1761524620.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591814 target range: 482.093079 and range: 484.50 m.
2025-10-27T00:23:40.770Z,1761524620.770 [DAT](INFO): DAT read: 00:23:41.1456 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 398, 0.26,-1.934, 2.760,-2.056,-2.272, PHS= 0.439,-1.206, 0.171, RAW= 141.3,   7.8, CAL= 140.9,   8.6, ROT=   9.1,  -8.6

2025-10-27T00:23:40.771Z,1761524620.771 [DAT](INFO): got valid direction response:
 00:23:41.1456 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 398, 0.26,-1.934, 2.760,-2.056,-2.272, PHS= 0.439,-1.206, 0.171, RAW= 141.3,   7.8, CAL= 140.9,   8.6, ROT=   9.1,  -8.6

2025-10-27T00:23:40.772Z,1761524620.772 [DAT](INFO): DAT read: Bearing   1.3,   4.7 (Local)

2025-10-27T00:23:40.773Z,1761524620.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,   4.7 (Local)

2025-10-27T00:23:40.774Z,1761524620.774 [DAT](INFO): DAT read: Range 11 to 50 : 481.7 m  (Round-trip  642.3 ms) speed  0.4 m/s

2025-10-27T00:23:40.780Z,1761524620.780 [DAT](INFO): DAT read: user:69>Tx time:00:23:42.2491

2025-10-27T00:23:40.781Z,1761524620.781 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:40.815Z,1761524620.815 [DAT](INFO): direction in FSK: [0.976312,0.156380,0.149535]
2025-10-27T00:23:40.816Z,1761524620.816 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:40.831Z,1761524620.831 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:40.831Z,1761524620.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:41.016Z,1761524621.016 [DAT](INFO): DAT read: 

2025-10-27T00:23:41.017Z,1761524621.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:41.116Z,1761524621.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898103,0.439070,0.025059],[-0.437120,-0.884949,-0.160596],[-0.048337,-0.155185,0.986702]]
2025-10-27T00:23:41.139Z,1761524621.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 481.700012 m,
      deltaT: 4.032411 s,
      deltaX: -2.799988 m,
      approachRate: -0.694371 m/s,
      rangeRepo size: 4

2025-10-27T00:23:41.141Z,1761524621.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 479.294067 m,
      bearing: 216.219581 deg,
      lat: 36.779448 deg,
      lon: -121.860098 deg,
      deltaT: 4.032411 s,
      deltaX: -2.799011 m,
      approachRate: -0.694128 m/s,
      posRepo size: 4

2025-10-27T00:23:41.142Z,1761524621.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:41.144Z,1761524621.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 477.696320 m,
      bearing: 214.977447 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004830 deg/s,
      cmd heading: 205.795758 deg,
      new cmd heading: 205.801655 deg.

2025-10-27T00:23:41.145Z,1761524621.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591917 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:41.268Z,1761524621.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:41.520Z,1761524621.520 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:41.522Z,1761524621.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897829,0.439570,0.026110],[-0.437726,-0.884461,-0.161634],[-0.047956,-0.156549,0.986505]]
2025-10-27T00:23:41.566Z,1761524621.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:41.569Z,1761524621.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 477.409149 m,
      bearing: 214.977490 deg,
      approach rate: -0.671298 m/s,
      LOS rate: 0.000100 deg/s,
      cmd heading: 205.801659 deg,
      new cmd heading: 205.801787 deg.

2025-10-27T00:23:41.570Z,1761524621.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591919 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:41.772Z,1761524621.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:41.922Z,1761524621.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897680,0.439853,0.026464],[-0.438066,-0.884317,-0.161498],[-0.047633,-0.156566,0.986518]]
2025-10-27T00:23:41.946Z,1761524621.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:41.949Z,1761524621.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 477.156189 m,
      bearing: 214.977516 deg,
      approach rate: -0.665748 m/s,
      LOS rate: 0.000070 deg/s,
      cmd heading: 205.801782 deg,
      new cmd heading: 205.801862 deg.

2025-10-27T00:23:41.950Z,1761524621.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591920 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:42.024Z,1761524622.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:42.277Z,1761524622.277 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:42.326Z,1761524622.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897588,0.440008,0.027010],[-0.438314,-0.884231,-0.161298],[-0.047090,-0.156618,0.986536]]
2025-10-27T00:23:42.344Z,1761524622.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:42.347Z,1761524622.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 476.891174 m,
      bearing: 214.977536 deg,
      approach rate: -0.665386 m/s,
      LOS rate: 0.000051 deg/s,
      cmd heading: 205.801864 deg,
      new cmd heading: 205.801925 deg.

2025-10-27T00:23:42.348Z,1761524622.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591921 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:42.528Z,1761524622.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:42.731Z,1761524622.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897197,0.440790,0.027229],[-0.439226,-0.884192,-0.159011],[-0.046014,-0.154624,0.986901]]
2025-10-27T00:23:42.757Z,1761524622.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:42.759Z,1761524622.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:42.762Z,1761524622.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 476.615540 m,
      bearing: 214.977517 deg,
      approach rate: -0.664739 m/s,
      LOS rate: -0.000047 deg/s,
      cmd heading: 205.801919 deg,
      new cmd heading: 205.801861 deg.

2025-10-27T00:23:42.762Z,1761524622.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591920 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:42.781Z,1761524622.781 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:43.032Z,1761524623.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:43.134Z,1761524623.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897407,0.440350,0.027456],[-0.438882,-0.884574,-0.157834],[-0.045215,-0.153691,0.987084]]
2025-10-27T00:23:43.153Z,1761524623.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:43.156Z,1761524623.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 476.352997 m,
      bearing: 214.977508 deg,
      approach rate: -0.666122 m/s,
      LOS rate: -0.000022 deg/s,
      cmd heading: 205.801864 deg,
      new cmd heading: 205.801838 deg.

2025-10-27T00:23:43.157Z,1761524623.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591920 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:43.284Z,1761524623.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:43.536Z,1761524623.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:43.543Z,1761524623.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897569,0.440007,0.027643],[-0.438679,-0.885090,-0.155487],[-0.043949,-0.151687,0.987451]]
2025-10-27T00:23:43.581Z,1761524623.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:43.584Z,1761524623.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 476.063995 m,
      bearing: 214.974590 deg,
      approach rate: -0.675166 m/s,
      LOS rate: -0.006822 deg/s,
      cmd heading: 205.801837 deg,
      new cmd heading: 205.793076 deg.

2025-10-27T00:23:43.585Z,1761524623.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591767 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:43.789Z,1761524623.789 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:43.944Z,1761524623.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898089,0.438992,0.026869],[-0.437722,-0.886196,-0.151841],[-0.042846,-0.148128,0.988040]]
2025-10-27T00:23:43.962Z,1761524623.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:43.965Z,1761524623.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 475.806824 m,
      bearing: 214.972014 deg,
      approach rate: -0.674483 m/s,
      LOS rate: -0.006761 deg/s,
      cmd heading: 205.793081 deg,
      new cmd heading: 205.785347 deg.

2025-10-27T00:23:43.966Z,1761524623.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591632 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:44.040Z,1761524624.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:44.293Z,1761524624.293 [DAT](INFO): DAT read: Rx Time:00:23:45.2918

2025-10-27T00:23:44.294Z,1761524624.294 [DAT](INFO): Rx dataTimestamp_ set to:1761524624.293131
2025-10-27T00:23:44.294Z,1761524624.294 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:44.346Z,1761524624.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899053,0.437082,0.025749],[-0.435836,-0.887766,-0.148049],[-0.041850,-0.144326,0.988645]]
2025-10-27T00:23:44.392Z,1761524624.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:44.395Z,1761524624.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 475.530334 m,
      bearing: 214.969300 deg,
      approach rate: -0.643482 m/s,
      LOS rate: -0.006320 deg/s,
      cmd heading: 205.785349 deg,
      new cmd heading: 205.777203 deg.

2025-10-27T00:23:44.400Z,1761524624.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591490 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:44.544Z,1761524624.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:44.749Z,1761524624.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900405,0.434355,0.024649],[-0.433082,-0.889498,-0.145716],[-0.041367,-0.141879,0.989019]]
2025-10-27T00:23:44.766Z,1761524624.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:44.770Z,1761524624.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.29 m.
2025-10-27T00:23:44.798Z,1761524624.798 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:23:44.806Z,1761524624.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.294067 m,
      nav range: 475.261932 m,
      bearing: 214.966755 deg,
      approach rate: -0.710903 m/s,
      LOS rate: -0.006744 deg/s,
      cmd heading: 205.777207 deg,
      new cmd heading: 205.769569 deg.

2025-10-27T00:23:44.813Z,1761524624.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591357 target range: 479.294067 and range: 481.70 m.
2025-10-27T00:23:45.053Z,1761524625.053 [DAT](INFO): DAT read: 00:23:45.2918 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 411, 0.23, 2.426, 1.130, 2.386, 2.412, PHS= 0.115,-1.238,-0.070, RAW= 142.7,  18.4, CAL= 142.1,  19.8, ROT=   7.9, -19.8

2025-10-27T00:23:45.055Z,1761524625.055 [DAT](INFO): got valid direction response:
 00:23:45.2918 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 411, 0.23, 2.426, 1.130, 2.386, 2.412, PHS= 0.115,-1.238,-0.070, RAW= 142.7,  18.4, CAL= 142.1,  19.8, ROT=   7.9, -19.8

2025-10-27T00:23:45.056Z,1761524625.056 [DAT](INFO): DAT read: Bearing  11.8,   2.2 (Local)

2025-10-27T00:23:45.056Z,1761524625.056 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.8,   2.2 (Local)

2025-10-27T00:23:45.058Z,1761524625.058 [DAT](INFO): DAT read: Range 11 to 50 : 479.0 m  (Round-trip  638.7 ms) speed  0.5 m/s

2025-10-27T00:23:45.058Z,1761524625.058 [DAT](INFO): DAT read: Tx time:00:23:46.3521

2025-10-27T00:23:45.059Z,1761524625.059 [DAT](INFO): Ping request sent.
2025-10-27T00:23:45.059Z,1761524625.059 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:23:45.059Z,1761524625.059 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:45.060Z,1761524625.060 [DAT](INFO): direction in FSK: [0.931951,0.129319,0.338738]
2025-10-27T00:23:45.060Z,1761524625.060 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:45.061Z,1761524625.061 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:45.080Z,1761524625.080 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:45.080Z,1761524625.080 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:45.154Z,1761524625.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901554,0.431935,0.025162],[-0.430703,-0.890407,-0.147210],[-0.041181,-0.143555,0.988785]]
2025-10-27T00:23:45.205Z,1761524625.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 479.000000 m,
      deltaT: 4.283552 s,
      deltaX: -2.700012 m,
      approachRate: -0.630321 m/s,
      rangeRepo size: 4

2025-10-27T00:23:45.211Z,1761524625.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 476.611389 m,
      bearing: 216.132085 deg,
      lat: 36.779484 deg,
      lon: -121.860098 deg,
      deltaT: 4.283552 s,
      deltaX: -2.682678 m,
      approachRate: -0.626274 m/s,
      posRepo size: 4

2025-10-27T00:23:45.212Z,1761524625.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:45.214Z,1761524625.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 471.752228 m,
      bearing: 215.239050 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006744 deg/s,
      cmd heading: 205.769571 deg,
      new cmd heading: 205.760778 deg.

2025-10-27T00:23:45.220Z,1761524625.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591203 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:45.560Z,1761524625.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902518,0.429798,0.027092],[-0.428686,-0.890614,-0.151773],[-0.041103,-0.148592,0.988044]]
2025-10-27T00:23:45.614Z,1761524625.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:45.620Z,1761524625.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 471.464752 m,
      bearing: 215.236504 deg,
      approach rate: -0.701843 m/s,
      LOS rate: -0.006219 deg/s,
      cmd heading: 205.760774 deg,
      new cmd heading: 205.753131 deg.

2025-10-27T00:23:45.621Z,1761524625.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591070 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:45.962Z,1761524625.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903706,0.427076,0.030376],[-0.426175,-0.890446,-0.159628],[-0.041125,-0.157202,0.986710]]
2025-10-27T00:23:45.993Z,1761524625.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:46.000Z,1761524626.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 471.200775 m,
      bearing: 215.234263 deg,
      approach rate: -0.694969 m/s,
      LOS rate: -0.005904 deg/s,
      cmd heading: 205.753138 deg,
      new cmd heading: 205.746410 deg.

2025-10-27T00:23:46.001Z,1761524626.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590952 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:46.365Z,1761524626.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905085,0.423929,0.033246],[-0.423207,-0.890401,-0.167580],[-0.041439,-0.165744,0.985298]]
2025-10-27T00:23:46.408Z,1761524626.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:46.415Z,1761524626.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 470.922668 m,
      bearing: 215.232020 deg,
      approach rate: -0.670667 m/s,
      LOS rate: -0.005410 deg/s,
      cmd heading: 205.746417 deg,
      new cmd heading: 205.739686 deg.

2025-10-27T00:23:46.416Z,1761524626.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590835 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:46.777Z,1761524626.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906070,0.421616,0.035749],[-0.421007,-0.889852,-0.175829],[-0.042321,-0.174364,0.983771]]
2025-10-27T00:23:46.810Z,1761524626.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:46.812Z,1761524626.812 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:46.812Z,1761524626.812 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:46.812Z,1761524626.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:46.816Z,1761524626.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:46.819Z,1761524626.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 470.627716 m,
      bearing: 215.229738 deg,
      approach rate: -0.722531 m/s,
      LOS rate: -0.005595 deg/s,
      cmd heading: 205.739682 deg,
      new cmd heading: 205.732831 deg.

2025-10-27T00:23:46.820Z,1761524626.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590715 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:47.064Z,1761524627.064 [DAT](INFO): DAT read: user:70>

2025-10-27T00:23:47.065Z,1761524627.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005816
2025-10-27T00:23:47.210Z,1761524627.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:47.216Z,1761524627.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 470.353180 m,
      bearing: 215.227611 deg,
      approach rate: -0.696744 m/s,
      LOS rate: -0.005402 deg/s,
      cmd heading: 205.732825 deg,
      new cmd heading: 205.726439 deg.

2025-10-27T00:23:47.217Z,1761524627.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590604 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:47.319Z,1761524627.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259900
2025-10-27T00:23:47.572Z,1761524627.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512998
2025-10-27T00:23:47.579Z,1761524627.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908051,0.417121,0.038129],[-0.416556,-0.889772,-0.186512],[-0.043872,-0.185246,0.981712]]
2025-10-27T00:23:47.627Z,1761524627.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:47.630Z,1761524627.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 470.073730 m,
      bearing: 215.227988 deg,
      approach rate: -0.671384 m/s,
      LOS rate: 0.000907 deg/s,
      cmd heading: 205.726445 deg,
      new cmd heading: 205.727578 deg.

2025-10-27T00:23:47.631Z,1761524627.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590624 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:47.824Z,1761524627.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765584
2025-10-27T00:23:47.982Z,1761524627.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908760,0.415508,0.038845],[-0.414924,-0.889660,-0.190638],[-0.044653,-0.189361,0.980892]]
2025-10-27T00:23:47.000Z,1761524628.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:48.003Z,1761524628.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 469.822937 m,
      bearing: 215.228380 deg,
      approach rate: -0.671753 m/s,
      LOS rate: 0.001051 deg/s,
      cmd heading: 205.727579 deg,
      new cmd heading: 205.728756 deg.

2025-10-27T00:23:48.004Z,1761524628.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590644 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:48.077Z,1761524628.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018045
2025-10-27T00:23:48.330Z,1761524628.330 [DAT](INFO): DAT read: Rx Time:00:23:49.3923

2025-10-27T00:23:48.331Z,1761524628.331 [DAT](INFO): Rx dataTimestamp_ set to:1761524628.330320
2025-10-27T00:23:48.331Z,1761524628.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272458
2025-10-27T00:23:48.386Z,1761524628.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909336,0.414186,0.039467],[-0.413538,-0.889309,-0.195233],[-0.045765,-0.193853,0.979962]]
2025-10-27T00:23:48.427Z,1761524628.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:48.430Z,1761524628.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 469.536194 m,
      bearing: 215.228880 deg,
      approach rate: -0.671585 m/s,
      LOS rate: 0.001171 deg/s,
      cmd heading: 205.728754 deg,
      new cmd heading: 205.730254 deg.

2025-10-27T00:23:48.431Z,1761524628.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590670 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:48.580Z,1761524628.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521173
2025-10-27T00:23:48.797Z,1761524628.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909451,0.414004,0.038716],[-0.413118,-0.889057,-0.197258],[-0.047244,-0.195391,0.979587]]
2025-10-27T00:23:48.820Z,1761524628.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:48.822Z,1761524628.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 476.61 m.
2025-10-27T00:23:48.825Z,1761524628.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 476.611389 m,
      nav range: 469.270966 m,
      bearing: 215.229356 deg,
      approach rate: -0.670727 m/s,
      LOS rate: 0.001205 deg/s,
      cmd heading: 205.730257 deg,
      new cmd heading: 205.731685 deg.

2025-10-27T00:23:48.826Z,1761524628.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590695 target range: 476.611389 and range: 479.00 m.
2025-10-27T00:23:48.832Z,1761524628.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773189
2025-10-27T00:23:49.090Z,1761524629.090 [DAT](INFO): DAT read: 00:23:49.3923 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 158,-0.13,-0.330,-2.144,-0.466,-0.888, PHS= 0.660,-1.211, 0.379, RAW= 142.0,   2.0, CAL= 141.7,   2.4, ROT=   8.3,  -2.4

2025-10-27T00:23:49.091Z,1761524629.091 [DAT](INFO): got valid direction response:
 00:23:49.3923 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 158,-0.13,-0.330,-2.144,-0.466,-0.888, PHS= 0.660,-1.211, 0.379, RAW= 142.0,   2.0, CAL= 141.7,   2.4, ROT=   8.3,  -2.4

2025-10-27T00:23:49.092Z,1761524629.092 [DAT](INFO): DAT read: Bearing 352.6,   4.9 (Local)

2025-10-27T00:23:49.092Z,1761524629.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.6,   4.9 (Local)

2025-10-27T00:23:49.094Z,1761524629.094 [DAT](INFO): DAT read: Range 11 to 50 : 477.0 m  (Round-trip  636.1 ms) speed  0.7 m/s

2025-10-27T00:23:49.096Z,1761524629.096 [DAT](INFO): DAT read: Tx time:00:23:50.4552

2025-10-27T00:23:49.096Z,1761524629.096 [DAT](INFO): Ping request sent.
2025-10-27T00:23:49.096Z,1761524629.096 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:23:49.096Z,1761524629.096 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:49.097Z,1761524629.097 [DAT](INFO): direction in FSK: [0.988658,0.144230,0.041876]
2025-10-27T00:23:49.098Z,1761524629.098 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:49.098Z,1761524629.098 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:49.101Z,1761524629.101 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:49.101Z,1761524629.101 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:49.194Z,1761524629.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909663,0.413635,0.037663],[-0.412488,-0.889062,-0.198550],[-0.048643,-0.196149,0.979367]]
2025-10-27T00:23:49.233Z,1761524629.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 477.000000 m,
      deltaT: 4.036456 s,
      deltaX: -2.000000 m,
      approachRate: -0.495484 m/s,
      rangeRepo size: 4

2025-10-27T00:23:49.239Z,1761524629.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 474.645020 m,
      bearing: 213.003757 deg,
      lat: 36.779484 deg,
      lon: -121.860098 deg,
      deltaT: 4.036456 s,
      deltaX: -1.966370 m,
      approachRate: -0.487152 m/s,
      posRepo size: 4

2025-10-27T00:23:49.243Z,1761524629.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:49.246Z,1761524629.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 469.006439 m,
      bearing: 215.229852 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001205 deg/s,
      cmd heading: 205.731691 deg,
      new cmd heading: 205.733172 deg.

2025-10-27T00:23:49.247Z,1761524629.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590721 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:49.600Z,1761524629.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909164,0.414648,0.038567],[-0.413408,-0.887519,-0.203480],[-0.050144,-0.200940,0.978319]]
2025-10-27T00:23:49.641Z,1761524629.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:49.644Z,1761524629.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 468.733673 m,
      bearing: 215.233480 deg,
      approach rate: -0.666680 m/s,
      LOS rate: 0.008871 deg/s,
      cmd heading: 205.733166 deg,
      new cmd heading: 205.744055 deg.

2025-10-27T00:23:49.645Z,1761524629.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590911 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:50.000Z,1761524630.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908175,0.416781,0.038887],[-0.415405,-0.885924,-0.206344],[-0.051549,-0.203550,0.977707]]
2025-10-27T00:23:50.018Z,1761524630.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:50.021Z,1761524630.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 468.491791 m,
      bearing: 215.236634 deg,
      approach rate: -0.641317 m/s,
      LOS rate: 0.008367 deg/s,
      cmd heading: 205.744054 deg,
      new cmd heading: 205.753521 deg.

2025-10-27T00:23:50.022Z,1761524630.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591076 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:50.407Z,1761524630.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907127,0.419189,0.037426],[-0.417534,-0.885249,-0.204940],[-0.052777,-0.201533,0.978059]]
2025-10-27T00:23:50.426Z,1761524630.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:50.429Z,1761524630.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 468.230865 m,
      bearing: 215.239962 deg,
      approach rate: -0.640483 m/s,
      LOS rate: 0.008175 deg/s,
      cmd heading: 205.753520 deg,
      new cmd heading: 205.763511 deg.

2025-10-27T00:23:50.430Z,1761524630.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591251 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:50.805Z,1761524630.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905921,0.422005,0.034925],[-0.419997,-0.884970,-0.201072],[-0.053946,-0.196823,0.978954]]
2025-10-27T00:23:50.833Z,1761524630.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:50.836Z,1761524630.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:50.838Z,1761524630.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 467.967896 m,
      bearing: 215.243230 deg,
      approach rate: -0.641814 m/s,
      LOS rate: 0.007981 deg/s,
      cmd heading: 205.763506 deg,
      new cmd heading: 205.773316 deg.

2025-10-27T00:23:50.840Z,1761524630.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591422 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:50.848Z,1761524630.848 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:50.848Z,1761524630.848 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:50.848Z,1761524630.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:51.100Z,1761524631.100 [DAT](INFO): DAT read: user:71>

2025-10-27T00:23:51.101Z,1761524631.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004572
2025-10-27T00:23:51.209Z,1761524631.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904763,0.424787,0.030985],[-0.422307,-0.885272,-0.194809],[-0.055322,-0.189342,0.980352]]
2025-10-27T00:23:51.246Z,1761524631.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:51.249Z,1761524631.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 467.716278 m,
      bearing: 215.246279 deg,
      approach rate: -0.642960 m/s,
      LOS rate: 0.007795 deg/s,
      cmd heading: 205.773314 deg,
      new cmd heading: 205.782466 deg.

2025-10-27T00:23:51.250Z,1761524631.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591582 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:51.352Z,1761524631.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255955
2025-10-27T00:23:51.604Z,1761524631.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508021
2025-10-27T00:23:51.613Z,1761524631.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903704,0.427314,0.026865],[-0.424433,-0.885821,-0.187559],[-0.056349,-0.180900,0.981886]]
2025-10-27T00:23:51.669Z,1761524631.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:51.676Z,1761524631.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 467.445587 m,
      bearing: 215.250030 deg,
      approach rate: -0.612717 m/s,
      LOS rate: 0.008495 deg/s,
      cmd heading: 205.782466 deg,
      new cmd heading: 205.793725 deg.

2025-10-27T00:23:51.677Z,1761524631.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591778 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:51.856Z,1761524631.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759805
2025-10-27T00:23:52.013Z,1761524632.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902690,0.429653,0.023446],[-0.426484,-0.886138,-0.181304],[-0.057122,-0.173661,0.983148]]
2025-10-27T00:23:52.032Z,1761524632.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:52.034Z,1761524632.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 467.202454 m,
      bearing: 215.253317 deg,
      approach rate: -0.669533 m/s,
      LOS rate: 0.009055 deg/s,
      cmd heading: 205.793723 deg,
      new cmd heading: 205.803587 deg.

2025-10-27T00:23:52.036Z,1761524632.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591950 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:52.109Z,1761524632.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012696
2025-10-27T00:23:52.360Z,1761524632.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263930
2025-10-27T00:23:52.421Z,1761524632.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901594,0.432072,0.021005],[-0.428705,-0.885974,-0.176807],[-0.057784,-0.168413,0.984021]]
2025-10-27T00:23:52.463Z,1761524632.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:52.465Z,1761524632.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 466.930389 m,
      bearing: 215.256901 deg,
      approach rate: -0.631769 m/s,
      LOS rate: 0.008328 deg/s,
      cmd heading: 205.803585 deg,
      new cmd heading: 205.814344 deg.

2025-10-27T00:23:52.466Z,1761524632.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592138 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:52.612Z,1761524632.612 [DAT](INFO): DAT read: Rx Time:00:23:53.4907

2025-10-27T00:23:52.612Z,1761524632.612 [DAT](INFO): Rx dataTimestamp_ set to:1761524632.612167
2025-10-27T00:23:52.613Z,1761524632.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517001
2025-10-27T00:23:52.826Z,1761524632.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900745,0.434039,0.016363],[-0.430390,-0.886831,-0.168214],[-0.058501,-0.158561,0.985615]]
2025-10-27T00:23:52.850Z,1761524632.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:52.852Z,1761524632.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.65 m.
2025-10-27T00:23:52.854Z,1761524632.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.645020 m,
      nav range: 466.678772 m,
      bearing: 215.260137 deg,
      approach rate: -0.646189 m/s,
      LOS rate: 0.008315 deg/s,
      cmd heading: 205.814350 deg,
      new cmd heading: 205.824063 deg.

2025-10-27T00:23:52.856Z,1761524632.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592308 target range: 474.645020 and range: 477.00 m.
2025-10-27T00:23:52.864Z,1761524632.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768026
2025-10-27T00:23:53.122Z,1761524633.122 [DAT](INFO): DAT read: 00:23:53.4907 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 141,-0.08, 2.644, 0.905, 2.552, 2.179, PHS= 0.567,-1.229, 0.328, RAW= 143.0,   4.0, CAL= 142.6,   4.5, ROT=   7.4,  -4.5

2025-10-27T00:23:53.123Z,1761524633.123 [DAT](INFO): got valid direction response:
 00:23:53.4907 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 141,-0.08, 2.644, 0.905, 2.552, 2.179, PHS= 0.567,-1.229, 0.328, RAW= 143.0,   4.0, CAL= 142.6,   4.5, ROT=   7.4,  -4.5

2025-10-27T00:23:53.124Z,1761524633.124 [DAT](INFO): DAT read: Bearing 353.7,   3.4 (Local)

2025-10-27T00:23:53.125Z,1761524633.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.7,   3.4 (Local)

2025-10-27T00:23:53.126Z,1761524633.126 [DAT](INFO): DAT read: Range 11 to 50 : 473.4 m  (Round-trip  631.3 ms) speed  0.6 m/s

2025-10-27T00:23:53.127Z,1761524633.127 [DAT](INFO): DAT read: Tx time:00:23:54.5552

2025-10-27T00:23:53.128Z,1761524633.128 [DAT](INFO): Ping request sent.
2025-10-27T00:23:53.128Z,1761524633.128 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:23:53.128Z,1761524633.128 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:53.129Z,1761524633.129 [DAT](INFO): direction in FSK: [0.988614,0.128399,0.078459]
2025-10-27T00:23:53.129Z,1761524633.129 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:53.130Z,1761524633.130 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:53.134Z,1761524633.134 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:53.134Z,1761524633.134 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:53.234Z,1761524633.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900249,0.435242,0.010804],[-0.431365,-0.888320,-0.157519],[-0.058962,-0.146467,0.987457]]
2025-10-27T00:23:53.313Z,1761524633.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 473.399994 m,
      deltaT: 4.031919 s,
      deltaX: -3.600006 m,
      approachRate: -0.892877 m/s,
      rangeRepo size: 4

2025-10-27T00:23:53.319Z,1761524633.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 471.140289 m,
      bearing: 213.564230 deg,
      lat: 36.779484 deg,
      lon: -121.860072 deg,
      deltaT: 4.031919 s,
      deltaX: -3.504730 m,
      approachRate: -0.869246 m/s,
      posRepo size: 4

2025-10-27T00:23:53.320Z,1761524633.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:53.322Z,1761524633.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 465.117950 m,
      bearing: 215.039540 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008315 deg/s,
      cmd heading: 205.824062 deg,
      new cmd heading: 205.835548 deg.

2025-10-27T00:23:53.327Z,1761524633.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592508 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:53.634Z,1761524633.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901053,0.433660,0.006544],[-0.429644,-0.890445,-0.150047],[-0.059242,-0.138012,0.988657]]
2025-10-27T00:23:53.683Z,1761524633.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:53.703Z,1761524633.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 464.858490 m,
      bearing: 215.040514 deg,
      approach rate: -0.701152 m/s,
      LOS rate: 0.002636 deg/s,
      cmd heading: 205.835551 deg,
      new cmd heading: 205.838477 deg.

2025-10-27T00:23:53.705Z,1761524633.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592559 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:54.056Z,1761524634.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901679,0.432374,0.005230],[-0.428348,-0.891500,-0.147467],[-0.059098,-0.135209,0.989053]]
2025-10-27T00:23:54.080Z,1761524634.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:54.082Z,1761524634.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 464.596710 m,
      bearing: 215.041535 deg,
      approach rate: -0.658524 m/s,
      LOS rate: 0.002570 deg/s,
      cmd heading: 205.838474 deg,
      new cmd heading: 205.841539 deg.

2025-10-27T00:23:54.084Z,1761524634.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592613 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:54.453Z,1761524634.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902039,0.431618,0.005575],[-0.427524,-0.891551,-0.149533],[-0.059571,-0.137268,0.988741]]
2025-10-27T00:23:54.476Z,1761524634.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:54.495Z,1761524634.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 464.336182 m,
      bearing: 215.042589 deg,
      approach rate: -0.657077 m/s,
      LOS rate: 0.002658 deg/s,
      cmd heading: 205.841534 deg,
      new cmd heading: 205.844696 deg.

2025-10-27T00:23:54.496Z,1761524634.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592668 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:54.956Z,1761524634.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902667,0.430283,0.006954],[-0.426184,-0.891596,-0.153048],[-0.059654,-0.141115,0.988194]]
2025-10-27T00:23:54.973Z,1761524634.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:54.976Z,1761524634.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:54.978Z,1761524634.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 464.009277 m,
      bearing: 215.043990 deg,
      approach rate: -0.655489 m/s,
      LOS rate: 0.002812 deg/s,
      cmd heading: 205.844690 deg,
      new cmd heading: 205.848897 deg.

2025-10-27T00:23:54.980Z,1761524634.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592741 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:55.132Z,1761524635.132 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:55.132Z,1761524635.132 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:55.132Z,1761524635.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:55.354Z,1761524635.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903270,0.429030,0.005985],[-0.424895,-0.892449,-0.151655],[-0.059723,-0.139529,0.988415]]
2025-10-27T00:23:55.372Z,1761524635.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:55.375Z,1761524635.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 463.747742 m,
      bearing: 215.045153 deg,
      approach rate: -0.658294 m/s,
      LOS rate: 0.002928 deg/s,
      cmd heading: 205.848897 deg,
      new cmd heading: 205.852387 deg.

2025-10-27T00:23:55.376Z,1761524635.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592802 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:55.384Z,1761524635.384 [DAT](INFO): DAT read: user:72>

2025-10-27T00:23:55.385Z,1761524635.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256737
2025-10-27T00:23:55.636Z,1761524635.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507961
2025-10-27T00:23:55.772Z,1761524635.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903817,0.427882,0.005654],[-0.423740,-0.893072,-0.151219],[-0.059654,-0.139071,0.988484]]
2025-10-27T00:23:55.829Z,1761524635.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:55.831Z,1761524635.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 463.442383 m,
      bearing: 215.043412 deg,
      approach rate: -0.669528 m/s,
      LOS rate: -0.003820 deg/s,
      cmd heading: 205.852394 deg,
      new cmd heading: 205.847168 deg.

2025-10-27T00:23:55.832Z,1761524635.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592711 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:55.889Z,1761524635.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761213
2025-10-27T00:23:56.140Z,1761524636.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012026
2025-10-27T00:23:56.197Z,1761524636.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:56.200Z,1761524636.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 463.195618 m,
      bearing: 215.042003 deg,
      approach rate: -0.668958 m/s,
      LOS rate: -0.003821 deg/s,
      cmd heading: 205.847162 deg,
      new cmd heading: 205.842934 deg.

2025-10-27T00:23:56.201Z,1761524636.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592637 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:56.392Z,1761524636.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264496
2025-10-27T00:23:56.568Z,1761524636.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904249,0.426953,0.006749],[-0.422760,-0.892921,-0.154812],[-0.060071,-0.142841,0.987921]]
2025-10-27T00:23:56.586Z,1761524636.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:56.589Z,1761524636.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 462.935516 m,
      bearing: 215.040562 deg,
      approach rate: -0.668830 m/s,
      LOS rate: -0.003709 deg/s,
      cmd heading: 205.842927 deg,
      new cmd heading: 205.838601 deg.

2025-10-27T00:23:56.590Z,1761524636.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592561 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:56.645Z,1761524636.645 [DAT](INFO): DAT read: Rx Time:00:23:57.5876

2025-10-27T00:23:56.645Z,1761524636.645 [DAT](INFO): Rx dataTimestamp_ set to:1761524636.645190
2025-10-27T00:23:56.646Z,1761524636.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518402
2025-10-27T00:23:56.896Z,1761524636.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768041
2025-10-27T00:23:56.970Z,1761524636.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904050,0.427356,0.007745],[-0.423189,-0.892394,-0.156664],[-0.060040,-0.144909,0.987622]]
2025-10-27T00:23:57.005Z,1761524637.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:57.007Z,1761524637.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.14 m.
2025-10-27T00:23:57.010Z,1761524637.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.140289 m,
      nav range: 462.661377 m,
      bearing: 215.039031 deg,
      approach rate: -0.651419 m/s,
      LOS rate: -0.003639 deg/s,
      cmd heading: 205.838597 deg,
      new cmd heading: 205.834002 deg.

2025-10-27T00:23:57.011Z,1761524637.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592481 target range: 471.140289 and range: 473.40 m.
2025-10-27T00:23:57.154Z,1761524637.154 [DAT](INFO): DAT read: 00:23:57.5876 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 414, 0.44,-1.097,-2.698,-1.168,-1.434, PHS= 0.439,-1.219, 0.221, RAW= 143.1,   7.2, CAL= 142.7,   7.9, ROT=   7.3,  -7.9

2025-10-27T00:23:57.155Z,1761524637.155 [DAT](INFO): got valid direction response:
 00:23:57.5876 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 414, 0.44,-1.097,-2.698,-1.168,-1.434, PHS= 0.439,-1.219, 0.221, RAW= 143.1,   7.2, CAL= 142.7,   7.9, ROT=   7.3,  -7.9

2025-10-27T00:23:57.156Z,1761524637.156 [DAT](INFO): DAT read: Bearing 356.3,   2.9 (Local)

2025-10-27T00:23:57.156Z,1761524637.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,   2.9 (Local)

2025-10-27T00:23:57.158Z,1761524637.158 [DAT](INFO): DAT read: Range 11 to 50 : 471.2 m  (Round-trip  628.3 ms) speed  0.4 m/s

2025-10-27T00:23:57.159Z,1761524637.159 [DAT](INFO): DAT read: Tx time:00:23:58.6505

2025-10-27T00:23:57.159Z,1761524637.159 [DAT](INFO): Ping request sent.
2025-10-27T00:23:57.159Z,1761524637.159 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:23:57.160Z,1761524637.160 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:23:57.161Z,1761524637.161 [DAT](INFO): direction in FSK: [0.982481,0.125859,0.137445]
2025-10-27T00:23:57.161Z,1761524637.161 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:57.161Z,1761524637.161 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:57.165Z,1761524637.165 [DAT](INFO): publishing transmit ping time
2025-10-27T00:23:57.165Z,1761524637.165 [DAT](INFO): publishing direction and range info
2025-10-27T00:23:57.374Z,1761524637.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903803,0.427866,0.008445],[-0.423688,-0.891850,-0.158405],[-0.060244,-0.146745,0.987338]]
2025-10-27T00:23:57.419Z,1761524637.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 471.200012 m,
      deltaT: 4.031820 s,
      deltaX: -2.199982 m,
      approachRate: -0.545655 m/s,
      rangeRepo size: 4

2025-10-27T00:23:57.421Z,1761524637.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 468.898895 m,
      bearing: 213.450300 deg,
      lat: 36.779378 deg,
      lon: -121.859999 deg,
      deltaT: 4.031820 s,
      deltaX: -2.241394 m,
      approachRate: -0.555926 m/s,
      posRepo size: 4

2025-10-27T00:23:57.422Z,1761524637.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:23:57.433Z,1761524637.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 468.408447 m,
      bearing: 213.555047 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003639 deg/s,
      cmd heading: 205.834007 deg,
      new cmd heading: 205.829521 deg.

2025-10-27T00:23:57.434Z,1761524637.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592403 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:23:57.786Z,1761524637.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903860,0.427738,0.008787],[-0.423603,-0.891865,-0.158548],[-0.059980,-0.147028,0.987312]]
2025-10-27T00:23:57.835Z,1761524637.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:23:57.837Z,1761524637.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 468.125519 m,
      bearing: 213.552480 deg,
      approach rate: -0.679241 m/s,
      LOS rate: -0.006166 deg/s,
      cmd heading: 205.829526 deg,
      new cmd heading: 205.821821 deg.

2025-10-27T00:23:57.838Z,1761524637.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592268 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:23:58.182Z,1761524638.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903853,0.427748,0.009009],[-0.423597,-0.891728,-0.159331],[-0.060120,-0.147828,0.987184]]
2025-10-27T00:23:58.206Z,1761524638.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:23:58.209Z,1761524638.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 467.874512 m,
      bearing: 213.550200 deg,
      approach rate: -0.675171 m/s,
      LOS rate: -0.006135 deg/s,
      cmd heading: 205.821822 deg,
      new cmd heading: 205.814980 deg.

2025-10-27T00:23:58.210Z,1761524638.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592149 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:23:58.586Z,1761524638.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903409,0.428636,0.011137],[-0.424575,-0.890617,-0.162900],[-0.059906,-0.151894,0.986580]]
2025-10-27T00:23:58.612Z,1761524638.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:23:58.614Z,1761524638.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 467.601471 m,
      bearing: 213.547685 deg,
      approach rate: -0.673639 m/s,
      LOS rate: -0.006209 deg/s,
      cmd heading: 205.814978 deg,
      new cmd heading: 205.807428 deg.

2025-10-27T00:23:58.615Z,1761524638.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592017 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:23:59.002Z,1761524639.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903064,0.429275,0.014104],[-0.425387,-0.889382,-0.167469],[-0.059347,-0.157235,0.985776]]
2025-10-27T00:23:59.026Z,1761524639.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:23:59.032Z,1761524639.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:23:59.036Z,1761524639.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 467.323883 m,
      bearing: 213.545099 deg,
      approach rate: -0.659651 m/s,
      LOS rate: -0.006149 deg/s,
      cmd heading: 205.807424 deg,
      new cmd heading: 205.799661 deg.

2025-10-27T00:23:59.037Z,1761524639.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591882 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:23:59.164Z,1761524639.164 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:23:59.164Z,1761524639.164 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:23:59.164Z,1761524639.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:23:59.400Z,1761524639.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902441,0.430456,0.017532],[-0.426775,-0.887684,-0.172861],[-0.058846,-0.163480,0.984790]]
2025-10-27T00:23:59.416Z,1761524639.416 [DAT](INFO): DAT read: user:73>

2025-10-27T00:23:59.417Z,1761524639.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257197
2025-10-27T00:23:59.420Z,1761524639.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:23:59.447Z,1761524639.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 467.058807 m,
      bearing: 213.542582 deg,
      approach rate: -0.683728 m/s,
      LOS rate: -0.006496 deg/s,
      cmd heading: 205.799665 deg,
      new cmd heading: 205.792109 deg.

2025-10-27T00:23:59.458Z,1761524639.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591750 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:23:59.670Z,1761524639.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510621
2025-10-27T00:23:59.801Z,1761524639.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901648,0.432050,0.019050],[-0.428572,-0.886755,-0.173182],[-0.057931,-0.164313,0.984706]]
2025-10-27T00:23:59.842Z,1761524639.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:23:59.861Z,1761524639.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 466.780090 m,
      bearing: 213.542141 deg,
      approach rate: -0.660229 m/s,
      LOS rate: -0.001045 deg/s,
      cmd heading: 205.792111 deg,
      new cmd heading: 205.790787 deg.

2025-10-27T00:23:59.862Z,1761524639.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591727 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:23:59.921Z,1761524639.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761340
2025-10-27T00:24:00.172Z,1761524640.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012395
2025-10-27T00:24:00.202Z,1761524640.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900978,0.433480,0.018252],[-0.430107,-0.886861,-0.168776],[-0.056974,-0.159914,0.985485]]
2025-10-27T00:24:00.230Z,1761524640.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:24:00.233Z,1761524640.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 466.525665 m,
      bearing: 213.541689 deg,
      approach rate: -0.655740 m/s,
      LOS rate: -0.001165 deg/s,
      cmd heading: 205.790786 deg,
      new cmd heading: 205.789430 deg.

2025-10-27T00:24:00.234Z,1761524640.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591703 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:24:00.424Z,1761524640.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264576
2025-10-27T00:24:00.606Z,1761524640.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900279,0.434962,0.017509],[-0.431699,-0.886906,-0.164419],[-0.055987,-0.155581,0.986235]]
2025-10-27T00:24:00.624Z,1761524640.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:24:00.627Z,1761524640.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 466.266693 m,
      bearing: 213.541177 deg,
      approach rate: -0.657794 m/s,
      LOS rate: -0.001300 deg/s,
      cmd heading: 205.789433 deg,
      new cmd heading: 205.787898 deg.

2025-10-27T00:24:00.629Z,1761524640.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591676 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:24:00.676Z,1761524640.676 [DAT](INFO): DAT read: Rx Time:00:24:01.6794

2025-10-27T00:24:00.677Z,1761524640.677 [DAT](INFO): Rx dataTimestamp_ set to:1761524640.676479
2025-10-27T00:24:00.677Z,1761524640.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517891
2025-10-27T00:24:00.928Z,1761524640.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768464
2025-10-27T00:24:01.010Z,1761524641.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899797,0.435935,0.018086],[-0.432882,-0.886774,-0.162002],[-0.054585,-0.153598,0.986625]]
2025-10-27T00:24:01.042Z,1761524641.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:01.052Z,1761524641.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:24:01.070Z,1761524641.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 465.991058 m,
      bearing: 213.540591 deg,
      approach rate: -0.649717 m/s,
      LOS rate: -0.001383 deg/s,
      cmd heading: 205.787903 deg,
      new cmd heading: 205.786143 deg.

2025-10-27T00:24:01.071Z,1761524641.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591646 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:24:01.188Z,1761524641.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027931
2025-10-27T00:24:01.415Z,1761524641.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898991,0.437488,0.020483],[-0.434763,-0.885789,-0.162353],[-0.052884,-0.154859,0.986520]]
2025-10-27T00:24:01.485Z,1761524641.485 [DAT](INFO): DAT read: 00:24:01.6794 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 410,-0.26, 1.714,-0.035, 1.653, 1.205, PHS= 0.611,-1.195, 0.405, RAW= 144.0,   2.1, CAL= 143.6,   2.4, ROT=   6.4,  -2.4

2025-10-27T00:24:01.497Z,1761524641.497 [DAT](INFO): got valid direction response:
 00:24:01.6794 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 410,-0.26, 1.714,-0.035, 1.653, 1.205, PHS= 0.611,-1.195, 0.405, RAW= 144.0,   2.1, CAL= 143.6,   2.4, ROT=   6.4,  -2.4

2025-10-27T00:24:01.495Z,1761524641.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.90 m.
2025-10-27T00:24:01.507Z,1761524641.507 [DAT](INFO): DAT read: Bearing 350.2,   3.0 (Local)

2025-10-27T00:24:01.508Z,1761524641.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.2,   3.0 (Local)

2025-10-27T00:24:01.509Z,1761524641.509 [DAT](INFO): DAT read: Range 11 to 50 : 468.6 m  (Round-trip  624.8 ms) speed  0.6 m/s

2025-10-27T00:24:01.510Z,1761524641.510 [DAT](INFO): DAT read: user:74>Tx time:00:24:02.7490

2025-10-27T00:24:01.516Z,1761524641.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 468.898895 m,
      nav range: 465.732880 m,
      bearing: 213.539975 deg,
      approach rate: -0.579803 m/s,
      LOS rate: -0.001384 deg/s,
      cmd heading: 205.786141 deg,
      new cmd heading: 205.784293 deg.

2025-10-27T00:24:01.517Z,1761524641.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591614 target range: 468.898895 and range: 471.20 m.
2025-10-27T00:24:01.519Z,1761524641.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:01.520Z,1761524641.520 [DAT](INFO): direction in FSK: [0.992896,0.111371,0.041876]
2025-10-27T00:24:01.520Z,1761524641.520 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:01.524Z,1761524641.524 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:01.524Z,1761524641.524 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:01.525Z,1761524641.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:01.688Z,1761524641.688 [DAT](INFO): DAT read: 

2025-10-27T00:24:01.689Z,1761524641.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.529701
2025-10-27T00:24:01.828Z,1761524641.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898063,0.439257,0.023177],[-0.436863,-0.884540,-0.163526],[-0.051329,-0.156982,0.986267]]
2025-10-27T00:24:01.880Z,1761524641.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 468.600006 m,
      deltaT: 4.287976 s,
      deltaX: -2.600006 m,
      approachRate: -0.606348 m/s,
      rangeRepo size: 4

2025-10-27T00:24:01.882Z,1761524641.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 466.422485 m,
      bearing: 212.637228 deg,
      lat: 36.779376 deg,
      lon: -121.859989 deg,
      deltaT: 4.287976 s,
      deltaX: -2.476410 m,
      approachRate: -0.577524 m/s,
      posRepo size: 4

2025-10-27T00:24:01.882Z,1761524641.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.42 m.
2025-10-27T00:24:01.901Z,1761524641.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 466.422485 m,
      nav range: 465.146667 m,
      bearing: 213.438150 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001384 deg/s,
      cmd heading: 205.784297 deg,
      new cmd heading: 205.782698 deg.

2025-10-27T00:24:01.902Z,1761524641.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591586 target range: 466.422485 and range: 468.60 m.
2025-10-27T00:24:01.940Z,1761524641.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.780760
2025-10-27T00:24:02.192Z,1761524642.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032483
2025-10-27T00:24:02.230Z,1761524642.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897053,0.441195,0.025348],[-0.439089,-0.883349,-0.164000],[-0.049965,-0.158247,0.986135]]
2025-10-27T00:24:02.289Z,1761524642.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.42 m.
2025-10-27T00:24:02.298Z,1761524642.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 466.422485 m,
      nav range: 464.878296 m,
      bearing: 213.439975 deg,
      approach rate: -0.654653 m/s,
      LOS rate: 0.004455 deg/s,
      cmd heading: 205.782699 deg,
      new cmd heading: 205.788178 deg.

2025-10-27T00:24:02.299Z,1761524642.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591681 target range: 466.422485 and range: 468.60 m.
2025-10-27T00:24:02.444Z,1761524642.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284392
2025-10-27T00:24:02.643Z,1761524642.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896177,0.443003,0.024787],[-0.441050,-0.883348,-0.158653],[-0.048388,-0.153114,0.987023]]
2025-10-27T00:24:02.693Z,1761524642.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.42 m.
2025-10-27T00:24:02.697Z,1761524642.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537245
2025-10-27T00:24:02.700Z,1761524642.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 466.422485 m,
      nav range: 464.615143 m,
      bearing: 213.441699 deg,
      approach rate: -0.651288 m/s,
      LOS rate: 0.004268 deg/s,
      cmd heading: 205.788177 deg,
      new cmd heading: 205.793350 deg.

2025-10-27T00:24:02.701Z,1761524642.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591772 target range: 466.422485 and range: 468.60 m.
2025-10-27T00:24:02.764Z,1761524642.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:24:02.948Z,1761524642.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788680
2025-10-27T00:24:03.060Z,1761524643.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896094,0.443216,0.023960],[-0.441347,-0.883975,-0.154278],[-0.047199,-0.148822,0.987737]]
2025-10-27T00:24:03.076Z,1761524643.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:03.078Z,1761524643.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.42 m.
2025-10-27T00:24:03.081Z,1761524643.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 466.422485 m,
      nav range: 464.351257 m,
      bearing: 213.443420 deg,
      approach rate: -0.685143 m/s,
      LOS rate: 0.004473 deg/s,
      cmd heading: 205.793354 deg,
      new cmd heading: 205.798522 deg.

2025-10-27T00:24:03.082Z,1761524643.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591862 target range: 466.422485 and range: 468.60 m.
2025-10-27T00:24:03.200Z,1761524643.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040881
2025-10-27T00:24:03.469Z,1761524643.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.308616
2025-10-27T00:24:03.517Z,1761524643.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895819,0.443632,0.026433],[-0.442037,-0.883294,-0.156191],[-0.045943,-0.151603,0.987373]]
2025-10-27T00:24:03.565Z,1761524643.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.42 m.
2025-10-27T00:24:03.567Z,1761524643.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 466.422485 m,
      nav range: 464.032898 m,
      bearing: 213.446427 deg,
      approach rate: -0.654157 m/s,
      LOS rate: 0.006181 deg/s,
      cmd heading: 205.798517 deg,
      new cmd heading: 205.807542 deg.

2025-10-27T00:24:03.568Z,1761524643.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592019 target range: 466.422485 and range: 468.60 m.
2025-10-27T00:24:03.716Z,1761524643.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556912
2025-10-27T00:24:03.767Z,1761524643.767 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:24:03.888Z,1761524643.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895662,0.443746,0.029652],[-0.442482,-0.882436,-0.159740],[-0.044718,-0.156193,0.986714]]
2025-10-27T00:24:03.922Z,1761524643.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.42 m.
2025-10-27T00:24:03.929Z,1761524643.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 466.422485 m,
      nav range: 463.809814 m,
      bearing: 213.448528 deg,
      approach rate: -0.624843 m/s,
      LOS rate: 0.005889 deg/s,
      cmd heading: 205.807547 deg,
      new cmd heading: 205.813855 deg.

2025-10-27T00:24:03.929Z,1761524643.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592129 target range: 466.422485 and range: 468.60 m.
2025-10-27T00:24:03.970Z,1761524643.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810738
2025-10-27T00:24:04.224Z,1761524644.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.064459
2025-10-27T00:24:04.290Z,1761524644.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895571,0.443733,0.032454],[-0.442731,-0.881568,-0.163788],[-0.044067,-0.161052,0.985962]]
2025-10-27T00:24:04.319Z,1761524644.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.42 m.
2025-10-27T00:24:04.321Z,1761524644.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 466.422485 m,
      nav range: 463.539642 m,
      bearing: 213.451075 deg,
      approach rate: -0.680582 m/s,
      LOS rate: 0.006418 deg/s,
      cmd heading: 205.813858 deg,
      new cmd heading: 205.821502 deg.

2025-10-27T00:24:04.322Z,1761524644.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592263 target range: 466.422485 and range: 468.60 m.
2025-10-27T00:24:04.476Z,1761524644.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.316580
2025-10-27T00:24:04.700Z,1761524644.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896047,0.442752,0.032735],[-0.441836,-0.882129,-0.163183],[-0.043373,-0.160683,0.986053]]
2025-10-27T00:24:04.728Z,1761524644.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.568449
2025-10-27T00:24:04.766Z,1761524644.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.42 m.
2025-10-27T00:24:04.769Z,1761524644.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 466.422485 m,
      nav range: 463.275421 m,
      bearing: 213.453600 deg,
      approach rate: -0.590833 m/s,
      LOS rate: 0.005651 deg/s,
      cmd heading: 205.821508 deg,
      new cmd heading: 205.829089 deg.

2025-10-27T00:24:04.770Z,1761524644.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592395 target range: 466.422485 and range: 468.60 m.
2025-10-27T00:24:04.980Z,1761524644.980 [DAT](INFO): DAT read: Rx Time:00:24:05.7743

2025-10-27T00:24:04.980Z,1761524644.980 [DAT](INFO): Rx dataTimestamp_ set to:1761524644.980117
2025-10-27T00:24:04.981Z,1761524644.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821532
2025-10-27T00:24:05.101Z,1761524645.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896812,0.441108,0.033947],[-0.440370,-0.882672,-0.164207],[-0.042469,-0.162212,0.985842]]
2025-10-27T00:24:05.117Z,1761524645.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:05.119Z,1761524645.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 466.42 m.
2025-10-27T00:24:05.122Z,1761524645.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 466.422485 m,
      nav range: 463.016388 m,
      bearing: 213.456135 deg,
      approach rate: -0.732999 m/s,
      LOS rate: 0.007177 deg/s,
      cmd heading: 205.829089 deg,
      new cmd heading: 205.836698 deg.

2025-10-27T00:24:05.123Z,1761524645.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592528 target range: 466.422485 and range: 468.60 m.
2025-10-27T00:24:05.234Z,1761524645.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074347
2025-10-27T00:24:05.495Z,1761524645.495 [DAT](INFO): DAT read: 00:24:05.7743 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 405,-0.14, 2.286, 0.712, 2.221, 1.904, PHS= 0.484,-1.147, 0.273, RAW= 143.2,   5.1, CAL= 142.8,   5.7, ROT=   7.2,  -5.7

2025-10-27T00:24:05.496Z,1761524645.496 [DAT](INFO): got valid direction response:
 00:24:05.7743 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 405,-0.14, 2.286, 0.712, 2.221, 1.904, PHS= 0.484,-1.147, 0.273, RAW= 143.2,   5.1, CAL= 142.8,   5.7, ROT=   7.2,  -5.7

2025-10-27T00:24:05.497Z,1761524645.497 [DAT](INFO): DAT read: Bearing 353.4,   4.0 (Local)

2025-10-27T00:24:05.497Z,1761524645.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.4,   4.0 (Local)

2025-10-27T00:24:05.498Z,1761524645.498 [DAT](INFO): DAT read: Range 11 to 50 : 465.8 m  (Round-trip  621.1 ms) speed  0.5 m/s

2025-10-27T00:24:05.508Z,1761524645.508 [DAT](INFO): DAT read: user:75>Tx time:00:24:06.8490

2025-10-27T00:24:05.508Z,1761524645.508 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:05.509Z,1761524645.509 [DAT](INFO): direction in FSK: [0.987209,0.124714,0.099320]
2025-10-27T00:24:05.509Z,1761524645.509 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:05.513Z,1761524645.513 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:05.513Z,1761524645.513 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:05.513Z,1761524645.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:05.517Z,1761524645.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897645,0.439213,0.036396],[-0.438768,-0.882859,-0.167460],[-0.041419,-0.166289,0.985207]]
2025-10-27T00:24:05.609Z,1761524645.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 465.799988 m,
      deltaT: 4.047870 s,
      deltaX: -2.800018 m,
      approachRate: -0.691726 m/s,
      rangeRepo size: 4

2025-10-27T00:24:05.615Z,1761524645.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 463.639038 m,
      bearing: 214.073779 deg,
      lat: 36.779376 deg,
      lon: -121.859989 deg,
      deltaT: 4.047870 s,
      deltaX: -2.783447 m,
      approachRate: -0.687633 m/s,
      posRepo size: 4

2025-10-27T00:24:05.616Z,1761524645.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:05.619Z,1761524645.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 462.704620 m,
      bearing: 213.457273 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007177 deg/s,
      cmd heading: 205.836698 deg,
      new cmd heading: 205.847232 deg.

2025-10-27T00:24:05.624Z,1761524645.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592712 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:05.738Z,1761524645.738 [DAT](INFO): DAT read: 

2025-10-27T00:24:05.739Z,1761524645.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579109
2025-10-27T00:24:05.988Z,1761524645.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.828548
2025-10-27T00:24:06.046Z,1761524646.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898697,0.436870,0.038574],[-0.436711,-0.883329,-0.170333],[-0.040340,-0.169924,0.984631]]
2025-10-27T00:24:06.114Z,1761524646.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:06.116Z,1761524646.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 462.349701 m,
      bearing: 213.458685 deg,
      approach rate: -0.702605 m/s,
      LOS rate: 0.002798 deg/s,
      cmd heading: 205.847230 deg,
      new cmd heading: 205.851470 deg.

2025-10-27T00:24:06.117Z,1761524646.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592786 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:06.241Z,1761524646.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.081285
2025-10-27T00:24:06.495Z,1761524646.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334814
2025-10-27T00:24:06.544Z,1761524646.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:06.549Z,1761524646.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 462.096741 m,
      bearing: 213.459693 deg,
      approach rate: -0.588074 m/s,
      LOS rate: 0.002344 deg/s,
      cmd heading: 205.851465 deg,
      new cmd heading: 205.854490 deg.

2025-10-27T00:24:06.550Z,1761524646.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592839 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:06.745Z,1761524646.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585035
2025-10-27T00:24:06.916Z,1761524646.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900525,0.432173,0.047761],[-0.433285,-0.882773,-0.181593],[-0.036318,-0.184223,0.982213]]
2025-10-27T00:24:06.967Z,1761524646.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:06.970Z,1761524646.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 461.775055 m,
      bearing: 213.459411 deg,
      approach rate: -0.760194 m/s,
      LOS rate: -0.000668 deg/s,
      cmd heading: 205.854484 deg,
      new cmd heading: 205.853637 deg.

2025-10-27T00:24:06.971Z,1761524646.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592824 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:06.996Z,1761524646.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836527
2025-10-27T00:24:07.249Z,1761524647.249 [DAT](INFO): Reached modem response timeout
2025-10-27T00:24:07.249Z,1761524647.249 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:07.249Z,1761524647.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:07.317Z,1761524647.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900738,0.431381,0.050809],[-0.433006,-0.882518,-0.183487],[-0.034313,-0.187274,0.981708]]
2025-10-27T00:24:07.342Z,1761524647.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:07.344Z,1761524647.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:07.347Z,1761524647.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 461.520111 m,
      bearing: 213.459208 deg,
      approach rate: -0.675722 m/s,
      LOS rate: -0.000538 deg/s,
      cmd heading: 205.853637 deg,
      new cmd heading: 205.853028 deg.

2025-10-27T00:24:07.348Z,1761524647.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592813 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:07.500Z,1761524647.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:07.725Z,1761524647.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900963,0.430649,0.052982],[-0.432709,-0.882749,-0.183078],[-0.032073,-0.187873,0.981670]]
2025-10-27T00:24:07.753Z,1761524647.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:07.778Z,1761524647.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:07.780Z,1761524647.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 461.240173 m,
      bearing: 213.459000 deg,
      approach rate: -0.645903 m/s,
      LOS rate: -0.000478 deg/s,
      cmd heading: 205.853022 deg,
      new cmd heading: 205.852400 deg.

2025-10-27T00:24:07.781Z,1761524647.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592802 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:08.004Z,1761524648.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:08.127Z,1761524648.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900920,0.430588,0.054201],[-0.432960,-0.883169,-0.180438],[-0.029826,-0.186027,0.982092]]
2025-10-27T00:24:08.151Z,1761524648.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:08.154Z,1761524648.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 460.974274 m,
      bearing: 213.458791 deg,
      approach rate: -0.712843 m/s,
      LOS rate: -0.000562 deg/s,
      cmd heading: 205.852394 deg,
      new cmd heading: 205.851765 deg.

2025-10-27T00:24:08.155Z,1761524648.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592791 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:08.257Z,1761524648.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:08.508Z,1761524648.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:08.530Z,1761524648.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900876,0.430718,0.053884],[-0.433199,-0.884216,-0.174643],[-0.027577,-0.180675,0.983156]]
2025-10-27T00:24:08.587Z,1761524648.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:08.590Z,1761524648.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 460.691315 m,
      bearing: 213.456822 deg,
      approach rate: -0.654751 m/s,
      LOS rate: -0.004559 deg/s,
      cmd heading: 205.851766 deg,
      new cmd heading: 205.845855 deg.

2025-10-27T00:24:08.590Z,1761524648.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592688 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:08.760Z,1761524648.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:08.941Z,1761524648.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900625,0.431347,0.053049],[-0.433864,-0.885298,-0.167363],[-0.025228,-0.173748,0.984467]]
2025-10-27T00:24:08.959Z,1761524648.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:08.961Z,1761524648.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 460.424713 m,
      bearing: 213.454928 deg,
      approach rate: -0.709247 m/s,
      LOS rate: -0.005040 deg/s,
      cmd heading: 205.845851 deg,
      new cmd heading: 205.840167 deg.

2025-10-27T00:24:08.962Z,1761524648.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592589 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:09.012Z,1761524649.012 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:09.264Z,1761524649.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:09.337Z,1761524649.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900528,0.431660,0.052151],[-0.434207,-0.886557,-0.159628],[-0.022670,-0.166394,0.985799]]
2025-10-27T00:24:09.426Z,1761524649.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:09.433Z,1761524649.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:09.440Z,1761524649.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 460.140503 m,
      bearing: 213.452881 deg,
      approach rate: -0.599502 m/s,
      LOS rate: -0.004320 deg/s,
      cmd heading: 205.840168 deg,
      new cmd heading: 205.834023 deg.

2025-10-27T00:24:09.441Z,1761524649.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592481 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:09.516Z,1761524649.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:09.752Z,1761524649.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900421,0.431902,0.051979],[-0.434545,-0.887418,-0.153817],[-0.020307,-0.161087,0.986731]]
2025-10-27T00:24:09.768Z,1761524649.768 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:09.803Z,1761524649.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:09.805Z,1761524649.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 459.844727 m,
      bearing: 213.451135 deg,
      approach rate: -0.799817 m/s,
      LOS rate: -0.004724 deg/s,
      cmd heading: 205.834021 deg,
      new cmd heading: 205.828780 deg.

2025-10-27T00:24:09.806Z,1761524649.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592390 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:10.020Z,1761524650.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:10.146Z,1761524650.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900303,0.432040,0.052871],[-0.434896,-0.887896,-0.150019],[-0.017870,-0.158056,0.987269]]
2025-10-27T00:24:10.170Z,1761524650.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:10.173Z,1761524650.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 459.589844 m,
      bearing: 213.449616 deg,
      approach rate: -0.694498 m/s,
      LOS rate: -0.004142 deg/s,
      cmd heading: 205.828775 deg,
      new cmd heading: 205.824214 deg.

2025-10-27T00:24:10.173Z,1761524650.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592310 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:10.272Z,1761524650.272 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:10.524Z,1761524650.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:10.552Z,1761524650.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900154,0.432164,0.054377],[-0.435298,-0.888121,-0.147504],[-0.015453,-0.156446,0.987566]]
2025-10-27T00:24:10.604Z,1761524650.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:10.611Z,1761524650.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 459.302856 m,
      bearing: 213.448503 deg,
      approach rate: -0.659994 m/s,
      LOS rate: -0.002561 deg/s,
      cmd heading: 205.824213 deg,
      new cmd heading: 205.820871 deg.

2025-10-27T00:24:10.612Z,1761524650.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592252 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:10.776Z,1761524650.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:10.953Z,1761524650.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899891,0.432387,0.056900],[-0.435925,-0.887963,-0.146595],[-0.012861,-0.156724,0.987559]]
2025-10-27T00:24:10.992Z,1761524650.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:10.995Z,1761524650.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 459.025574 m,
      bearing: 213.447402 deg,
      approach rate: -0.715153 m/s,
      LOS rate: -0.002840 deg/s,
      cmd heading: 205.820866 deg,
      new cmd heading: 205.817562 deg.

2025-10-27T00:24:10.996Z,1761524650.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592194 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:11.028Z,1761524651.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:11.282Z,1761524651.282 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:11.358Z,1761524651.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899625,0.432578,0.059594],[-0.436536,-0.887650,-0.146677],[-0.010551,-0.157969,0.987388]]
2025-10-27T00:24:11.386Z,1761524651.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:11.399Z,1761524651.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 458.755829 m,
      bearing: 213.446307 deg,
      approach rate: -0.684111 m/s,
      LOS rate: -0.002779 deg/s,
      cmd heading: 205.817560 deg,
      new cmd heading: 205.814272 deg.

2025-10-27T00:24:11.402Z,1761524651.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592137 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:11.533Z,1761524651.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:11.761Z,1761524651.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899329,0.432833,0.062151],[-0.437197,-0.887417,-0.146114],[-0.008089,-0.158576,0.987314]]
2025-10-27T00:24:11.784Z,1761524651.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:11.812Z,1761524651.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:11.814Z,1761524651.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:11.817Z,1761524651.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 458.469299 m,
      bearing: 213.446729 deg,
      approach rate: -0.669767 m/s,
      LOS rate: 0.000986 deg/s,
      cmd heading: 205.814268 deg,
      new cmd heading: 205.815533 deg.

2025-10-27T00:24:11.818Z,1761524651.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592159 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:12.036Z,1761524652.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:12.163Z,1761524652.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898970,0.433232,0.064518],[-0.437970,-0.887106,-0.145689],[-0.005883,-0.159227,0.987225]]
2025-10-27T00:24:12.182Z,1761524652.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:12.185Z,1761524652.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 458.223175 m,
      bearing: 213.447064 deg,
      approach rate: -0.669704 m/s,
      LOS rate: 0.000912 deg/s,
      cmd heading: 205.815538 deg,
      new cmd heading: 205.816544 deg.

2025-10-27T00:24:12.185Z,1761524652.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592176 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:12.288Z,1761524652.288 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:12.540Z,1761524652.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:12.566Z,1761524652.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898351,0.434125,0.067084],[-0.439265,-0.886601,-0.144861],[-0.003412,-0.159604,0.987175]]
2025-10-27T00:24:12.622Z,1761524652.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:12.629Z,1761524652.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 457.944366 m,
      bearing: 213.448695 deg,
      approach rate: -0.633351 m/s,
      LOS rate: 0.003708 deg/s,
      cmd heading: 205.816549 deg,
      new cmd heading: 205.821446 deg.

2025-10-27T00:24:12.630Z,1761524652.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592262 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:12.792Z,1761524652.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:13.006Z,1761524653.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:13.009Z,1761524653.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 457.676086 m,
      bearing: 213.450266 deg,
      approach rate: -0.698742 m/s,
      LOS rate: 0.004095 deg/s,
      cmd heading: 205.821440 deg,
      new cmd heading: 205.826156 deg.

2025-10-27T00:24:13.010Z,1761524653.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592344 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:13.044Z,1761524653.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:13.296Z,1761524653.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:13.376Z,1761524653.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896900,0.436070,0.073581],[-0.442232,-0.884932,-0.146035],[0.001432,-0.163519,0.986539]]
2025-10-27T00:24:13.395Z,1761524653.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:13.398Z,1761524653.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 457.418304 m,
      bearing: 213.451663 deg,
      approach rate: -0.662655 m/s,
      LOS rate: 0.003593 deg/s,
      cmd heading: 205.826152 deg,
      new cmd heading: 205.830346 deg.

2025-10-27T00:24:13.399Z,1761524653.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592417 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:13.549Z,1761524653.549 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:13.778Z,1761524653.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895854,0.437615,0.077064],[-0.444331,-0.883767,-0.146715],[0.003902,-0.165677,0.986172]]
2025-10-27T00:24:13.800Z,1761524653.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:13.829Z,1761524653.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:13.831Z,1761524653.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:13.834Z,1761524653.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 457.135864 m,
      bearing: 213.454685 deg,
      approach rate: -0.647952 m/s,
      LOS rate: 0.006936 deg/s,
      cmd heading: 205.830346 deg,
      new cmd heading: 205.839416 deg.

2025-10-27T00:24:13.835Z,1761524653.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592576 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:14.052Z,1761524654.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:14.181Z,1761524654.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894579,0.439785,0.079478],[-0.446863,-0.882779,-0.144963],[0.006409,-0.165197,0.986240]]
2025-10-27T00:24:14.206Z,1761524654.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:14.208Z,1761524654.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 456.892792 m,
      bearing: 213.457202 deg,
      approach rate: -0.648673 m/s,
      LOS rate: 0.006721 deg/s,
      cmd heading: 205.839417 deg,
      new cmd heading: 205.846972 deg.

2025-10-27T00:24:14.209Z,1761524654.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592707 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:14.304Z,1761524654.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:14.556Z,1761524654.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:14.586Z,1761524654.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893226,0.442141,0.081599],[-0.449518,-0.881845,-0.142418],[0.008989,-0.163891,0.986437]]
2025-10-27T00:24:14.638Z,1761524654.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:14.641Z,1761524654.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 456.612305 m,
      bearing: 213.460032 deg,
      approach rate: -0.648363 m/s,
      LOS rate: 0.006547 deg/s,
      cmd heading: 205.846971 deg,
      new cmd heading: 205.855467 deg.

2025-10-27T00:24:14.642Z,1761524654.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592856 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:14.808Z,1761524654.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:14.990Z,1761524654.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891949,0.444399,0.083282],[-0.451971,-0.881325,-0.137795],[0.012162,-0.160547,0.986953]]
2025-10-27T00:24:15.024Z,1761524655.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:15.031Z,1761524655.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 456.372223 m,
      bearing: 213.462375 deg,
      approach rate: -0.621706 m/s,
      LOS rate: 0.006070 deg/s,
      cmd heading: 205.855468 deg,
      new cmd heading: 205.862499 deg.

2025-10-27T00:24:15.032Z,1761524655.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592978 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:15.060Z,1761524655.060 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:15.312Z,1761524655.312 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:15.397Z,1761524655.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890634,0.446554,0.085795],[-0.454460,-0.880528,-0.134670],[0.015408,-0.158932,0.987169]]
2025-10-27T00:24:15.419Z,1761524655.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:15.422Z,1761524655.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 456.106171 m,
      bearing: 213.464880 deg,
      approach rate: -0.674453 m/s,
      LOS rate: 0.006354 deg/s,
      cmd heading: 205.862503 deg,
      new cmd heading: 205.870022 deg.

2025-10-27T00:24:15.422Z,1761524655.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593110 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:15.564Z,1761524655.564 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:15.798Z,1761524655.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889189,0.448904,0.088472],[-0.457160,-0.879560,-0.131834],[0.018636,-0.157671,0.987316]]
2025-10-27T00:24:15.816Z,1761524655.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:15.845Z,1761524655.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:15.847Z,1761524655.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:15.850Z,1761524655.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 455.826813 m,
      bearing: 213.467777 deg,
      approach rate: -0.652757 m/s,
      LOS rate: 0.006775 deg/s,
      cmd heading: 205.870016 deg,
      new cmd heading: 205.878714 deg.

2025-10-27T00:24:15.850Z,1761524655.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593261 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:16.069Z,1761524656.069 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:16.245Z,1761524656.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:16.248Z,1761524656.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 455.569061 m,
      bearing: 213.470454 deg,
      approach rate: -0.646856 m/s,
      LOS rate: 0.006721 deg/s,
      cmd heading: 205.878718 deg,
      new cmd heading: 205.886751 deg.

2025-10-27T00:24:16.249Z,1761524656.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593402 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:16.320Z,1761524656.320 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:16.572Z,1761524656.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:16.656Z,1761524656.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:16.659Z,1761524656.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 455.297668 m,
      bearing: 213.472167 deg,
      approach rate: -0.660175 m/s,
      LOS rate: 0.004171 deg/s,
      cmd heading: 205.886750 deg,
      new cmd heading: 205.891893 deg.

2025-10-27T00:24:16.660Z,1761524656.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593492 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:16.824Z,1761524656.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:17.010Z,1761524657.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886551,0.452646,0.095597],[-0.461744,-0.878546,-0.122269],[0.028642,-0.152539,0.987882]]
2025-10-27T00:24:17.029Z,1761524657.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:17.032Z,1761524657.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 455.054352 m,
      bearing: 213.473532 deg,
      approach rate: -0.653022 m/s,
      LOS rate: 0.003664 deg/s,
      cmd heading: 205.891900 deg,
      new cmd heading: 205.895996 deg.

2025-10-27T00:24:17.033Z,1761524657.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593563 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:17.076Z,1761524657.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:17.328Z,1761524657.328 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:17.415Z,1761524657.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886186,0.452565,0.099296],[-0.462233,-0.878289,-0.122270],[0.031875,-0.154251,0.987517]]
2025-10-27T00:24:17.434Z,1761524657.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:17.437Z,1761524657.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 454.789490 m,
      bearing: 213.475003 deg,
      approach rate: -0.654425 m/s,
      LOS rate: 0.003638 deg/s,
      cmd heading: 205.895998 deg,
      new cmd heading: 205.900416 deg.

2025-10-27T00:24:17.438Z,1761524657.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593640 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:17.580Z,1761524657.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:24:17.817Z,1761524657.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885920,0.452153,0.103454],[-0.462473,-0.878156,-0.122311],[0.035546,-0.156203,0.987085]]
2025-10-27T00:24:17.832Z,1761524657.832 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:24:17.832Z,1761524657.832 [DAT](INFO): response not received
2025-10-27T00:24:17.833Z,1761524657.833 [DAT](INFO): DAT read: user:76>

2025-10-27T00:24:17.833Z,1761524657.833 [DAT](INFO): DAT read: Tx time:00:24:19.2990

2025-10-27T00:24:17.834Z,1761524657.834 [DAT](INFO): Ping request sent.
2025-10-27T00:24:17.834Z,1761524657.834 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:24:17.834Z,1761524657.834 [DAT](INFO): publishing transmit ping time
2025-10-27T00:24:17.835Z,1761524657.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-10-27T00:24:17.870Z,1761524657.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:17.900Z,1761524657.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:17.903Z,1761524657.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 454.501495 m,
      bearing: 213.475029 deg,
      approach rate: -0.617017 m/s,
      LOS rate: 0.000056 deg/s,
      cmd heading: 205.900410 deg,
      new cmd heading: 205.900488 deg.

2025-10-27T00:24:17.904Z,1761524657.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593642 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:18.088Z,1761524658.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253415
2025-10-27T00:24:18.229Z,1761524658.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885454,0.452190,0.107213],[-0.463115,-0.877776,-0.122608],[0.038667,-0.158216,0.986647]]
2025-10-27T00:24:18.262Z,1761524658.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:18.265Z,1761524658.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 454.244385 m,
      bearing: 213.475035 deg,
      approach rate: -0.710926 m/s,
      LOS rate: 0.000014 deg/s,
      cmd heading: 205.900492 deg,
      new cmd heading: 205.900508 deg.

2025-10-27T00:24:18.266Z,1761524658.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593642 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:18.338Z,1761524658.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503925
2025-10-27T00:24:18.588Z,1761524658.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754109
2025-10-27T00:24:18.686Z,1761524658.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:18.690Z,1761524658.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 453.964508 m,
      bearing: 213.473457 deg,
      approach rate: -0.661216 m/s,
      LOS rate: -0.003729 deg/s,
      cmd heading: 205.900506 deg,
      new cmd heading: 205.895770 deg.

2025-10-27T00:24:18.691Z,1761524658.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593559 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:18.840Z,1761524658.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006238
2025-10-27T00:24:19.025Z,1761524659.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885401,0.451004,0.112514],[-0.462609,-0.878589,-0.118632],[0.045350,-0.157087,0.986543]]
2025-10-27T00:24:19.055Z,1761524659.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:19.058Z,1761524659.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 453.724548 m,
      bearing: 213.472114 deg,
      approach rate: -0.648852 m/s,
      LOS rate: -0.003634 deg/s,
      cmd heading: 205.895766 deg,
      new cmd heading: 205.891734 deg.

2025-10-27T00:24:19.059Z,1761524659.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593489 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:19.092Z,1761524659.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258515
2025-10-27T00:24:19.344Z,1761524659.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510542
2025-10-27T00:24:19.468Z,1761524659.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:19.470Z,1761524659.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 453.442047 m,
      bearing: 213.470531 deg,
      approach rate: -0.684861 m/s,
      LOS rate: -0.003840 deg/s,
      cmd heading: 205.891736 deg,
      new cmd heading: 205.886984 deg.

2025-10-27T00:24:19.471Z,1761524659.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593406 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:19.596Z,1761524659.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762445
2025-10-27T00:24:19.836Z,1761524659.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886509,0.447489,0.117710],[-0.459804,-0.880429,-0.115864],[0.051787,-0.156838,0.986266]]
2025-10-27T00:24:19.848Z,1761524659.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014318
2025-10-27T00:24:19.873Z,1761524659.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:19.875Z,1761524659.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:19.897Z,1761524659.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 453.169464 m,
      bearing: 213.467408 deg,
      approach rate: -0.669903 m/s,
      LOS rate: -0.007680 deg/s,
      cmd heading: 205.886982 deg,
      new cmd heading: 205.877607 deg.

2025-10-27T00:24:19.898Z,1761524659.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593242 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:20.100Z,1761524660.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266410
2025-10-27T00:24:20.244Z,1761524660.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887232,0.445202,0.120891],[-0.458036,-0.881353,-0.115846],[0.054973,-0.158155,0.985883]]
2025-10-27T00:24:20.269Z,1761524660.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:20.271Z,1761524660.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 452.904510 m,
      bearing: 213.464439 deg,
      approach rate: -0.672306 m/s,
      LOS rate: -0.007537 deg/s,
      cmd heading: 205.877611 deg,
      new cmd heading: 205.868700 deg.

2025-10-27T00:24:20.272Z,1761524660.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593087 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:20.352Z,1761524660.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518256
2025-10-27T00:24:20.605Z,1761524660.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771242
2025-10-27T00:24:20.686Z,1761524660.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888185,0.442503,0.123766],[-0.455893,-0.882289,-0.117167],[0.057350,-0.160490,0.985370]]
2025-10-27T00:24:20.754Z,1761524660.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:20.757Z,1761524660.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 452.572510 m,
      bearing: 213.459700 deg,
      approach rate: -0.684278 m/s,
      LOS rate: -0.009775 deg/s,
      cmd heading: 205.868704 deg,
      new cmd heading: 205.854477 deg.

2025-10-27T00:24:20.758Z,1761524660.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592838 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:20.857Z,1761524660.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023201
2025-10-27T00:24:21.153Z,1761524661.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889356,0.439456,0.126194],[-0.453364,-0.883359,-0.118900],[0.059223,-0.162956,0.984854]]
2025-10-27T00:24:21.155Z,1761524661.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.321589
2025-10-27T00:24:21.176Z,1761524661.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:21.178Z,1761524661.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 452.283752 m,
      bearing: 213.455684 deg,
      approach rate: -0.685577 m/s,
      LOS rate: -0.009541 deg/s,
      cmd heading: 205.854470 deg,
      new cmd heading: 205.842414 deg.

2025-10-27T00:24:21.180Z,1761524661.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592628 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:21.360Z,1761524661.360 [DAT](INFO): DAT read: Rx Time:00:24:22.3100

2025-10-27T00:24:21.361Z,1761524661.361 [DAT](INFO): Rx dataTimestamp_ set to:1761524661.360971
2025-10-27T00:24:21.362Z,1761524661.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528036
2025-10-27T00:24:21.612Z,1761524661.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778219
2025-10-27T00:24:21.615Z,1761524661.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890599,0.436463,0.127806],[-0.450841,-0.884239,-0.121914],[0.059800,-0.166197,0.984278]]
2025-10-27T00:24:21.670Z,1761524661.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 463.64 m.
2025-10-27T00:24:21.672Z,1761524661.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 463.639038 m,
      nav range: 451.949890 m,
      bearing: 213.451971 deg,
      approach rate: -0.675098 m/s,
      LOS rate: -0.007514 deg/s,
      cmd heading: 205.842408 deg,
      new cmd heading: 205.831261 deg.

2025-10-27T00:24:21.673Z,1761524661.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592433 target range: 463.639038 and range: 465.80 m.
2025-10-27T00:24:21.870Z,1761524661.870 [DAT](INFO): DAT read: 00:24:22.3100 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 259,-0.40, 0.540,-0.976, 0.485, 0.185, PHS= 0.458,-1.116, 0.256, RAW= 143.2,   5.5, CAL= 142.8,   6.0, ROT=   7.2,  -6.0

2025-10-27T00:24:21.872Z,1761524661.872 [DAT](INFO): got valid direction response:
 00:24:22.3100 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 259,-0.40, 0.540,-0.976, 0.485, 0.185, PHS= 0.458,-1.116, 0.256, RAW= 143.2,   5.5, CAL= 142.8,   6.0, ROT=   7.2,  -6.0

2025-10-27T00:24:21.873Z,1761524661.873 [DAT](INFO): DAT read: Bearing 354.3,   9.2 (Local)

2025-10-27T00:24:21.874Z,1761524661.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.3,   9.2 (Local)

2025-10-27T00:24:21.888Z,1761524661.888 [DAT](INFO): DAT read: Range 11 to 50 : 455.1 m  (Round-trip  606.9 ms) speed  0.4 m/s

2025-10-27T00:24:21.889Z,1761524661.889 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:21.890Z,1761524661.890 [DAT](INFO): direction in FSK: [0.986680,0.124647,0.104528]
2025-10-27T00:24:21.890Z,1761524661.890 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:21.898Z,1761524661.898 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:21.898Z,1761524661.898 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:21.898Z,1761524661.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:21.962Z,1761524661.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891749,0.433942,0.128370],[-0.448584,-0.885045,-0.124374],[0.059643,-0.168495,0.983896]]
2025-10-27T00:24:22.022Z,1761524662.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 455.100006 m,
      deltaT: 16.380011 s,
      deltaX: -10.699982 m,
      approachRate: -0.653234 m/s,
      rangeRepo size: 4

2025-10-27T00:24:22.024Z,1761524662.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 452.971344 m,
      bearing: 214.862726 deg,
      lat: 36.779378 deg,
      lon: -121.859999 deg,
      deltaT: 16.380011 s,
      deltaX: -10.667694 m,
      approachRate: -0.651263 m/s,
      posRepo size: 4

2025-10-27T00:24:22.025Z,1761524662.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:22.031Z,1761524662.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 452.030914 m,
      bearing: 213.556661 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007514 deg/s,
      cmd heading: 205.831261 deg,
      new cmd heading: 205.823341 deg.

2025-10-27T00:24:22.032Z,1761524662.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592295 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:22.116Z,1761524662.116 [DAT](INFO): DAT read: user:77>

2025-10-27T00:24:22.117Z,1761524662.117 [DAT](INFO): DAT read: Tx time:00:24:23.5490

2025-10-27T00:24:22.117Z,1761524662.117 [DAT](INFO): Ping request sent.
2025-10-27T00:24:22.117Z,1761524662.117 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:24:22.117Z,1761524662.117 [DAT](INFO): publishing transmit ping time
2025-10-27T00:24:22.118Z,1761524662.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-10-27T00:24:22.365Z,1761524662.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893107,0.431556,0.126961],[-0.445997,-0.886304,-0.124705],[0.058709,-0.167999,0.984037]]
2025-10-27T00:24:22.368Z,1761524662.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250750
2025-10-27T00:24:22.384Z,1761524662.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:22.386Z,1761524662.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:22.388Z,1761524662.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 451.763153 m,
      bearing: 213.553932 deg,
      approach rate: -0.734190 m/s,
      LOS rate: -0.007486 deg/s,
      cmd heading: 205.823338 deg,
      new cmd heading: 205.815148 deg.

2025-10-27T00:24:22.389Z,1761524662.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592152 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:22.620Z,1761524662.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502958
2025-10-27T00:24:22.770Z,1761524662.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894449,0.428985,0.126223],[-0.443516,-0.887072,-0.128047],[0.057038,-0.170514,0.983703]]
2025-10-27T00:24:22.828Z,1761524662.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:22.835Z,1761524662.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 451.478363 m,
      bearing: 213.551628 deg,
      approach rate: -0.643384 m/s,
      LOS rate: -0.005210 deg/s,
      cmd heading: 205.815142 deg,
      new cmd heading: 205.808224 deg.

2025-10-27T00:24:22.836Z,1761524662.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592031 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:22.872Z,1761524662.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881
2025-10-27T00:24:23.128Z,1761524663.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010435
2025-10-27T00:24:23.179Z,1761524663.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895856,0.426410,0.124967],[-0.440950,-0.887826,-0.131634],[0.054818,-0.173030,0.983390]]
2025-10-27T00:24:23.220Z,1761524663.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:23.225Z,1761524663.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 451.205444 m,
      bearing: 213.549521 deg,
      approach rate: -0.698093 m/s,
      LOS rate: -0.005393 deg/s,
      cmd heading: 205.808230 deg,
      new cmd heading: 205.801905 deg.

2025-10-27T00:24:23.226Z,1761524663.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591921 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:23.376Z,1761524663.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258669
2025-10-27T00:24:23.626Z,1761524663.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897071,0.424575,0.122472],[-0.438806,-0.888587,-0.133649],[0.052082,-0.173634,0.983432]]
2025-10-27T00:24:23.630Z,1761524663.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512922
2025-10-27T00:24:23.793Z,1761524663.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:23.796Z,1761524663.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 450.834778 m,
      bearing: 213.548024 deg,
      approach rate: -0.646159 m/s,
      LOS rate: -0.002610 deg/s,
      cmd heading: 205.801905 deg,
      new cmd heading: 205.797413 deg.

2025-10-27T00:24:23.799Z,1761524663.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591842 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:23.881Z,1761524663.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763316
2025-10-27T00:24:24.132Z,1761524664.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014774
2025-10-27T00:24:24.137Z,1761524664.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898895,0.422350,0.116659],[-0.435744,-0.889612,-0.136813],[0.045998,-0.173814,0.983704]]
2025-10-27T00:24:24.155Z,1761524664.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:24.157Z,1761524664.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 450.568481 m,
      bearing: 213.547070 deg,
      approach rate: -0.736020 m/s,
      LOS rate: -0.002640 deg/s,
      cmd heading: 205.797411 deg,
      new cmd heading: 205.794546 deg.

2025-10-27T00:24:24.158Z,1761524664.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591792 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:24.384Z,1761524664.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266768
2025-10-27T00:24:24.534Z,1761524664.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899216,0.422273,0.114441],[-0.435350,-0.889569,-0.138342],[0.043385,-0.174221,0.983750]]
2025-10-27T00:24:24.567Z,1761524664.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:24.584Z,1761524664.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:24.601Z,1761524664.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 450.295563 m,
      bearing: 213.546108 deg,
      approach rate: -0.645036 m/s,
      LOS rate: -0.002274 deg/s,
      cmd heading: 205.794542 deg,
      new cmd heading: 205.791656 deg.

2025-10-27T00:24:24.609Z,1761524664.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591742 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:24.636Z,1761524664.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519121
2025-10-27T00:24:24.888Z,1761524664.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770897
2025-10-27T00:24:24.947Z,1761524664.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899414,0.422351,0.112581],[-0.435146,-0.889503,-0.139398],[0.041266,-0.174366,0.983816]]
2025-10-27T00:24:24.999Z,1761524664.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:25.002Z,1761524665.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 450.004089 m,
      bearing: 213.546972 deg,
      approach rate: -0.691582 m/s,
      LOS rate: 0.002051 deg/s,
      cmd heading: 205.791660 deg,
      new cmd heading: 205.794254 deg.

2025-10-27T00:24:25.003Z,1761524665.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591787 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:25.140Z,1761524665.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022746
2025-10-27T00:24:25.353Z,1761524665.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899050,0.423774,0.110112],[-0.436110,-0.889079,-0.139094],[0.038953,-0.173073,0.984138]]
2025-10-27T00:24:25.370Z,1761524665.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:25.373Z,1761524665.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 449.757690 m,
      bearing: 213.547672 deg,
      approach rate: -0.663799 m/s,
      LOS rate: 0.001886 deg/s,
      cmd heading: 205.794255 deg,
      new cmd heading: 205.796356 deg.

2025-10-27T00:24:25.374Z,1761524665.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591824 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:25.393Z,1761524665.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276232
2025-10-27T00:24:25.648Z,1761524665.648 [DAT](INFO): DAT read: Rx Time:00:24:26.5299

2025-10-27T00:24:25.650Z,1761524665.650 [DAT](INFO): Rx dataTimestamp_ set to:1761524665.648688
2025-10-27T00:24:25.653Z,1761524665.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535349
2025-10-27T00:24:25.753Z,1761524665.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898799,0.425045,0.107222],[-0.436781,-0.889101,-0.136824],[0.037175,-0.169810,0.984775]]
2025-10-27T00:24:25.804Z,1761524665.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:25.807Z,1761524665.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 449.473389 m,
      bearing: 213.549734 deg,
      approach rate: -0.655405 m/s,
      LOS rate: 0.004757 deg/s,
      cmd heading: 205.796359 deg,
      new cmd heading: 205.802550 deg.

2025-10-27T00:24:25.808Z,1761524665.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591932 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:25.897Z,1761524665.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779521
2025-10-27T00:24:26.153Z,1761524666.153 [DAT](INFO): DAT read: 00:24:26.5299 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 128, 0.15, 2.826, 1.148, 2.809, 2.768, PHS= 0.160,-1.575,-0.003, RAW= 145.1,  16.8, CAL= 144.8,  18.4, ROT=   5.2, -18.4

2025-10-27T00:24:26.154Z,1761524666.154 [DAT](INFO): got valid direction response:
 00:24:26.5299 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 128, 0.15, 2.826, 1.148, 2.809, 2.768, PHS= 0.160,-1.575,-0.003, RAW= 145.1,  16.8, CAL= 144.8,  18.4, ROT=   5.2, -18.4

2025-10-27T00:24:26.155Z,1761524666.155 [DAT](INFO): DAT read: Bearing   4.7,   3.6 (Local)

2025-10-27T00:24:26.156Z,1761524666.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,   3.6 (Local)

2025-10-27T00:24:26.157Z,1761524666.157 [DAT](INFO): DAT read: Range 11 to 50 : 432.6 m  (Round-trip  576.9 ms) speed  0.6 m/s

2025-10-27T00:24:26.158Z,1761524666.158 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:26.158Z,1761524666.158 [DAT](INFO): direction in FSK: [0.944971,0.085999,0.315649]
2025-10-27T00:24:26.159Z,1761524666.159 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:26.162Z,1761524666.162 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:26.162Z,1761524666.162 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:26.162Z,1761524666.162 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:26.224Z,1761524666.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898261,0.426667,0.105269],[-0.437976,-0.888838,-0.134696],[0.036097,-0.167098,0.985279]]
2025-10-27T00:24:26.285Z,1761524666.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 432.600006 m,
 deltaT: 4.283941 s,
 deltaX: -22.500000 m,
 approachRate: -5.252173 m/s,
 rangeRepo size: 4
2025-10-27T00:24:26.286Z,1761524666.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:26.293Z,1761524666.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 449.168549 m,
      bearing: 213.551897 deg,
      approach rate: -0.634602 m/s,
      LOS rate: 0.004505 deg/s,
      cmd heading: 205.802547 deg,
      new cmd heading: 205.809039 deg.

2025-10-27T00:24:26.294Z,1761524666.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592045 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:26.400Z,1761524666.400 [DAT](INFO): DAT read: user:78>

2025-10-27T00:24:26.401Z,1761524666.401 [DAT](INFO): DAT read: Tx time:00:24:27.7989

2025-10-27T00:24:26.401Z,1761524666.401 [DAT](INFO): Ping request sent.
2025-10-27T00:24:26.401Z,1761524666.401 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:24:26.401Z,1761524666.401 [DAT](INFO): publishing transmit ping time
2025-10-27T00:24:26.402Z,1761524666.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-27T00:24:26.624Z,1761524666.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897808,0.428131,0.103177],[-0.438968,-0.888803,-0.131668],[0.035333,-0.163504,0.985910]]
2025-10-27T00:24:26.655Z,1761524666.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253239
2025-10-27T00:24:26.697Z,1761524666.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:26.706Z,1761524666.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:26.714Z,1761524666.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 448.898773 m,
      bearing: 213.553775 deg,
      approach rate: -0.641427 m/s,
      LOS rate: 0.004468 deg/s,
      cmd heading: 205.809036 deg,
      new cmd heading: 205.814673 deg.

2025-10-27T00:24:26.720Z,1761524666.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592144 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:26.907Z,1761524666.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506112
2025-10-27T00:24:27.024Z,1761524667.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897447,0.429414,0.100960],[-0.439764,-0.888884,-0.128424],[0.034595,-0.159653,0.986567]]
2025-10-27T00:24:27.078Z,1761524667.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:27.081Z,1761524667.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 448.632172 m,
      bearing: 213.556154 deg,
      approach rate: -0.714152 m/s,
      LOS rate: 0.006379 deg/s,
      cmd heading: 205.814678 deg,
      new cmd heading: 205.821822 deg.

2025-10-27T00:24:27.082Z,1761524667.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592268 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:27.157Z,1761524667.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755360
2025-10-27T00:24:27.408Z,1761524667.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006971
2025-10-27T00:24:27.434Z,1761524667.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897146,0.430413,0.099360],[-0.440418,-0.888898,-0.126063],[0.034062,-0.156857,0.987034]]
2025-10-27T00:24:27.452Z,1761524667.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:27.454Z,1761524667.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 448.383209 m,
      bearing: 213.558354 deg,
      approach rate: -0.667143 m/s,
      LOS rate: 0.005896 deg/s,
      cmd heading: 205.821822 deg,
      new cmd heading: 205.828423 deg.

2025-10-27T00:24:27.455Z,1761524667.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592384 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:27.663Z,1761524667.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261195
2025-10-27T00:24:27.830Z,1761524667.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896785,0.431171,0.099341],[-0.441169,-0.888514,-0.126144],[0.033876,-0.156951,0.987025]]
2025-10-27T00:24:27.874Z,1761524667.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:27.876Z,1761524667.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 448.105743 m,
      bearing: 213.560652 deg,
      approach rate: -0.657556 m/s,
      LOS rate: 0.005451 deg/s,
      cmd heading: 205.828420 deg,
      new cmd heading: 205.835320 deg.

2025-10-27T00:24:27.877Z,1761524667.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592504 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:27.913Z,1761524667.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511282
2025-10-27T00:24:28.164Z,1761524668.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762816
2025-10-27T00:24:28.236Z,1761524668.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896723,0.431194,0.099794],[-0.441274,-0.888416,-0.126468],[0.034126,-0.157444,0.986938]]
2025-10-27T00:24:28.255Z,1761524668.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:28.258Z,1761524668.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 447.855652 m,
      bearing: 213.562724 deg,
      approach rate: -0.656140 m/s,
      LOS rate: 0.005437 deg/s,
      cmd heading: 205.835318 deg,
      new cmd heading: 205.841536 deg.

2025-10-27T00:24:28.258Z,1761524668.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592613 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:28.416Z,1761524668.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766
2025-10-27T00:24:28.673Z,1761524668.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269354
2025-10-27T00:24:28.675Z,1761524668.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896431,0.431686,0.100289],[-0.441853,-0.888073,-0.126855],[0.034302,-0.158030,0.986838]]
2025-10-27T00:24:28.746Z,1761524668.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:28.764Z,1761524668.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:28.767Z,1761524668.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 447.531769 m,
      bearing: 213.564186 deg,
      approach rate: -0.635603 m/s,
      LOS rate: 0.002872 deg/s,
      cmd heading: 205.841534 deg,
      new cmd heading: 205.845924 deg.

2025-10-27T00:24:28.768Z,1761524668.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592689 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:28.920Z,1761524668.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518800
2025-10-27T00:24:29.071Z,1761524669.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896258,0.431946,0.100716],[-0.442169,-0.887952,-0.126596],[0.034749,-0.157997,0.986828]]
2025-10-27T00:24:29.105Z,1761524669.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:29.108Z,1761524669.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 447.307892 m,
      bearing: 213.565188 deg,
      approach rate: -0.656508 m/s,
      LOS rate: 0.002939 deg/s,
      cmd heading: 205.845919 deg,
      new cmd heading: 205.848925 deg.

2025-10-27T00:24:29.109Z,1761524669.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592741 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:29.173Z,1761524669.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771467
2025-10-27T00:24:29.424Z,1761524669.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022771
2025-10-27T00:24:29.476Z,1761524669.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896307,0.431785,0.100973],[-0.442031,-0.888100,-0.126045],[0.035250,-0.157608,0.986872]]
2025-10-27T00:24:29.494Z,1761524669.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:29.496Z,1761524669.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 447.042755 m,
      bearing: 213.566379 deg,
      approach rate: -0.682707 m/s,
      LOS rate: 0.003070 deg/s,
      cmd heading: 205.848924 deg,
      new cmd heading: 205.852501 deg.

2025-10-27T00:24:29.497Z,1761524669.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592804 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:29.678Z,1761524669.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276743
2025-10-27T00:24:29.928Z,1761524669.928 [DAT](INFO): DAT read: Rx Time:00:24:30.8041

2025-10-27T00:24:29.929Z,1761524669.929 [DAT](INFO): Rx dataTimestamp_ set to:1761524669.928253
2025-10-27T00:24:29.929Z,1761524669.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527959
2025-10-27T00:24:29.949Z,1761524669.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:29.960Z,1761524669.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 446.759766 m,
      bearing: 213.566087 deg,
      approach rate: -0.621863 m/s,
      LOS rate: -0.000643 deg/s,
      cmd heading: 205.852503 deg,
      new cmd heading: 205.851626 deg.

2025-10-27T00:24:29.961Z,1761524669.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592789 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:30.180Z,1761524670.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779087
2025-10-27T00:24:30.281Z,1761524670.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895844,0.432272,0.102975],[-0.442872,-0.887522,-0.127154],[0.036428,-0.159515,0.986523]]
2025-10-27T00:24:30.359Z,1761524670.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.97 m.
2025-10-27T00:24:30.362Z,1761524670.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.971344 m,
      nav range: 446.479828 m,
      bearing: 213.565769 deg,
      approach rate: -0.682673 m/s,
      LOS rate: -0.000775 deg/s,
      cmd heading: 205.851629 deg,
      new cmd heading: 205.850676 deg.

2025-10-27T00:24:30.363Z,1761524670.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592772 target range: 452.971344 and range: 455.10 m.
2025-10-27T00:24:30.439Z,1761524670.439 [DAT](INFO): DAT read: 00:24:30.8041 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 184,-0.24, 0.519,-1.215, 0.354,-0.070, PHS= 0.691,-1.100, 0.380, RAW= 140.6,   0.3, CAL= 140.6,   0.8, ROT=   9.4,  -0.8

2025-10-27T00:24:30.440Z,1761524670.440 [DAT](INFO): got valid direction response:
 00:24:30.8041 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 184,-0.24, 0.519,-1.215, 0.354,-0.070, PHS= 0.691,-1.100, 0.380, RAW= 140.6,   0.3, CAL= 140.6,   0.8, ROT=   9.4,  -0.8

2025-10-27T00:24:30.441Z,1761524670.441 [DAT](INFO): DAT read: Bearing 348.7,  11.3 (Local)

2025-10-27T00:24:30.442Z,1761524670.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7,  11.3 (Local)

2025-10-27T00:24:30.444Z,1761524670.444 [DAT](INFO): DAT read: Range 11 to 50 : 450.8 m  (Round-trip  601.1 ms) speed  0.4 m/s

2025-10-27T00:24:30.445Z,1761524670.445 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:30.448Z,1761524670.448 [DAT](INFO): direction in FSK: [0.986476,0.163310,0.013962]
2025-10-27T00:24:30.448Z,1761524670.448 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:30.453Z,1761524670.453 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:30.454Z,1761524670.454 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:30.454Z,1761524670.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:30.688Z,1761524670.688 [DAT](INFO): DAT read: user:79>

2025-10-27T00:24:30.692Z,1761524670.692 [DAT](INFO): DAT read: Tx time:00:24:32.0989

2025-10-27T00:24:30.693Z,1761524670.693 [DAT](INFO): Ping request sent.
2025-10-27T00:24:30.694Z,1761524670.694 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:24:30.695Z,1761524670.695 [DAT](INFO): publishing transmit ping time
2025-10-27T00:24:30.697Z,1761524670.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003805
2025-10-27T00:24:30.752Z,1761524670.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895812,0.432171,0.103677],[-0.442877,-0.887547,-0.126962],[0.037149,-0.159650,0.986474]]
2025-10-27T00:24:30.817Z,1761524670.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 450.799988 m,
      deltaT: 8.569815 s,
      deltaX: -4.300018 m,
      approachRate: -0.501763 m/s,
      rangeRepo size: 4

2025-10-27T00:24:30.824Z,1761524670.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 448.626190 m,
      bearing: 215.716781 deg,
      lat: 36.779447 deg,
      lon: -121.860040 deg,
      deltaT: 8.569815 s,
      deltaX: -4.345154 m,
      approachRate: -0.507030 m/s,
      posRepo size: 4

2025-10-27T00:24:30.824Z,1761524670.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:30.831Z,1761524670.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 441.875549 m,
      bearing: 214.506322 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000775 deg/s,
      cmd heading: 205.850673 deg,
      new cmd heading: 205.849608 deg.

2025-10-27T00:24:30.832Z,1761524670.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592753 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:30.936Z,1761524670.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243352
2025-10-27T00:24:31.142Z,1761524671.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895972,0.431734,0.104115],[-0.442493,-0.887820,-0.126393],[0.037867,-0.159315,0.986501]]
2025-10-27T00:24:31.167Z,1761524671.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:31.169Z,1761524671.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:31.172Z,1761524671.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 441.637115 m,
      bearing: 214.505696 deg,
      approach rate: -0.676815 m/s,
      LOS rate: -0.001776 deg/s,
      cmd heading: 205.849607 deg,
      new cmd heading: 205.847730 deg.

2025-10-27T00:24:31.173Z,1761524671.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592721 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:31.190Z,1761524671.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496565
2025-10-27T00:24:31.440Z,1761524671.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747051
2025-10-27T00:24:31.545Z,1761524671.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896111,0.431208,0.105091],[-0.442050,-0.888321,-0.124407],[0.039709,-0.157938,0.986650]]
2025-10-27T00:24:31.569Z,1761524671.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:31.576Z,1761524671.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 441.378143 m,
      bearing: 214.505028 deg,
      approach rate: -0.648002 m/s,
      LOS rate: -0.001672 deg/s,
      cmd heading: 205.847736 deg,
      new cmd heading: 205.845731 deg.

2025-10-27T00:24:31.577Z,1761524671.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592686 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:31.697Z,1761524671.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003461
2025-10-27T00:24:31.944Z,1761524671.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251210
2025-10-27T00:24:32.010Z,1761524672.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:32.014Z,1761524672.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 441.088135 m,
      bearing: 214.503818 deg,
      approach rate: -0.656852 m/s,
      LOS rate: -0.002743 deg/s,
      cmd heading: 205.845728 deg,
      new cmd heading: 205.842095 deg.

2025-10-27T00:24:32.015Z,1761524672.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592622 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:32.197Z,1761524672.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503784
2025-10-27T00:24:32.354Z,1761524672.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896504,0.430098,0.106286],[-0.441052,-0.889106,-0.122328],[0.041886,-0.156545,0.986782]]
2025-10-27T00:24:32.378Z,1761524672.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:32.380Z,1761524672.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 440.849365 m,
      bearing: 214.502851 deg,
      approach rate: -0.650031 m/s,
      LOS rate: -0.002634 deg/s,
      cmd heading: 205.842094 deg,
      new cmd heading: 205.839192 deg.

2025-10-27T00:24:32.381Z,1761524672.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592572 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:32.450Z,1761524672.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757147
2025-10-27T00:24:32.709Z,1761524672.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982
2025-10-27T00:24:32.771Z,1761524672.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896845,0.429239,0.106881],[-0.440234,-0.889699,-0.120952],[0.043175,-0.155528,0.986888]]
2025-10-27T00:24:32.814Z,1761524672.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:32.817Z,1761524672.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 440.560791 m,
      bearing: 214.500901 deg,
      approach rate: -0.660858 m/s,
      LOS rate: -0.004469 deg/s,
      cmd heading: 205.839198 deg,
      new cmd heading: 205.833344 deg.

2025-10-27T00:24:32.818Z,1761524672.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592469 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:32.956Z,1761524672.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263035
2025-10-27T00:24:33.163Z,1761524673.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897395,0.427841,0.107857],[-0.438984,-0.890364,-0.120604],[0.044433,-0.155577,0.986824]]
2025-10-27T00:24:33.197Z,1761524673.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:33.201Z,1761524673.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:33.206Z,1761524673.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 440.310455 m,
      bearing: 214.499252 deg,
      approach rate: -0.647707 m/s,
      LOS rate: -0.004269 deg/s,
      cmd heading: 205.833338 deg,
      new cmd heading: 205.828388 deg.

2025-10-27T00:24:33.209Z,1761524673.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515787
2025-10-27T00:24:33.211Z,1761524673.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592383 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:33.460Z,1761524673.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767142
2025-10-27T00:24:33.565Z,1761524673.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897974,0.425803,0.111056],[-0.437689,-0.890345,-0.125359],[0.045500,-0.161177,0.985876]]
2025-10-27T00:24:33.616Z,1761524673.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:33.623Z,1761524673.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 440.049225 m,
      bearing: 214.497589 deg,
      approach rate: -0.629119 m/s,
      LOS rate: -0.004009 deg/s,
      cmd heading: 205.828393 deg,
      new cmd heading: 205.823399 deg.

2025-10-27T00:24:33.624Z,1761524673.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592296 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:33.713Z,1761524673.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019655
2025-10-27T00:24:33.905Z,1761524673.905 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:24:33.964Z,1761524673.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271077
2025-10-27T00:24:34.036Z,1761524674.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:34.039Z,1761524674.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 439.754456 m,
      bearing: 214.496116 deg,
      approach rate: -0.701583 m/s,
      LOS rate: -0.003508 deg/s,
      cmd heading: 205.823393 deg,
      new cmd heading: 205.818971 deg.

2025-10-27T00:24:34.040Z,1761524674.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592219 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:34.219Z,1761524674.219 [DAT](INFO): DAT read: Rx Time:00:24:35.0995

2025-10-27T00:24:34.219Z,1761524674.219 [DAT](INFO): Rx dataTimestamp_ set to:1761524674.218968
2025-10-27T00:24:34.220Z,1761524674.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526962
2025-10-27T00:24:34.378Z,1761524674.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897712,0.425840,0.113021],[-0.438185,-0.889679,-0.128318],[0.045910,-0.164717,0.985272]]
2025-10-27T00:24:34.397Z,1761524674.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.63 m.
2025-10-27T00:24:34.400Z,1761524674.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.626190 m,
      nav range: 439.517426 m,
      bearing: 214.494916 deg,
      approach rate: -0.657604 m/s,
      LOS rate: -0.003330 deg/s,
      cmd heading: 205.818967 deg,
      new cmd heading: 205.815366 deg.

2025-10-27T00:24:34.401Z,1761524674.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592156 target range: 448.626190 and range: 450.80 m.
2025-10-27T00:24:34.469Z,1761524674.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775766
2025-10-27T00:24:34.746Z,1761524674.746 [DAT](INFO): DAT read: 00:24:35.0995 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 392, 0.10,-0.362,-1.850,-0.428,-0.664, PHS= 0.403,-1.141, 0.192, RAW= 142.7,   7.6, CAL= 142.3,   8.3, ROT=   7.7,  -8.3

2025-10-27T00:24:34.750Z,1761524674.750 [DAT](INFO): got valid direction response:
 00:24:35.0995 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 392, 0.10,-0.362,-1.850,-0.428,-0.664, PHS= 0.403,-1.141, 0.192, RAW= 142.7,   7.6, CAL= 142.3,   8.3, ROT=   7.7,  -8.3

2025-10-27T00:24:34.753Z,1761524674.753 [DAT](INFO): DAT read: Bearing 356.2,   8.8 (Local)

2025-10-27T00:24:34.754Z,1761524674.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,   8.8 (Local)

2025-10-27T00:24:34.760Z,1761524674.760 [DAT](INFO): DAT read: Range 11 to 50 : 447.3 m  (Round-trip  596.4 ms) speed  0.4 m/s

2025-10-27T00:24:34.762Z,1761524674.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:34.766Z,1761524674.766 [DAT](INFO): direction in FSK: [0.980603,0.132583,0.144356]
2025-10-27T00:24:34.767Z,1761524674.767 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:34.790Z,1761524674.790 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:34.790Z,1761524674.790 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:34.790Z,1761524674.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:34.820Z,1761524674.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897986,0.425503,0.112109],[-0.437610,-0.890239,-0.126379],[0.046029,-0.162547,0.985627]]
2025-10-27T00:24:34.908Z,1761524674.908 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:24:34.938Z,1761524674.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 447.299988 m,
      deltaT: 4.287587 s,
      deltaX: -3.500000 m,
      approachRate: -0.816310 m/s,
      rangeRepo size: 4

2025-10-27T00:24:34.945Z,1761524674.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 445.160889 m,
      bearing: 214.983286 deg,
      lat: 36.779456 deg,
      lon: -121.860072 deg,
      deltaT: 4.287587 s,
      deltaX: -3.465302 m,
      approachRate: -0.808217 m/s,
      posRepo size: 4

2025-10-27T00:24:34.946Z,1761524674.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:34.952Z,1761524674.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 439.930908 m,
      bearing: 214.879372 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003330 deg/s,
      cmd heading: 205.815361 deg,
      new cmd heading: 205.809958 deg.

2025-10-27T00:24:34.953Z,1761524674.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592062 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:34.972Z,1761524674.972 [DAT](INFO): DAT read: user:80>

2025-10-27T00:24:34.973Z,1761524674.973 [DAT](INFO): DAT read: Tx time:00:24:36.4489

2025-10-27T00:24:34.973Z,1761524674.973 [DAT](INFO): Ping request sent.
2025-10-27T00:24:34.973Z,1761524674.973 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:24:34.973Z,1761524674.973 [DAT](INFO): publishing transmit ping time
2025-10-27T00:24:34.974Z,1761524674.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-27T00:24:35.224Z,1761524675.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250661
2025-10-27T00:24:35.252Z,1761524675.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897817,0.425688,0.112757],[-0.437929,-0.889995,-0.126995],[0.046293,-0.163398,0.985474]]
2025-10-27T00:24:35.268Z,1761524675.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:35.270Z,1761524675.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:35.273Z,1761524675.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 439.688141 m,
      bearing: 214.879002 deg,
      approach rate: -0.729460 m/s,
      LOS rate: -0.001110 deg/s,
      cmd heading: 205.809965 deg,
      new cmd heading: 205.808857 deg.

2025-10-27T00:24:35.274Z,1761524675.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592042 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:35.476Z,1761524675.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502738
2025-10-27T00:24:35.645Z,1761524675.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897485,0.426412,0.112665],[-0.438585,-0.889809,-0.126027],[0.046511,-0.162521,0.985608]]
2025-10-27T00:24:35.668Z,1761524675.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:35.670Z,1761524675.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 439.423553 m,
      bearing: 214.878573 deg,
      approach rate: -0.667087 m/s,
      LOS rate: -0.001082 deg/s,
      cmd heading: 205.808858 deg,
      new cmd heading: 205.807570 deg.

2025-10-27T00:24:35.680Z,1761524675.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592020 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:35.728Z,1761524675.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755001
2025-10-27T00:24:35.980Z,1761524675.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006651
2025-10-27T00:24:36.050Z,1761524676.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897471,0.426689,0.111725],[-0.438618,-0.890060,-0.124128],[0.046478,-0.160406,0.985956]]
2025-10-27T00:24:36.150Z,1761524676.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:36.153Z,1761524676.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 439.108276 m,
      bearing: 214.878369 deg,
      approach rate: -0.651810 m/s,
      LOS rate: -0.000423 deg/s,
      cmd heading: 205.807574 deg,
      new cmd heading: 205.806961 deg.

2025-10-27T00:24:36.154Z,1761524676.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592009 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:36.232Z,1761524676.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259168
2025-10-27T00:24:36.454Z,1761524676.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897224,0.427267,0.111497],[-0.439116,-0.889927,-0.123314],[0.046537,-0.159600,0.986084]]
2025-10-27T00:24:36.472Z,1761524676.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:36.475Z,1761524676.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 438.886627 m,
      bearing: 214.878208 deg,
      approach rate: -0.689300 m/s,
      LOS rate: -0.000500 deg/s,
      cmd heading: 205.806960 deg,
      new cmd heading: 205.806477 deg.

2025-10-27T00:24:36.476Z,1761524676.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592001 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:36.484Z,1761524676.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510870
2025-10-27T00:24:36.738Z,1761524676.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765280
2025-10-27T00:24:36.858Z,1761524676.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896807,0.428200,0.111275],[-0.439918,-0.889789,-0.121443],[0.047010,-0.157863,0.986341]]
2025-10-27T00:24:36.913Z,1761524676.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:36.917Z,1761524676.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 438.600098 m,
      bearing: 214.878529 deg,
      approach rate: -0.650299 m/s,
      LOS rate: 0.000729 deg/s,
      cmd heading: 205.806481 deg,
      new cmd heading: 205.807444 deg.

2025-10-27T00:24:36.918Z,1761524676.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592017 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:36.989Z,1761524676.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015344
2025-10-27T00:24:37.240Z,1761524677.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266732
2025-10-27T00:24:37.297Z,1761524677.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:37.299Z,1761524677.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:37.302Z,1761524677.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 438.341980 m,
      bearing: 214.878819 deg,
      approach rate: -0.667773 m/s,
      LOS rate: 0.000749 deg/s,
      cmd heading: 205.807438 deg,
      new cmd heading: 205.808306 deg.

2025-10-27T00:24:37.323Z,1761524677.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592033 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:37.492Z,1761524677.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518693
2025-10-27T00:24:37.665Z,1761524677.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895927,0.429778,0.112273],[-0.441567,-0.889181,-0.119903],[0.048300,-0.157000,0.986417]]
2025-10-27T00:24:37.724Z,1761524677.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:37.731Z,1761524677.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 438.076630 m,
      bearing: 214.879050 deg,
      approach rate: -0.623906 m/s,
      LOS rate: 0.000544 deg/s,
      cmd heading: 205.808312 deg,
      new cmd heading: 205.809006 deg.

2025-10-27T00:24:37.732Z,1761524677.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592045 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:37.744Z,1761524677.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770856
2025-10-27T00:24:37.996Z,1761524677.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023126
2025-10-27T00:24:38.070Z,1761524678.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895729,0.429962,0.113150],[-0.441851,-0.889141,-0.119147],[0.049377,-0.156719,0.986408]]
2025-10-27T00:24:38.122Z,1761524678.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:38.128Z,1761524678.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 437.792511 m,
      bearing: 214.878901 deg,
      approach rate: -0.715502 m/s,
      LOS rate: -0.000376 deg/s,
      cmd heading: 205.809009 deg,
      new cmd heading: 205.808561 deg.

2025-10-27T00:24:38.129Z,1761524678.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592037 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:38.248Z,1761524678.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274848
2025-10-27T00:24:38.474Z,1761524678.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895788,0.429776,0.113387],[-0.441625,-0.889460,-0.117595],[0.050313,-0.155414,0.986567]]
2025-10-27T00:24:38.500Z,1761524678.500 [DAT](INFO): DAT read: Rx Time:00:24:39.4462

2025-10-27T00:24:38.501Z,1761524678.500 [DAT](INFO): Rx dataTimestamp_ set to:1761524678.500218
2025-10-27T00:24:38.501Z,1761524678.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527885
2025-10-27T00:24:38.509Z,1761524678.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:38.514Z,1761524678.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 437.533905 m,
      bearing: 214.878769 deg,
      approach rate: -0.672521 m/s,
      LOS rate: -0.000342 deg/s,
      cmd heading: 205.808558 deg,
      new cmd heading: 205.808163 deg.

2025-10-27T00:24:38.515Z,1761524678.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592030 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:38.752Z,1761524678.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778945
2025-10-27T00:24:38.880Z,1761524678.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895769,0.429620,0.114125],[-0.441547,-0.889596,-0.116856],[0.051321,-0.155068,0.986570]]
2025-10-27T00:24:38.922Z,1761524678.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 445.16 m.
2025-10-27T00:24:38.959Z,1761524678.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 445.160889 m,
      nav range: 437.251160 m,
      bearing: 214.877942 deg,
      approach rate: -0.680195 m/s,
      LOS rate: -0.001991 deg/s,
      cmd heading: 205.808162 deg,
      new cmd heading: 205.805679 deg.

2025-10-27T00:24:38.980Z,1761524678.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591987 target range: 445.160889 and range: 447.30 m.
2025-10-27T00:24:39.009Z,1761524679.009 [DAT](INFO): DAT read: 00:24:39.4462 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407,-0.32, 1.720, 0.112, 1.631, 1.263, PHS= 0.559,-1.106, 0.324, RAW= 142.5,   2.9, CAL= 142.2,   3.3, ROT=   7.8,  -3.3

2025-10-27T00:24:39.010Z,1761524679.010 [DAT](INFO): got valid direction response:
 00:24:39.4462 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407,-0.32, 1.720, 0.112, 1.631, 1.263, PHS= 0.559,-1.106, 0.324, RAW= 142.5,   2.9, CAL= 142.2,   3.3, ROT=   7.8,  -3.3

2025-10-27T00:24:39.011Z,1761524679.011 [DAT](INFO): DAT read: Bearing 351.6,  10.1 (Local)

2025-10-27T00:24:39.012Z,1761524679.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.6,  10.1 (Local)

2025-10-27T00:24:39.013Z,1761524679.013 [DAT](INFO): DAT read: Range 11 to 50 : 444.9 m  (Round-trip  593.2 ms) speed  0.5 m/s

2025-10-27T00:24:39.014Z,1761524679.014 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:39.015Z,1761524679.015 [DAT](INFO): direction in FSK: [0.989105,0.135491,0.057564]
2025-10-27T00:24:39.015Z,1761524679.015 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:39.018Z,1761524679.018 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:39.019Z,1761524679.019 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:39.023Z,1761524679.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:39.257Z,1761524679.257 [DAT](INFO): DAT read: user:81>

2025-10-27T00:24:39.258Z,1761524679.258 [DAT](INFO): DAT read: Tx time:00:24:40.6489

2025-10-27T00:24:39.259Z,1761524679.259 [DAT](INFO): Ping request sent.
2025-10-27T00:24:39.259Z,1761524679.259 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:24:39.259Z,1761524679.259 [DAT](INFO): publishing transmit ping time
2025-10-27T00:24:39.260Z,1761524679.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001071
2025-10-27T00:24:39.343Z,1761524679.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896977,0.426424,0.116599],[-0.438860,-0.890681,-0.118698],[0.053237,-0.157640,0.986061]]
2025-10-27T00:24:39.366Z,1761524679.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 444.899994 m,
      deltaT: 4.282661 s,
      deltaX: -2.399994 m,
      approachRate: -0.560398 m/s,
      rangeRepo size: 4

2025-10-27T00:24:39.368Z,1761524679.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 442.777679 m,
      bearing: 214.317661 deg,
      lat: 36.779456 deg,
      lon: -121.860072 deg,
      deltaT: 4.282661 s,
      deltaX: -2.383209 m,
      approachRate: -0.556479 m/s,
      posRepo size: 4

2025-10-27T00:24:39.369Z,1761524679.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:39.373Z,1761524679.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 436.953949 m,
      bearing: 214.877197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001991 deg/s,
      cmd heading: 205.805675 deg,
      new cmd heading: 205.803026 deg.

2025-10-27T00:24:39.374Z,1761524679.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591940 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:39.508Z,1761524679.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249068
2025-10-27T00:24:39.731Z,1761524679.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898158,0.423631,0.117680],[-0.436276,-0.891907,-0.119015],[0.054541,-0.158235,0.985894]]
2025-10-27T00:24:39.747Z,1761524679.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:39.749Z,1761524679.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:39.752Z,1761524679.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 436.691467 m,
      bearing: 214.876638 deg,
      approach rate: -0.683477 m/s,
      LOS rate: -0.001456 deg/s,
      cmd heading: 205.803025 deg,
      new cmd heading: 205.801348 deg.

2025-10-27T00:24:39.753Z,1761524679.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591911 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:39.760Z,1761524679.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500826
2025-10-27T00:24:40.013Z,1761524680.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754169
2025-10-27T00:24:40.133Z,1761524680.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899217,0.420499,0.120790],[-0.433971,-0.892301,-0.124370],[0.055483,-0.164254,0.984856]]
2025-10-27T00:24:40.218Z,1761524680.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:40.221Z,1761524680.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 436.382935 m,
      bearing: 214.875114 deg,
      approach rate: -0.658032 m/s,
      LOS rate: -0.003254 deg/s,
      cmd heading: 205.801345 deg,
      new cmd heading: 205.796767 deg.

2025-10-27T00:24:40.222Z,1761524680.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591831 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:40.264Z,1761524680.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005097
2025-10-27T00:24:40.516Z,1761524680.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256832
2025-10-27T00:24:40.639Z,1761524680.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900142,0.417400,0.124590],[-0.431921,-0.892338,-0.131058],[0.056473,-0.171784,0.983515]]
2025-10-27T00:24:40.661Z,1761524680.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:40.685Z,1761524680.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 436.063904 m,
      bearing: 214.873661 deg,
      approach rate: -0.720522 m/s,
      LOS rate: -0.003282 deg/s,
      cmd heading: 205.796769 deg,
      new cmd heading: 205.792409 deg.

2025-10-27T00:24:40.692Z,1761524680.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591755 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:40.769Z,1761524680.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509535
2025-10-27T00:24:41.020Z,1761524681.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760826
2025-10-27T00:24:41.048Z,1761524681.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901141,0.414485,0.127071],[-0.429717,-0.892761,-0.135358],[0.057340,-0.176581,0.982615]]
2025-10-27T00:24:41.129Z,1761524681.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:41.136Z,1761524681.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 435.766083 m,
      bearing: 214.871931 deg,
      approach rate: -0.636658 m/s,
      LOS rate: -0.003703 deg/s,
      cmd heading: 205.792411 deg,
      new cmd heading: 205.787215 deg.

2025-10-27T00:24:41.137Z,1761524681.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591665 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:41.272Z,1761524681.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012759
2025-10-27T00:24:41.524Z,1761524681.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265120
2025-10-27T00:24:41.547Z,1761524681.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902058,0.412061,0.128442],[-0.427712,-0.893333,-0.137910],[0.057914,-0.179339,0.982081]]
2025-10-27T00:24:41.581Z,1761524681.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:41.588Z,1761524681.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 435.440155 m,
      bearing: 214.870140 deg,
      approach rate: -0.720999 m/s,
      LOS rate: -0.003965 deg/s,
      cmd heading: 205.787220 deg,
      new cmd heading: 205.781844 deg.

2025-10-27T00:24:41.589Z,1761524681.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591571 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:41.776Z,1761524681.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516976
2025-10-27T00:24:41.950Z,1761524681.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902945,0.410345,0.127696],[-0.425820,-0.894390,-0.136912],[0.058029,-0.177999,0.982318]]
2025-10-27T00:24:41.994Z,1761524681.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:41.996Z,1761524681.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:41.999Z,1761524681.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 435.143646 m,
      bearing: 214.868371 deg,
      approach rate: -0.714264 m/s,
      LOS rate: -0.004263 deg/s,
      cmd heading: 205.781838 deg,
      new cmd heading: 205.776528 deg.

2025-10-27T00:24:41.000Z,1761524682.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591478 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:42.028Z,1761524682.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768768
2025-10-27T00:24:42.280Z,1761524682.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020816
2025-10-27T00:24:42.355Z,1761524682.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903738,0.408916,0.126674],[-0.424194,-0.895231,-0.136461],[0.057601,-0.177059,0.982513]]
2025-10-27T00:24:42.373Z,1761524682.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:42.376Z,1761524682.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 434.883453 m,
      bearing: 214.866877 deg,
      approach rate: -0.689401 m/s,
      LOS rate: -0.003962 deg/s,
      cmd heading: 205.776524 deg,
      new cmd heading: 205.772039 deg.

2025-10-27T00:24:42.377Z,1761524682.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591400 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:42.532Z,1761524682.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272801
2025-10-27T00:24:42.758Z,1761524682.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904487,0.407665,0.125352],[-0.422707,-0.895965,-0.136254],[0.056765,-0.176227,0.982711]]
2025-10-27T00:24:42.784Z,1761524682.784 [DAT](INFO): DAT read: Rx Time:00:24:43.6290

2025-10-27T00:24:42.785Z,1761524682.785 [DAT](INFO): Rx dataTimestamp_ set to:1761524682.784238
2025-10-27T00:24:42.785Z,1761524682.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525980
2025-10-27T00:24:42.794Z,1761524682.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:42.797Z,1761524682.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 434.593903 m,
      bearing: 214.865273 deg,
      approach rate: -0.688534 m/s,
      LOS rate: -0.003816 deg/s,
      cmd heading: 205.772044 deg,
      new cmd heading: 205.767230 deg.

2025-10-27T00:24:42.798Z,1761524682.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591316 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:43.037Z,1761524683.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777401
2025-10-27T00:24:43.192Z,1761524683.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904905,0.407294,0.123521],[-0.421913,-0.896614,-0.134437],[0.055995,-0.173768,0.983193]]
2025-10-27T00:24:43.240Z,1761524683.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.78 m.
2025-10-27T00:24:43.243Z,1761524683.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.777679 m,
      nav range: 434.290222 m,
      bearing: 214.863688 deg,
      approach rate: -0.680263 m/s,
      LOS rate: -0.003553 deg/s,
      cmd heading: 205.767235 deg,
      new cmd heading: 205.762477 deg.

2025-10-27T00:24:43.244Z,1761524683.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591233 target range: 442.777679 and range: 444.90 m.
2025-10-27T00:24:43.296Z,1761524683.296 [DAT](INFO): DAT read: 00:24:43.6290 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 262,-0.02,-1.897, 2.732,-2.045,-2.375, PHS= 0.580,-1.131, 0.286, RAW= 140.8,   3.4, CAL= 140.6,   4.0, ROT=   9.4,  -4.0

2025-10-27T00:24:43.298Z,1761524683.298 [DAT](INFO): got valid direction response:
 00:24:43.6290 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 262,-0.02,-1.897, 2.732,-2.045,-2.375, PHS= 0.580,-1.131, 0.286, RAW= 140.8,   3.4, CAL= 140.6,   4.0, ROT=   9.4,  -4.0

2025-10-27T00:24:43.299Z,1761524683.299 [DAT](INFO): DAT read: Bearing 351.6,  11.9 (Local)

2025-10-27T00:24:43.300Z,1761524683.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.6,  11.9 (Local)

2025-10-27T00:24:43.302Z,1761524683.302 [DAT](INFO): DAT read: Range 11 to 50 : 431.9 m  (Round-trip  575.9 ms) speed  0.2 m/s

2025-10-27T00:24:43.302Z,1761524683.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:43.304Z,1761524683.304 [DAT](INFO): direction in FSK: [0.984169,0.162928,0.069756]
2025-10-27T00:24:43.305Z,1761524683.305 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:43.308Z,1761524683.308 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:43.308Z,1761524683.308 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:43.308Z,1761524683.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:43.540Z,1761524683.540 [DAT](INFO): DAT read: user:82>

2025-10-27T00:24:43.541Z,1761524683.541 [DAT](INFO): DAT read: Tx time:00:24:44.9489

2025-10-27T00:24:43.541Z,1761524683.541 [DAT](INFO): Ping request sent.
2025-10-27T00:24:43.541Z,1761524683.541 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:24:43.541Z,1761524683.541 [DAT](INFO): publishing transmit ping time
2025-10-27T00:24:43.542Z,1761524683.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-27T00:24:43.653Z,1761524683.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 431.899994 m,
      deltaT: 4.284473 s,
      deltaX: -13.000000 m,
      approachRate: -3.034212 m/s,
      rangeRepo size: 4

2025-10-27T00:24:43.659Z,1761524683.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 429.812469 m,
      bearing: 214.981300 deg,
      lat: 36.779467 deg,
      lon: -121.860059 deg,
      deltaT: 4.284473 s,
      deltaX: -12.965210 m,
      approachRate: -3.026092 m/s,
      posRepo size: 4

2025-10-27T00:24:43.661Z,1761524683.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:43.676Z,1761524683.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 432.334320 m,
      bearing: 214.826032 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003553 deg/s,
      cmd heading: 205.762481 deg,
      new cmd heading: 205.758093 deg.

2025-10-27T00:24:43.678Z,1761524683.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591156 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:43.792Z,1761524683.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251088
2025-10-27T00:24:44.027Z,1761524684.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905407,0.407809,0.118028],[-0.421213,-0.897652,-0.129619],[0.053089,-0.167073,0.984514]]
2025-10-27T00:24:44.044Z,1761524684.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503059
2025-10-27T00:24:44.070Z,1761524684.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:44.073Z,1761524684.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:44.076Z,1761524684.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 432.038208 m,
      bearing: 214.825929 deg,
      approach rate: -0.703879 m/s,
      LOS rate: -0.000243 deg/s,
      cmd heading: 205.758096 deg,
      new cmd heading: 205.757790 deg.

2025-10-27T00:24:44.077Z,1761524684.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591151 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:44.296Z,1761524684.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754944
2025-10-27T00:24:44.433Z,1761524684.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905372,0.408479,0.115957],[-0.421506,-0.897581,-0.129159],[0.051322,-0.165814,0.984821]]
2025-10-27T00:24:44.450Z,1761524684.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:44.453Z,1761524684.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 431.781403 m,
      bearing: 214.825831 deg,
      approach rate: -0.679957 m/s,
      LOS rate: -0.000261 deg/s,
      cmd heading: 205.757796 deg,
      new cmd heading: 205.757500 deg.

2025-10-27T00:24:44.454Z,1761524684.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591146 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:44.548Z,1761524684.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007436
2025-10-27T00:24:44.800Z,1761524684.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258982
2025-10-27T00:24:44.905Z,1761524684.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:44.931Z,1761524684.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 431.496002 m,
      bearing: 214.825721 deg,
      approach rate: -0.630789 m/s,
      LOS rate: -0.000243 deg/s,
      cmd heading: 205.757495 deg,
      new cmd heading: 205.757166 deg.

2025-10-27T00:24:44.939Z,1761524684.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591140 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:45.052Z,1761524685.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912
2025-10-27T00:24:45.289Z,1761524685.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:45.292Z,1761524685.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 431.214355 m,
      bearing: 214.826896 deg,
      approach rate: -0.729456 m/s,
      LOS rate: 0.003044 deg/s,
      cmd heading: 205.757167 deg,
      new cmd heading: 205.760694 deg.

2025-10-27T00:24:45.293Z,1761524685.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591202 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:45.304Z,1761524685.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763022
2025-10-27T00:24:45.556Z,1761524685.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014980
2025-10-27T00:24:45.648Z,1761524685.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905515,0.410364,0.107905],[-0.421992,-0.897519,-0.127990],[0.044325,-0.161432,0.985888]]
2025-10-27T00:24:45.678Z,1761524685.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:45.707Z,1761524685.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 430.956177 m,
      bearing: 214.827961 deg,
      approach rate: -0.663289 m/s,
      LOS rate: 0.002738 deg/s,
      cmd heading: 205.760692 deg,
      new cmd heading: 205.763889 deg.

2025-10-27T00:24:45.709Z,1761524685.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591257 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:45.808Z,1761524685.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266923
2025-10-27T00:24:46.045Z,1761524686.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905520,0.410868,0.105925],[-0.422255,-0.897115,-0.129945],[0.041636,-0.162395,0.985847]]
2025-10-27T00:24:46.060Z,1761524686.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518983
2025-10-27T00:24:46.137Z,1761524686.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:46.143Z,1761524686.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:46.146Z,1761524686.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 430.669403 m,
      bearing: 214.830026 deg,
      approach rate: -0.622270 m/s,
      LOS rate: 0.004485 deg/s,
      cmd heading: 205.763888 deg,
      new cmd heading: 205.770089 deg.

2025-10-27T00:24:46.151Z,1761524686.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591366 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:46.313Z,1761524686.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771850
2025-10-27T00:24:46.449Z,1761524686.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905146,0.412147,0.104143],[-0.423339,-0.896209,-0.132643],[0.038666,-0.164149,0.985677]]
2025-10-27T00:24:46.468Z,1761524686.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:46.471Z,1761524686.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 430.429474 m,
      bearing: 214.831721 deg,
      approach rate: -0.729397 m/s,
      LOS rate: 0.005156 deg/s,
      cmd heading: 205.770090 deg,
      new cmd heading: 205.775178 deg.

2025-10-27T00:24:46.472Z,1761524686.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591454 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:46.566Z,1761524686.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025453
2025-10-27T00:24:46.816Z,1761524686.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274923
2025-10-27T00:24:46.859Z,1761524686.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905085,0.412958,0.101424],[-0.423713,-0.895960,-0.133127],[0.035896,-0.163466,0.985896]]
2025-10-27T00:24:46.889Z,1761524686.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:46.892Z,1761524686.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 430.155029 m,
      bearing: 214.833649 deg,
      approach rate: -0.651542 m/s,
      LOS rate: 0.004578 deg/s,
      cmd heading: 205.775172 deg,
      new cmd heading: 205.780957 deg.

2025-10-27T00:24:46.893Z,1761524686.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591555 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:47.072Z,1761524687.072 [DAT](INFO): DAT read: Rx Time:00:24:47.9402

2025-10-27T00:24:47.072Z,1761524687.072 [DAT](INFO): Rx dataTimestamp_ set to:1761524687.071971
2025-10-27T00:24:47.073Z,1761524687.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532151
2025-10-27T00:24:47.311Z,1761524687.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.81 m.
2025-10-27T00:24:47.314Z,1761524687.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.812469 m,
      nav range: 429.874023 m,
      bearing: 214.836700 deg,
      approach rate: -0.666295 m/s,
      LOS rate: 0.007240 deg/s,
      cmd heading: 205.780964 deg,
      new cmd heading: 205.790124 deg.

2025-10-27T00:24:47.315Z,1761524687.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591715 target range: 429.812469 and range: 431.90 m.
2025-10-27T00:24:47.322Z,1761524687.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781105
2025-10-27T00:24:47.577Z,1761524687.577 [DAT](INFO): DAT read: 00:24:47.9402 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX=  39,-0.01,-2.437, 2.443,-2.498,-2.647, PHS= 0.312,-1.148, 0.105, RAW= 142.5,  10.7, CAL= 142.0,  11.6, ROT=   8.0, -11.6

2025-10-27T00:24:47.578Z,1761524687.578 [DAT](INFO): got valid direction response:
 00:24:47.9402 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX=  39,-0.01,-2.437, 2.443,-2.498,-2.647, PHS= 0.312,-1.148, 0.105, RAW= 142.5,  10.7, CAL= 142.0,  11.6, ROT=   8.0, -11.6

2025-10-27T00:24:47.579Z,1761524687.579 [DAT](INFO): DAT read: Bearing 358.7,   7.9 (Local)

2025-10-27T00:24:47.580Z,1761524687.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7,   7.9 (Local)

2025-10-27T00:24:47.581Z,1761524687.581 [DAT](INFO): DAT read: Range 11 to 50 : 440.4 m  (Round-trip  587.3 ms) speed  0.8 m/s

2025-10-27T00:24:47.581Z,1761524687.581 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:47.582Z,1761524687.582 [DAT](INFO): direction in FSK: [0.970042,0.136331,0.201078]
2025-10-27T00:24:47.583Z,1761524687.583 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:47.586Z,1761524687.586 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:47.586Z,1761524687.586 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:47.586Z,1761524687.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:47.729Z,1761524687.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905203,0.414778,0.092559],[-0.424016,-0.896132,-0.130992],[0.028613,-0.157821,0.987053]]
2025-10-27T00:24:47.772Z,1761524687.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 440.399994 m,
      deltaT: 4.283410 s,
      deltaX: 8.500000 m,
      approachRate: 1.984400 m/s,
      rangeRepo size: 4

2025-10-27T00:24:47.774Z,1761524687.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 438.252686 m,
      bearing: 214.885296 deg,
      lat: 36.779467 deg,
      lon: -121.860059 deg,
      deltaT: 4.283410 s,
      deltaX: 8.440216 m,
      approachRate: 1.970443 m/s,
      posRepo size: 4

2025-10-27T00:24:47.779Z,1761524687.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:47.782Z,1761524687.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 429.585358 m,
      bearing: 214.839818 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007240 deg/s,
      cmd heading: 205.790130 deg,
      new cmd heading: 205.800139 deg.

2025-10-27T00:24:47.787Z,1761524687.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591890 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:47.824Z,1761524687.824 [DAT](INFO): DAT read: user:83>

2025-10-27T00:24:47.825Z,1761524687.825 [DAT](INFO): DAT read: Tx time:00:24:49.1988

2025-10-27T00:24:47.825Z,1761524687.825 [DAT](INFO): Ping request sent.
2025-10-27T00:24:47.825Z,1761524687.825 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:24:47.825Z,1761524687.825 [DAT](INFO): publishing transmit ping time
2025-10-27T00:24:47.826Z,1761524687.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-10-27T00:24:48.076Z,1761524688.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250764
2025-10-27T00:24:48.153Z,1761524688.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:48.173Z,1761524688.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:48.182Z,1761524688.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 429.321777 m,
      bearing: 214.842369 deg,
      approach rate: -0.656908 m/s,
      LOS rate: 0.006362 deg/s,
      cmd heading: 205.800143 deg,
      new cmd heading: 205.807801 deg.

2025-10-27T00:24:48.188Z,1761524688.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592024 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:48.328Z,1761524688.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502742
2025-10-27T00:24:48.502Z,1761524688.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905193,0.415179,0.090845],[-0.424174,-0.895884,-0.132169],[0.026513,-0.158172,0.987055]]
2025-10-27T00:24:48.526Z,1761524688.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:48.529Z,1761524688.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 429.080200 m,
      bearing: 214.844706 deg,
      approach rate: -0.684477 m/s,
      LOS rate: 0.006625 deg/s,
      cmd heading: 205.807806 deg,
      new cmd heading: 205.814821 deg.

2025-10-27T00:24:48.530Z,1761524688.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592146 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:48.580Z,1761524688.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754971
2025-10-27T00:24:48.832Z,1761524688.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006723
2025-10-27T00:24:48.906Z,1761524688.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905687,0.414514,0.088931],[-0.423242,-0.896156,-0.133309],[0.024438,-0.158375,0.987077]]
2025-10-27T00:24:49.000Z,1761524689.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:49.007Z,1761524689.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 428.797821 m,
      bearing: 214.847481 deg,
      approach rate: -0.595313 m/s,
      LOS rate: 0.005853 deg/s,
      cmd heading: 205.814814 deg,
      new cmd heading: 205.823144 deg.

2025-10-27T00:24:49.008Z,1761524689.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592292 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:49.085Z,1761524689.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259644
2025-10-27T00:24:49.310Z,1761524689.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905998,0.414078,0.087790],[-0.422679,-0.896106,-0.135412],[0.022598,-0.159790,0.986892]]
2025-10-27T00:24:49.337Z,1761524689.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511811
2025-10-27T00:24:49.365Z,1761524689.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:49.368Z,1761524689.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 428.520660 m,
      bearing: 214.848867 deg,
      approach rate: -0.760503 m/s,
      LOS rate: 0.003807 deg/s,
      cmd heading: 205.823147 deg,
      new cmd heading: 205.827310 deg.

2025-10-27T00:24:49.369Z,1761524689.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592364 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:49.588Z,1761524689.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762718
2025-10-27T00:24:49.729Z,1761524689.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906208,0.413909,0.086403],[-0.422324,-0.896031,-0.137010],[0.020710,-0.160650,0.986794]]
2025-10-27T00:24:49.747Z,1761524689.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:49.750Z,1761524689.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 428.265045 m,
      bearing: 214.850165 deg,
      approach rate: -0.667954 m/s,
      LOS rate: 0.003392 deg/s,
      cmd heading: 205.827314 deg,
      new cmd heading: 205.831207 deg.

2025-10-27T00:24:49.751Z,1761524689.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592432 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:49.840Z,1761524689.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014885
2025-10-27T00:24:50.092Z,1761524690.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266784
2025-10-27T00:24:50.118Z,1761524690.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906351,0.413988,0.084509],[-0.422094,-0.896168,-0.136822],[0.019092,-0.159679,0.986984]]
2025-10-27T00:24:50.196Z,1761524690.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:50.198Z,1761524690.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:50.205Z,1761524690.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 427.967285 m,
      bearing: 214.849493 deg,
      approach rate: -0.660784 m/s,
      LOS rate: -0.001491 deg/s,
      cmd heading: 205.831207 deg,
      new cmd heading: 205.829191 deg.

2025-10-27T00:24:50.206Z,1761524690.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592397 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:50.344Z,1761524690.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518723
2025-10-27T00:24:50.529Z,1761524690.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906146,0.414941,0.082000],[-0.422662,-0.895659,-0.138389],[0.016020,-0.160059,0.986978]]
2025-10-27T00:24:50.547Z,1761524690.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:50.550Z,1761524690.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 427.726685 m,
      bearing: 214.848930 deg,
      approach rate: -0.689153 m/s,
      LOS rate: -0.001614 deg/s,
      cmd heading: 205.829185 deg,
      new cmd heading: 205.827494 deg.

2025-10-27T00:24:50.551Z,1761524690.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592367 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:50.597Z,1761524690.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772009
2025-10-27T00:24:50.848Z,1761524690.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022827
2025-10-27T00:24:50.930Z,1761524690.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905662,0.416436,0.079729],[-0.423757,-0.895356,-0.136997],[0.014335,-0.157859,0.987358]]
2025-10-27T00:24:51.006Z,1761524691.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:51.027Z,1761524691.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 427.457123 m,
      bearing: 214.848244 deg,
      approach rate: -0.589052 m/s,
      LOS rate: -0.001500 deg/s,
      cmd heading: 205.827491 deg,
      new cmd heading: 205.825432 deg.

2025-10-27T00:24:51.028Z,1761524691.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592331 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:51.101Z,1761524691.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275763
2025-10-27T00:24:51.352Z,1761524691.352 [DAT](INFO): DAT read: Rx Time:00:24:52.1847

2025-10-27T00:24:51.353Z,1761524691.353 [DAT](INFO): Rx dataTimestamp_ set to:1761524691.352236
2025-10-27T00:24:51.353Z,1761524691.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527919
2025-10-27T00:24:51.354Z,1761524691.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905288,0.417641,0.077652],[-0.424613,-0.895038,-0.136423],[0.012526,-0.156474,0.987603]]
2025-10-27T00:24:51.419Z,1761524691.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:51.422Z,1761524691.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 427.156555 m,
      bearing: 214.847074 deg,
      approach rate: -0.726254 m/s,
      LOS rate: -0.002830 deg/s,
      cmd heading: 205.825428 deg,
      new cmd heading: 205.821914 deg.

2025-10-27T00:24:51.423Z,1761524691.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592270 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:51.604Z,1761524691.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778790
2025-10-27T00:24:51.757Z,1761524691.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904981,0.418734,0.075310],[-0.425310,-0.894967,-0.134707],[0.010993,-0.153937,0.988020]]
2025-10-27T00:24:51.788Z,1761524691.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 438.25 m.
2025-10-27T00:24:51.791Z,1761524691.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 438.252686 m,
      nav range: 426.885345 m,
      bearing: 214.845977 deg,
      approach rate: -0.734009 m/s,
      LOS rate: -0.002971 deg/s,
      cmd heading: 205.821918 deg,
      new cmd heading: 205.818625 deg.

2025-10-27T00:24:51.792Z,1761524691.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592213 target range: 438.252686 and range: 440.40 m.
2025-10-27T00:24:51.861Z,1761524691.861 [DAT](INFO): DAT read: 00:24:52.1847 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 386, 0.24,-1.874, 2.971,-1.910,-2.173, PHS= 0.401,-1.095, 0.219, RAW= 143.6,   6.8, CAL= 143.2,   7.4, ROT=   6.8,  -7.4

2025-10-27T00:24:51.863Z,1761524691.863 [DAT](INFO): got valid direction response:
 00:24:52.1847 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 386, 0.24,-1.874, 2.971,-1.910,-2.173, PHS= 0.401,-1.095, 0.219, RAW= 143.6,   6.8, CAL= 143.2,   7.4, ROT=   6.8,  -7.4

2025-10-27T00:24:51.864Z,1761524691.864 [DAT](INFO): DAT read: Bearing 353.4,   6.3 (Local)

2025-10-27T00:24:51.864Z,1761524691.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.4,   6.3 (Local)

2025-10-27T00:24:51.865Z,1761524691.865 [DAT](INFO): DAT read: Range 11 to 50 : 436.3 m  (Round-trip  581.8 ms) speed  0.4 m/s

2025-10-27T00:24:51.866Z,1761524691.866 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:24:51.867Z,1761524691.867 [DAT](INFO): direction in FSK: [0.984695,0.117418,0.128796]
2025-10-27T00:24:51.867Z,1761524691.867 [DAT](INFO): publishing direction and range info
2025-10-27T00:24:51.871Z,1761524691.871 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:24:51.878Z,1761524691.878 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:24:51.878Z,1761524691.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:24:52.108Z,1761524692.108 [DAT](INFO): DAT read: user:84>

2025-10-27T00:24:52.109Z,1761524692.109 [DAT](INFO): DAT read: Tx time:00:24:53.4988

2025-10-27T00:24:52.109Z,1761524692.109 [DAT](INFO): Ping request sent.
2025-10-27T00:24:52.109Z,1761524692.109 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:24:52.109Z,1761524692.109 [DAT](INFO): publishing transmit ping time
2025-10-27T00:24:52.110Z,1761524692.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-10-27T00:24:52.187Z,1761524692.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904571,0.420065,0.072771],[-0.426221,-0.894796,-0.132946],[0.009270,-0.151276,0.988448]]
2025-10-27T00:24:52.251Z,1761524692.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 436.299988 m,
      deltaT: 4.284327 s,
      deltaX: -4.100006 m,
      approachRate: -0.956978 m/s,
      rangeRepo size: 4

2025-10-27T00:24:52.253Z,1761524692.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 434.171295 m,
      bearing: 213.075424 deg,
      lat: 36.779467 deg,
      lon: -121.860058 deg,
      deltaT: 4.284327 s,
      deltaX: -4.081390 m,
      approachRate: -0.952633 m/s,
      posRepo size: 4

2025-10-27T00:24:52.254Z,1761524692.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:52.261Z,1761524692.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 426.548676 m,
      bearing: 214.836693 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002971 deg/s,
      cmd heading: 205.818626 deg,
      new cmd heading: 205.814541 deg.

2025-10-27T00:24:52.262Z,1761524692.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592141 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:52.361Z,1761524692.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251586
2025-10-27T00:24:52.570Z,1761524692.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904195,0.421476,0.069205],[-0.427052,-0.894982,-0.128969],[0.007580,-0.146167,0.989231]]
2025-10-27T00:24:52.593Z,1761524692.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:52.596Z,1761524692.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:52.598Z,1761524692.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 426.300110 m,
      bearing: 214.834559 deg,
      approach rate: -0.711986 m/s,
      LOS rate: -0.006116 deg/s,
      cmd heading: 205.814541 deg,
      new cmd heading: 205.808135 deg.

2025-10-27T00:24:52.599Z,1761524692.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592030 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:52.612Z,1761524692.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832
2025-10-27T00:24:52.864Z,1761524692.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755135
2025-10-27T00:24:52.981Z,1761524692.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904253,0.422023,0.064982],[-0.426956,-0.895737,-0.123951],[0.005897,-0.139827,0.990158]]
2025-10-27T00:24:53.056Z,1761524693.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:53.058Z,1761524693.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 426.017731 m,
      bearing: 214.832117 deg,
      approach rate: -0.620281 m/s,
      LOS rate: -0.005368 deg/s,
      cmd heading: 205.808134 deg,
      new cmd heading: 205.800804 deg.

2025-10-27T00:24:53.064Z,1761524693.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591902 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:53.117Z,1761524693.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008231
2025-10-27T00:24:53.368Z,1761524693.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258950
2025-10-27T00:24:53.380Z,1761524693.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904558,0.421802,0.062109],[-0.426329,-0.896314,-0.121924],[0.004241,-0.136766,0.990594]]
2025-10-27T00:24:53.430Z,1761524693.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:53.433Z,1761524693.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 425.728149 m,
      bearing: 214.829749 deg,
      approach rate: -0.763593 m/s,
      LOS rate: -0.006249 deg/s,
      cmd heading: 205.800799 deg,
      new cmd heading: 205.793690 deg.

2025-10-27T00:24:53.434Z,1761524693.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591778 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:53.621Z,1761524693.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511983
2025-10-27T00:24:53.789Z,1761524693.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904819,0.421450,0.060691],[-0.425792,-0.896292,-0.123945],[0.002160,-0.137989,0.990431]]
2025-10-27T00:24:53.808Z,1761524693.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:53.810Z,1761524693.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 425.468903 m,
      bearing: 214.827648 deg,
      approach rate: -0.686407 m/s,
      LOS rate: -0.005566 deg/s,
      cmd heading: 205.793695 deg,
      new cmd heading: 205.787389 deg.

2025-10-27T00:24:53.812Z,1761524693.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591667 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:53.872Z,1761524693.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763041
2025-10-27T00:24:54.128Z,1761524694.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018648
2025-10-27T00:24:54.186Z,1761524694.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904852,0.421402,0.060523],[-0.425726,-0.895728,-0.128173],[0.000200,-0.141744,0.989903]]
2025-10-27T00:24:54.277Z,1761524694.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:54.280Z,1761524694.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 425.151031 m,
      bearing: 214.826567 deg,
      approach rate: -0.677391 m/s,
      LOS rate: -0.002305 deg/s,
      cmd heading: 205.787384 deg,
      new cmd heading: 205.784139 deg.

2025-10-27T00:24:54.281Z,1761524694.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591611 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:54.377Z,1761524694.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267680
2025-10-27T00:24:54.628Z,1761524694.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519046
2025-10-27T00:24:54.632Z,1761524694.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:54.634Z,1761524694.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:54.637Z,1761524694.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 424.916931 m,
      bearing: 214.825770 deg,
      approach rate: -0.655666 m/s,
      LOS rate: -0.002233 deg/s,
      cmd heading: 205.784133 deg,
      new cmd heading: 205.781741 deg.

2025-10-27T00:24:54.638Z,1761524694.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591569 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:54.880Z,1761524694.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770838
2025-10-27T00:24:54.998Z,1761524694.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904906,0.421179,0.061271],[-0.425596,-0.894191,-0.138889],[-0.003709,-0.151758,0.988411]]
2025-10-27T00:24:55.084Z,1761524695.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:55.091Z,1761524695.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 424.637054 m,
      bearing: 214.824823 deg,
      approach rate: -0.631106 m/s,
      LOS rate: -0.002137 deg/s,
      cmd heading: 205.781742 deg,
      new cmd heading: 205.778899 deg.

2025-10-27T00:24:55.092Z,1761524695.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591519 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:55.132Z,1761524695.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023203
2025-10-27T00:24:55.384Z,1761524695.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275035
2025-10-27T00:24:55.401Z,1761524695.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904759,0.421294,0.062637],[-0.425889,-0.892943,-0.145850],[-0.005515,-0.158635,0.987322]]
2025-10-27T00:24:55.457Z,1761524695.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:55.460Z,1761524695.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 424.354797 m,
      bearing: 214.825101 deg,
      approach rate: -0.743396 m/s,
      LOS rate: 0.000733 deg/s,
      cmd heading: 205.778901 deg,
      new cmd heading: 205.779736 deg.

2025-10-27T00:24:55.461Z,1761524695.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591534 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:55.636Z,1761524695.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527121
2025-10-27T00:24:55.801Z,1761524695.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904211,0.422280,0.063893],[-0.427020,-0.891264,-0.152649],[-0.007515,-0.165311,0.986213]]
2025-10-27T00:24:55.820Z,1761524695.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:55.822Z,1761524695.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 424.111755 m,
      bearing: 214.825300 deg,
      approach rate: -0.671572 m/s,
      LOS rate: 0.000549 deg/s,
      cmd heading: 205.779734 deg,
      new cmd heading: 205.780330 deg.

2025-10-27T00:24:55.840Z,1761524695.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591544 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:55.889Z,1761524695.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779844
2025-10-27T00:24:56.141Z,1761524696.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032330
2025-10-27T00:24:56.206Z,1761524696.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903354,0.424061,0.064220],[-0.428795,-0.889718,-0.156644],[-0.009289,-0.169042,0.985565]]
2025-10-27T00:24:56.246Z,1761524696.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:56.248Z,1761524696.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 423.825256 m,
      bearing: 214.825458 deg,
      approach rate: -0.671622 m/s,
      LOS rate: 0.000371 deg/s,
      cmd heading: 205.780335 deg,
      new cmd heading: 205.780810 deg.

2025-10-27T00:24:56.249Z,1761524696.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591553 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:56.392Z,1761524696.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283281
2025-10-27T00:24:56.611Z,1761524696.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902454,0.426301,0.062005],[-0.430651,-0.889157,-0.154721],[-0.010826,-0.166332,0.986010]]
2025-10-27T00:24:56.631Z,1761524696.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:56.634Z,1761524696.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 423.566376 m,
      bearing: 214.825528 deg,
      approach rate: -0.671693 m/s,
      LOS rate: 0.000183 deg/s,
      cmd heading: 205.780814 deg,
      new cmd heading: 205.781025 deg.

2025-10-27T00:24:56.638Z,1761524696.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591556 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:56.645Z,1761524696.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536016
2025-10-27T00:24:56.896Z,1761524696.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786984
2025-10-27T00:24:57.014Z,1761524697.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901882,0.427997,0.058546],[-0.431814,-0.889425,-0.149868],[-0.012070,-0.160444,0.986971]]
2025-10-27T00:24:57.041Z,1761524697.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:57.043Z,1761524697.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:57.046Z,1761524697.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 423.293030 m,
      bearing: 214.825555 deg,
      approach rate: -0.663970 m/s,
      LOS rate: 0.000064 deg/s,
      cmd heading: 205.781018 deg,
      new cmd heading: 205.781098 deg.

2025-10-27T00:24:57.047Z,1761524697.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591558 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:57.149Z,1761524697.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039861
2025-10-27T00:24:57.400Z,1761524697.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290973
2025-10-27T00:24:57.420Z,1761524697.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901438,0.429240,0.056230],[-0.432704,-0.889399,-0.147436],[-0.013275,-0.157235,0.987472]]
2025-10-27T00:24:57.480Z,1761524697.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:57.482Z,1761524697.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 423.012451 m,
      bearing: 214.827416 deg,
      approach rate: -0.641845 m/s,
      LOS rate: 0.004260 deg/s,
      cmd heading: 205.781100 deg,
      new cmd heading: 205.786687 deg.

2025-10-27T00:24:57.484Z,1761524697.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591655 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:57.653Z,1761524697.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543570
2025-10-27T00:24:57.829Z,1761524697.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900592,0.430998,0.056341],[-0.434429,-0.888234,-0.149373],[-0.014335,-0.159000,0.987174]]
2025-10-27T00:24:57.846Z,1761524697.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:57.849Z,1761524697.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 422.752167 m,
      bearing: 214.829078 deg,
      approach rate: -0.710265 m/s,
      LOS rate: 0.004538 deg/s,
      cmd heading: 205.786688 deg,
      new cmd heading: 205.791676 deg.

2025-10-27T00:24:57.850Z,1761524697.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591742 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:57.905Z,1761524697.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795850
2025-10-27T00:24:58.157Z,1761524698.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047303
2025-10-27T00:24:58.226Z,1761524698.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899506,0.433336,0.055764],[-0.436640,-0.887123,-0.149524],[-0.015325,-0.158847,0.987184]]
2025-10-27T00:24:58.276Z,1761524698.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:58.279Z,1761524698.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 422.465027 m,
      bearing: 214.830717 deg,
      approach rate: -0.669867 m/s,
      LOS rate: 0.003827 deg/s,
      cmd heading: 205.791674 deg,
      new cmd heading: 205.796595 deg.

2025-10-27T00:24:58.280Z,1761524698.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591828 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:58.408Z,1761524698.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299499
2025-10-27T00:24:58.632Z,1761524698.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898584,0.435462,0.054039],[-0.438494,-0.886506,-0.147750],[-0.016434,-0.156461,0.987547]]
2025-10-27T00:24:58.661Z,1761524698.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551884
2025-10-27T00:24:58.666Z,1761524698.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:58.690Z,1761524698.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 422.207916 m,
      bearing: 214.832109 deg,
      approach rate: -0.656974 m/s,
      LOS rate: 0.003559 deg/s,
      cmd heading: 205.796591 deg,
      new cmd heading: 205.800770 deg.

2025-10-27T00:24:58.696Z,1761524698.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591901 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:58.912Z,1761524698.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802930
2025-10-27T00:24:59.034Z,1761524699.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897271,0.438218,0.053576],[-0.441115,-0.884959,-0.149216],[-0.017977,-0.157520,0.987352]]
2025-10-27T00:24:59.069Z,1761524699.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:24:59.071Z,1761524699.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:59.073Z,1761524699.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 421.935089 m,
      bearing: 214.833481 deg,
      approach rate: -0.675046 m/s,
      LOS rate: 0.003397 deg/s,
      cmd heading: 205.800771 deg,
      new cmd heading: 205.804890 deg.

2025-10-27T00:24:59.074Z,1761524699.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591973 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:59.164Z,1761524699.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055199
2025-10-27T00:24:59.416Z,1761524699.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306851
2025-10-27T00:24:59.439Z,1761524699.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896152,0.440847,0.050656],[-0.443328,-0.884485,-0.145420],[-0.019304,-0.152775,0.988073]]
2025-10-27T00:24:59.491Z,1761524699.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:59.494Z,1761524699.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 421.657288 m,
      bearing: 214.834253 deg,
      approach rate: -0.661143 m/s,
      LOS rate: 0.001838 deg/s,
      cmd heading: 205.804897 deg,
      new cmd heading: 205.807214 deg.

2025-10-27T00:24:59.494Z,1761524699.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592014 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:59.671Z,1761524699.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561842
2025-10-27T00:24:59.853Z,1761524699.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895748,0.442070,0.047007],[-0.444071,-0.884775,-0.141329],[-0.020887,-0.147470,0.988846]]
2025-10-27T00:24:59.870Z,1761524699.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:24:59.873Z,1761524699.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 421.388550 m,
      bearing: 214.834954 deg,
      approach rate: -0.707655 m/s,
      LOS rate: 0.001846 deg/s,
      cmd heading: 205.807219 deg,
      new cmd heading: 205.809323 deg.

2025-10-27T00:24:59.874Z,1761524699.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592050 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:24:59.921Z,1761524699.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812005
2025-10-27T00:25:00.175Z,1761524700.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065400
2025-10-27T00:25:00.297Z,1761524700.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:00.300Z,1761524700.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 421.101624 m,
      bearing: 214.834060 deg,
      approach rate: -0.673117 m/s,
      LOS rate: -0.002099 deg/s,
      cmd heading: 205.809323 deg,
      new cmd heading: 205.806639 deg.

2025-10-27T00:25:00.301Z,1761524700.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592004 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:00.424Z,1761524700.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315049
2025-10-27T00:25:00.660Z,1761524700.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895986,0.442048,0.042458],[-0.443440,-0.885455,-0.139035],[-0.023865,-0.143401,0.989377]]
2025-10-27T00:25:00.676Z,1761524700.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567074
2025-10-27T00:25:00.693Z,1761524700.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:00.697Z,1761524700.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 420.838928 m,
      bearing: 214.833249 deg,
      approach rate: -0.663178 m/s,
      LOS rate: -0.002047 deg/s,
      cmd heading: 205.806645 deg,
      new cmd heading: 205.804213 deg.

2025-10-27T00:25:00.699Z,1761524700.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591961 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:00.928Z,1761524700.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818838
2025-10-27T00:25:01.057Z,1761524701.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896601,0.441041,0.039872],[-0.442134,-0.886461,-0.136763],[-0.024974,-0.140251,0.989801]]
2025-10-27T00:25:01.073Z,1761524701.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:01.076Z,1761524701.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:01.078Z,1761524701.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 420.577850 m,
      bearing: 214.832484 deg,
      approach rate: -0.682186 m/s,
      LOS rate: -0.002002 deg/s,
      cmd heading: 205.804214 deg,
      new cmd heading: 205.801915 deg.

2025-10-27T00:25:01.079Z,1761524701.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591921 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:01.181Z,1761524701.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071677
2025-10-27T00:25:01.432Z,1761524701.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322959
2025-10-27T00:25:01.458Z,1761524701.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897524,0.439258,0.038783],[-0.440220,-0.887418,-0.136729],[-0.025642,-0.139791,0.989849]]
2025-10-27T00:25:01.465Z,1761524701.465 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050304131958,35.0, +11.1,   .0,  0
2025-10-27T00:25:01.508Z,1761524701.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:01.515Z,1761524701.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 420.291809 m,
      bearing: 214.831725 deg,
      approach rate: -0.661234 m/s,
      LOS rate: -0.001756 deg/s,
      cmd heading: 205.801919 deg,
      new cmd heading: 205.799640 deg.

2025-10-27T00:25:01.516Z,1761524701.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591881 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:01.684Z,1761524701.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575161
2025-10-27T00:25:01.862Z,1761524701.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898560,0.437156,0.038530],[-0.438083,-0.888330,-0.137671],[-0.025956,-0.140585,0.989728]]
2025-10-27T00:25:01.880Z,1761524701.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:01.883Z,1761524701.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 420.036224 m,
      bearing: 214.831131 deg,
      approach rate: -0.687440 m/s,
      LOS rate: -0.001599 deg/s,
      cmd heading: 205.799638 deg,
      new cmd heading: 205.797854 deg.

2025-10-27T00:25:01.884Z,1761524701.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591850 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:01.937Z,1761524701.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827977
2025-10-27T00:25:02.190Z,1761524702.190 [DAT](INFO): Reached modem response timeout
2025-10-27T00:25:02.190Z,1761524702.190 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:02.191Z,1761524702.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:02.318Z,1761524702.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:02.336Z,1761524702.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 419.740204 m,
      bearing: 214.828219 deg,
      approach rate: -0.676288 m/s,
      LOS rate: -0.006656 deg/s,
      cmd heading: 205.797848 deg,
      new cmd heading: 205.789107 deg.

2025-10-27T00:25:02.337Z,1761524702.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591697 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:02.440Z,1761524702.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:02.671Z,1761524702.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901841,0.430402,0.037899],[-0.431284,-0.891454,-0.138941],[-0.026016,-0.141648,0.989575]]
2025-10-27T00:25:02.693Z,1761524702.693 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:02.698Z,1761524702.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:02.721Z,1761524702.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 419.488525 m,
      bearing: 214.826003 deg,
      approach rate: -0.661993 m/s,
      LOS rate: -0.005831 deg/s,
      cmd heading: 205.789105 deg,
      new cmd heading: 205.782454 deg.

2025-10-27T00:25:02.722Z,1761524702.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591581 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:02.945Z,1761524702.945 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:03.074Z,1761524703.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902950,0.427742,0.041456],[-0.428953,-0.891220,-0.147400],[-0.026102,-0.150878,0.988208]]
2025-10-27T00:25:03.090Z,1761524703.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:03.109Z,1761524703.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:03.111Z,1761524703.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 419.216064 m,
      bearing: 214.823718 deg,
      approach rate: -0.663458 m/s,
      LOS rate: -0.005570 deg/s,
      cmd heading: 205.782453 deg,
      new cmd heading: 205.775591 deg.

2025-10-27T00:25:03.112Z,1761524703.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591462 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:03.198Z,1761524703.198 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:03.448Z,1761524703.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:03.478Z,1761524703.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903924,0.425279,0.045379],[-0.426874,-0.890539,-0.157221],[-0.026451,-0.161487,0.986520]]
2025-10-27T00:25:03.530Z,1761524703.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:03.533Z,1761524703.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 418.920441 m,
      bearing: 214.821122 deg,
      approach rate: -0.701601 m/s,
      LOS rate: -0.006164 deg/s,
      cmd heading: 205.775595 deg,
      new cmd heading: 205.767804 deg.

2025-10-27T00:25:03.534Z,1761524703.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591326 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:03.700Z,1761524703.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:03.882Z,1761524703.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904592,0.423574,0.047936],[-0.425429,-0.889974,-0.164187],[-0.026883,-0.168916,0.985264]]
2025-10-27T00:25:03.900Z,1761524703.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:03.902Z,1761524703.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 418.670471 m,
      bearing: 214.818989 deg,
      approach rate: -0.675871 m/s,
      LOS rate: -0.005771 deg/s,
      cmd heading: 205.767809 deg,
      new cmd heading: 205.761405 deg.

2025-10-27T00:25:03.904Z,1761524703.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591214 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:03.952Z,1761524703.952 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:04.206Z,1761524704.206 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:04.345Z,1761524704.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:04.348Z,1761524704.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 418.372620 m,
      bearing: 214.816949 deg,
      approach rate: -0.668286 m/s,
      LOS rate: -0.004581 deg/s,
      cmd heading: 205.761402 deg,
      new cmd heading: 205.755277 deg.

2025-10-27T00:25:04.349Z,1761524704.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591107 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:04.457Z,1761524704.457 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:25:04.457Z,1761524704.457 [DAT](INFO): response not received
2025-10-27T00:25:04.458Z,1761524704.458 [DAT](INFO): DAT read: user:85>

2025-10-27T00:25:04.459Z,1761524704.459 [DAT](INFO): DAT read: Tx time:00:25:05.9488

2025-10-27T00:25:04.459Z,1761524704.459 [DAT](INFO): Ping request sent.
2025-10-27T00:25:04.459Z,1761524704.459 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:25:04.460Z,1761524704.460 [DAT](INFO): publishing transmit ping time
2025-10-27T00:25:04.460Z,1761524704.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001056
2025-10-27T00:25:04.700Z,1761524704.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905028,0.422585,0.048445],[-0.424480,-0.890006,-0.166449],[-0.027222,-0.171205,0.984859]]
2025-10-27T00:25:04.709Z,1761524704.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249539
2025-10-27T00:25:04.728Z,1761524704.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:04.731Z,1761524704.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 418.118561 m,
      bearing: 214.815244 deg,
      approach rate: -0.663230 m/s,
      LOS rate: -0.004453 deg/s,
      cmd heading: 205.755282 deg,
      new cmd heading: 205.750165 deg.

2025-10-27T00:25:04.732Z,1761524704.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591018 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:04.960Z,1761524704.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500765
2025-10-27T00:25:05.036Z,1761524705.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:25:05.095Z,1761524705.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905187,0.422427,0.046824],[-0.424130,-0.890697,-0.163623],[-0.027413,-0.167968,0.985411]]
2025-10-27T00:25:05.111Z,1761524705.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:05.113Z,1761524705.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:05.116Z,1761524705.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 417.859528 m,
      bearing: 214.813515 deg,
      approach rate: -0.673083 m/s,
      LOS rate: -0.004495 deg/s,
      cmd heading: 205.750160 deg,
      new cmd heading: 205.744970 deg.

2025-10-27T00:25:05.117Z,1761524705.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590927 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:05.216Z,1761524705.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756058
2025-10-27T00:25:05.464Z,1761524705.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004470
2025-10-27T00:25:05.497Z,1761524705.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905328,0.422358,0.044672],[-0.423790,-0.891410,-0.160595],[-0.028007,-0.164323,0.986009]]
2025-10-27T00:25:05.545Z,1761524705.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:05.548Z,1761524705.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 417.574554 m,
      bearing: 214.813048 deg,
      approach rate: -0.659917 m/s,
      LOS rate: -0.001082 deg/s,
      cmd heading: 205.744969 deg,
      new cmd heading: 205.743567 deg.

2025-10-27T00:25:05.549Z,1761524705.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590903 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:05.716Z,1761524705.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256823
2025-10-27T00:25:05.902Z,1761524705.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905278,0.422563,0.043738],[-0.423856,-0.891490,-0.159973],[-0.028607,-0.163359,0.986152]]
2025-10-27T00:25:05.934Z,1761524705.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:05.937Z,1761524705.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 417.318207 m,
      bearing: 214.812624 deg,
      approach rate: -0.659602 m/s,
      LOS rate: -0.001091 deg/s,
      cmd heading: 205.743562 deg,
      new cmd heading: 205.742290 deg.

2025-10-27T00:25:05.938Z,1761524705.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590880 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:05.969Z,1761524705.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509240
2025-10-27T00:25:06.039Z,1761524706.039 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:25:06.222Z,1761524706.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762527
2025-10-27T00:25:06.306Z,1761524706.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905371,0.422475,0.042628],[-0.423609,-0.891728,-0.159298],[-0.029286,-0.162281,0.986310]]
2025-10-27T00:25:06.356Z,1761524706.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:06.359Z,1761524706.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 417.040833 m,
      bearing: 214.813595 deg,
      approach rate: -0.656316 m/s,
      LOS rate: 0.002299 deg/s,
      cmd heading: 205.742291 deg,
      new cmd heading: 205.745207 deg.

2025-10-27T00:25:06.360Z,1761524706.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590931 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:06.472Z,1761524706.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012649
2025-10-27T00:25:06.719Z,1761524706.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905526,0.422302,0.041044],[-0.423205,-0.892051,-0.158563],[-0.030349,-0.160953,0.986495]]
2025-10-27T00:25:06.724Z,1761524706.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264687
2025-10-27T00:25:06.743Z,1761524706.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:06.746Z,1761524706.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 416.787170 m,
      bearing: 214.814500 deg,
      approach rate: -0.656543 m/s,
      LOS rate: 0.002342 deg/s,
      cmd heading: 205.745201 deg,
      new cmd heading: 205.747916 deg.

2025-10-27T00:25:06.747Z,1761524706.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590979 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:06.976Z,1761524706.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516506
2025-10-27T00:25:07.113Z,1761524707.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906040,0.421280,0.040187],[-0.422049,-0.892531,-0.158948],[-0.031093,-0.160974,0.986469]]
2025-10-27T00:25:07.160Z,1761524707.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:07.162Z,1761524707.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:07.166Z,1761524707.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 416.525940 m,
      bearing: 214.815478 deg,
      approach rate: -0.623224 m/s,
      LOS rate: 0.002334 deg/s,
      cmd heading: 205.747919 deg,
      new cmd heading: 205.750855 deg.

2025-10-27T00:25:07.167Z,1761524707.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591030 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:07.232Z,1761524707.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772642
2025-10-27T00:25:07.480Z,1761524707.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021057
2025-10-27T00:25:07.620Z,1761524707.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:07.625Z,1761524707.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 416.213623 m,
      bearing: 214.817770 deg,
      approach rate: -0.683378 m/s,
      LOS rate: 0.005020 deg/s,
      cmd heading: 205.750856 deg,
      new cmd heading: 205.757739 deg.

2025-10-27T00:25:07.627Z,1761524707.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591150 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:07.733Z,1761524707.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273275
2025-10-27T00:25:07.968Z,1761524707.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906587,0.420022,0.041010],[-0.420786,-0.892233,-0.163886],[-0.032245,-0.165833,0.985627]]
2025-10-27T00:25:07.984Z,1761524707.984 [DAT](INFO): DAT read: Rx Time:00:25:08.9213

2025-10-27T00:25:07.985Z,1761524707.985 [DAT](INFO): Rx dataTimestamp_ set to:1761524707.984233
2025-10-27T00:25:07.985Z,1761524707.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525709
2025-10-27T00:25:07.989Z,1761524707.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:07.992Z,1761524707.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 415.970276 m,
      bearing: 214.819605 deg,
      approach rate: -0.657619 m/s,
      LOS rate: 0.004962 deg/s,
      cmd heading: 205.757741 deg,
      new cmd heading: 205.763250 deg.

2025-10-27T00:25:07.993Z,1761524707.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591246 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:08.239Z,1761524708.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779009
2025-10-27T00:25:08.371Z,1761524708.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907080,0.418877,0.041818],[-0.419729,-0.892363,-0.165881],[-0.032167,-0.168019,0.985259]]
2025-10-27T00:25:08.469Z,1761524708.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.17 m.
2025-10-27T00:25:08.476Z,1761524708.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.171295 m,
      nav range: 415.689362 m,
      bearing: 214.823266 deg,
      approach rate: -0.585186 m/s,
      LOS rate: 0.007631 deg/s,
      cmd heading: 205.763246 deg,
      new cmd heading: 205.774236 deg.

2025-10-27T00:25:08.477Z,1761524708.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591438 target range: 434.171295 and range: 436.30 m.
2025-10-27T00:25:08.493Z,1761524708.493 [DAT](INFO): DAT read: 00:25:08.9213 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 265,-0.02, 0.447,-1.179, 0.366, 0.083, PHS= 0.465,-1.217, 0.238, RAW= 142.9,   6.5, CAL= 142.5,   7.2, ROT=   7.5,  -7.2

2025-10-27T00:25:08.494Z,1761524708.494 [DAT](INFO): got valid direction response:
 00:25:08.9213 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 265,-0.02, 0.447,-1.179, 0.366, 0.083, PHS= 0.465,-1.217, 0.238, RAW= 142.9,   6.5, CAL= 142.5,   7.2, ROT=   7.5,  -7.2

2025-10-27T00:25:08.495Z,1761524708.495 [DAT](INFO): DAT read: Bearing 354.5,   4.3 (Local)

2025-10-27T00:25:08.496Z,1761524708.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,   4.3 (Local)

2025-10-27T00:25:08.497Z,1761524708.497 [DAT](INFO): DAT read: Range 11 to 50 : 426.3 m  (Round-trip  568.4 ms) speed  0.8 m/s

2025-10-27T00:25:08.498Z,1761524708.498 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:25:08.499Z,1761524708.499 [DAT](INFO): direction in FSK: [0.983627,0.129497,0.125333]
2025-10-27T00:25:08.499Z,1761524708.499 [DAT](INFO): publishing direction and range info
2025-10-27T00:25:08.502Z,1761524708.502 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:08.502Z,1761524708.502 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:08.503Z,1761524708.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:08.740Z,1761524708.740 [DAT](INFO): DAT read: user:86>

2025-10-27T00:25:08.741Z,1761524708.741 [DAT](INFO): DAT read: Tx time:00:25:10.1488

2025-10-27T00:25:08.741Z,1761524708.741 [DAT](INFO): Ping request sent.
2025-10-27T00:25:08.741Z,1761524708.741 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:25:08.741Z,1761524708.741 [DAT](INFO): publishing transmit ping time
2025-10-27T00:25:08.742Z,1761524708.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-10-27T00:25:08.811Z,1761524708.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907396,0.418033,0.043370],[-0.419061,-0.892096,-0.168974],[-0.031946,-0.171501,0.984666]]
2025-10-27T00:25:08.834Z,1761524708.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 426.299988 m,
      deltaT: 16.631745 s,
      deltaX: -10.000000 m,
      approachRate: -0.601260 m/s,
      rangeRepo size: 4

2025-10-27T00:25:08.836Z,1761524708.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 424.236633 m,
      bearing: 213.383674 deg,
      lat: 36.779404 deg,
      lon: -121.860041 deg,
      deltaT: 16.631745 s,
      deltaX: -9.934662 m,
      approachRate: -0.597331 m/s,
      posRepo size: 4

2025-10-27T00:25:08.837Z,1761524708.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:08.839Z,1761524708.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 420.351990 m,
      bearing: 214.107118 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007631 deg/s,
      cmd heading: 205.774243 deg,
      new cmd heading: 205.782575 deg.

2025-10-27T00:25:08.840Z,1761524708.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591583 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:08.992Z,1761524708.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250840
2025-10-27T00:25:09.201Z,1761524709.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907527,0.417481,0.045863],[-0.418815,-0.891397,-0.173220],[-0.031434,-0.176410,0.983815]]
2025-10-27T00:25:09.223Z,1761524709.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:09.225Z,1761524709.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:09.247Z,1761524709.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505294
2025-10-27T00:25:09.259Z,1761524709.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 420.097015 m,
      bearing: 214.110013 deg,
      approach rate: -0.650473 m/s,
      LOS rate: 0.007389 deg/s,
      cmd heading: 205.782576 deg,
      new cmd heading: 205.791264 deg.

2025-10-27T00:25:09.284Z,1761524709.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591735 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:09.496Z,1761524709.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754733
2025-10-27T00:25:09.605Z,1761524709.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907628,0.417018,0.048030],[-0.418638,-0.890816,-0.176604],[-0.030861,-0.180398,0.983109]]
2025-10-27T00:25:09.731Z,1761524709.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:09.734Z,1761524709.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 419.803253 m,
      bearing: 214.112751 deg,
      approach rate: -0.579995 m/s,
      LOS rate: 0.005409 deg/s,
      cmd heading: 205.791264 deg,
      new cmd heading: 205.799483 deg.

2025-10-27T00:25:09.745Z,1761524709.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591879 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:09.748Z,1761524709.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006731
2025-10-27T00:25:10.000Z,1761524710.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259010
2025-10-27T00:25:10.161Z,1761524710.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907627,0.416710,0.050665],[-0.418718,-0.890141,-0.179789],[-0.029821,-0.184395,0.982400]]
2025-10-27T00:25:10.196Z,1761524710.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:10.198Z,1761524710.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 419.463226 m,
      bearing: 214.115931 deg,
      approach rate: -0.732676 m/s,
      LOS rate: 0.006859 deg/s,
      cmd heading: 205.799487 deg,
      new cmd heading: 205.809036 deg.

2025-10-27T00:25:10.203Z,1761524710.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592045 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:10.253Z,1761524710.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511990
2025-10-27T00:25:10.504Z,1761524710.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762653
2025-10-27T00:25:10.561Z,1761524710.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907327,0.417285,0.051291],[-0.419422,-0.889978,-0.178955],[-0.029027,-0.183884,0.982519]]
2025-10-27T00:25:10.604Z,1761524710.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:10.606Z,1761524710.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 419.182159 m,
      bearing: 214.118060 deg,
      approach rate: -0.689008 m/s,
      LOS rate: 0.005223 deg/s,
      cmd heading: 205.809036 deg,
      new cmd heading: 205.815428 deg.

2025-10-27T00:25:10.607Z,1761524710.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592157 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:10.756Z,1761524710.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014622
2025-10-27T00:25:10.988Z,1761524710.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907025,0.417975,0.051027],[-0.420167,-0.890424,-0.174944],[-0.027686,-0.180118,0.983255]]
2025-10-27T00:25:11.008Z,1761524711.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266659
2025-10-27T00:25:11.030Z,1761524711.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:11.040Z,1761524711.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 418.915253 m,
      bearing: 214.120046 deg,
      approach rate: -0.625876 m/s,
      LOS rate: 0.004660 deg/s,
      cmd heading: 205.815429 deg,
      new cmd heading: 205.821391 deg.

2025-10-27T00:25:11.041Z,1761524711.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592261 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:11.263Z,1761524711.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520874
2025-10-27T00:25:11.389Z,1761524711.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906700,0.418845,0.049629],[-0.420943,-0.891240,-0.168814],[-0.026475,-0.173955,0.984398]]
2025-10-27T00:25:11.447Z,1761524711.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:11.449Z,1761524711.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:11.452Z,1761524711.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 418.613403 m,
      bearing: 214.120800 deg,
      approach rate: -0.720590 m/s,
      LOS rate: 0.001800 deg/s,
      cmd heading: 205.821385 deg,
      new cmd heading: 205.823646 deg.

2025-10-27T00:25:11.453Z,1761524711.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592300 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:11.512Z,1761524711.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785
2025-10-27T00:25:11.764Z,1761524711.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022634
2025-10-27T00:25:11.831Z,1761524711.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:11.834Z,1761524711.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 418.352020 m,
      bearing: 214.121453 deg,
      approach rate: -0.683678 m/s,
      LOS rate: 0.001709 deg/s,
      cmd heading: 205.823653 deg,
      new cmd heading: 205.825613 deg.

2025-10-27T00:25:11.835Z,1761524711.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592335 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:12.016Z,1761524712.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275018
2025-10-27T00:25:12.198Z,1761524712.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906069,0.420372,0.048230],[-0.422413,-0.892008,-0.160899],[-0.024615,-0.166158,0.985792]]
2025-10-27T00:25:12.223Z,1761524712.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:12.226Z,1761524712.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 418.085022 m,
      bearing: 214.122041 deg,
      approach rate: -0.681830 m/s,
      LOS rate: 0.001502 deg/s,
      cmd heading: 205.825620 deg,
      new cmd heading: 205.827384 deg.

2025-10-27T00:25:12.226Z,1761524712.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592366 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:12.268Z,1761524712.268 [DAT](INFO): DAT read: Rx Time:00:25:13.1023

2025-10-27T00:25:12.269Z,1761524712.269 [DAT](INFO): Rx dataTimestamp_ set to:1761524712.268709
2025-10-27T00:25:12.270Z,1761524712.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528611
2025-10-27T00:25:12.520Z,1761524712.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778904
2025-10-27T00:25:12.698Z,1761524712.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.24 m.
2025-10-27T00:25:12.702Z,1761524712.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.236633 m,
      nav range: 417.762054 m,
      bearing: 214.121942 deg,
      approach rate: -0.680119 m/s,
      LOS rate: -0.000208 deg/s,
      cmd heading: 205.827382 deg,
      new cmd heading: 205.827086 deg.

2025-10-27T00:25:12.704Z,1761524712.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592360 target range: 424.236633 and range: 426.30 m.
2025-10-27T00:25:12.780Z,1761524712.780 [DAT](INFO): DAT read: 00:25:13.1023 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 392, 0.07, 0.145,-1.476, 0.037,-0.337, PHS= 0.584,-1.094, 0.330, RAW= 141.9,   2.3, CAL= 141.7,   2.8, ROT=   8.3,  -2.8

2025-10-27T00:25:12.781Z,1761524712.781 [DAT](INFO): got valid direction response:
 00:25:13.1023 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 392, 0.07, 0.145,-1.476, 0.037,-0.337, PHS= 0.584,-1.094, 0.330, RAW= 141.9,   2.3, CAL= 141.7,   2.8, ROT=   8.3,  -2.8

2025-10-27T00:25:12.783Z,1761524712.783 [DAT](INFO): DAT read: Bearing 349.9,   6.4 (Local)

2025-10-27T00:25:12.783Z,1761524712.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,   6.4 (Local)

2025-10-27T00:25:12.784Z,1761524712.784 [DAT](INFO): DAT read: Range 11 to 50 : 412.0 m  (Round-trip  549.4 ms) speed  0.1 m/s

2025-10-27T00:25:12.785Z,1761524712.785 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:25:12.786Z,1761524712.786 [DAT](INFO): direction in FSK: [0.988344,0.144184,0.048850]
2025-10-27T00:25:12.786Z,1761524712.786 [DAT](INFO): publishing direction and range info
2025-10-27T00:25:12.790Z,1761524712.790 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:12.790Z,1761524712.790 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:12.790Z,1761524712.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:13.024Z,1761524713.024 [DAT](INFO): DAT read: user:87>

2025-10-27T00:25:13.025Z,1761524713.025 [DAT](INFO): DAT read: Tx time:00:25:14.4488

2025-10-27T00:25:13.025Z,1761524713.025 [DAT](INFO): Ping request sent.
2025-10-27T00:25:13.025Z,1761524713.025 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:25:13.025Z,1761524713.025 [DAT](INFO): publishing transmit ping time
2025-10-27T00:25:13.026Z,1761524713.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-27T00:25:13.039Z,1761524713.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905484,0.421460,0.049709],[-0.423759,-0.891596,-0.159642],[-0.022962,-0.165618,0.985923]]
2025-10-27T00:25:13.090Z,1761524713.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 412.000000 m,
      deltaT: 4.284646 s,
      deltaX: -14.299988 m,
      approachRate: -3.337496 m/s,
      rangeRepo size: 4

2025-10-27T00:25:13.096Z,1761524713.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 410.026703 m,
      bearing: 213.722627 deg,
      lat: 36.779445 deg,
      lon: -121.860009 deg,
      deltaT: 4.284646 s,
      deltaX: -14.209930 m,
      approachRate: -3.316477 m/s,
      posRepo size: 4

2025-10-27T00:25:13.097Z,1761524713.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:13.104Z,1761524713.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 412.106750 m,
      bearing: 214.154350 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000208 deg/s,
      cmd heading: 205.827081 deg,
      new cmd heading: 205.826837 deg.

2025-10-27T00:25:13.111Z,1761524713.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592356 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:13.278Z,1761524713.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252430
2025-10-27T00:25:13.456Z,1761524713.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905077,0.422215,0.050688],[-0.424662,-0.891139,-0.159790],[-0.022296,-0.166147,0.985849]]
2025-10-27T00:25:13.491Z,1761524713.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:13.493Z,1761524713.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:13.496Z,1761524713.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 411.809814 m,
      bearing: 214.153429 deg,
      approach rate: -0.734434 m/s,
      LOS rate: -0.002280 deg/s,
      cmd heading: 205.826835 deg,
      new cmd heading: 205.824070 deg.

2025-10-27T00:25:13.497Z,1761524713.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592308 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:13.528Z,1761524713.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502858
2025-10-27T00:25:13.781Z,1761524713.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755056
2025-10-27T00:25:13.849Z,1761524713.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904759,0.423001,0.049813],[-0.425386,-0.891545,-0.155546],[-0.021385,-0.161921,0.986572]]
2025-10-27T00:25:13.880Z,1761524713.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:13.883Z,1761524713.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 411.540985 m,
      bearing: 214.152557 deg,
      approach rate: -0.695019 m/s,
      LOS rate: -0.002255 deg/s,
      cmd heading: 205.824076 deg,
      new cmd heading: 205.821459 deg.

2025-10-27T00:25:13.884Z,1761524713.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592262 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:14.032Z,1761524714.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006794
2025-10-27T00:25:14.253Z,1761524714.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904926,0.423009,0.046619],[-0.425089,-0.893260,-0.146240],[-0.020218,-0.152154,0.988150]]
2025-10-27T00:25:14.271Z,1761524714.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:14.274Z,1761524714.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 411.269653 m,
      bearing: 214.151672 deg,
      approach rate: -0.694517 m/s,
      LOS rate: -0.002266 deg/s,
      cmd heading: 205.821453 deg,
      new cmd heading: 205.818797 deg.

2025-10-27T00:25:14.275Z,1761524714.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592216 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:14.284Z,1761524714.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258872
2025-10-27T00:25:14.537Z,1761524714.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511914
2025-10-27T00:25:14.660Z,1761524714.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905010,0.422970,0.045306],[-0.424954,-0.894129,-0.141234],[-0.019228,-0.147071,0.988939]]
2025-10-27T00:25:14.705Z,1761524714.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:14.724Z,1761524714.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 410.971313 m,
      bearing: 214.149980 deg,
      approach rate: -0.687424 m/s,
      LOS rate: -0.003901 deg/s,
      cmd heading: 205.818803 deg,
      new cmd heading: 205.813724 deg.

2025-10-27T00:25:14.725Z,1761524714.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592127 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:14.788Z,1761524714.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762616
2025-10-27T00:25:15.040Z,1761524715.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015062
2025-10-27T00:25:15.088Z,1761524715.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905028,0.422739,0.047063],[-0.424967,-0.893954,-0.142304],[-0.018085,-0.148790,0.988703]]
2025-10-27T00:25:15.128Z,1761524715.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:15.136Z,1761524715.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 410.690094 m,
      bearing: 214.148386 deg,
      approach rate: -0.666408 m/s,
      LOS rate: -0.003782 deg/s,
      cmd heading: 205.813721 deg,
      new cmd heading: 205.808934 deg.

2025-10-27T00:25:15.137Z,1761524715.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592044 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:15.292Z,1761524715.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266656
2025-10-27T00:25:15.497Z,1761524715.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904752,0.423010,0.049861],[-0.425617,-0.893300,-0.144451],[-0.016564,-0.151914,0.988255]]
2025-10-27T00:25:15.531Z,1761524715.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:15.533Z,1761524715.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:15.536Z,1761524715.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 410.394653 m,
      bearing: 214.147579 deg,
      approach rate: -0.727794 m/s,
      LOS rate: -0.001988 deg/s,
      cmd heading: 205.808940 deg,
      new cmd heading: 205.806519 deg.

2025-10-27T00:25:15.537Z,1761524715.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592001 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:15.544Z,1761524715.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519225
2025-10-27T00:25:15.797Z,1761524715.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771332
2025-10-27T00:25:15.893Z,1761524715.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904059,0.424236,0.051971],[-0.427142,-0.892504,-0.144868],[-0.015074,-0.153169,0.988085]]
2025-10-27T00:25:15.911Z,1761524715.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:15.914Z,1761524715.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 410.132202 m,
      bearing: 214.146801 deg,
      approach rate: -0.693759 m/s,
      LOS rate: -0.002058 deg/s,
      cmd heading: 205.806522 deg,
      new cmd heading: 205.804187 deg.

2025-10-27T00:25:15.915Z,1761524715.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591961 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:16.048Z,1761524716.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022616
2025-10-27T00:25:16.298Z,1761524716.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903392,0.425501,0.053209],[-0.428586,-0.891879,-0.144450],[-0.014008,-0.153300,0.988080]]
2025-10-27T00:25:16.306Z,1761524716.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280616
2025-10-27T00:25:16.324Z,1761524716.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:16.326Z,1761524716.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 409.846741 m,
      bearing: 214.145891 deg,
      approach rate: -0.691969 m/s,
      LOS rate: -0.002209 deg/s,
      cmd heading: 205.804186 deg,
      new cmd heading: 205.801453 deg.

2025-10-27T00:25:16.327Z,1761524716.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591913 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:16.554Z,1761524716.554 [DAT](INFO): DAT read: Rx Time:00:25:17.3992

2025-10-27T00:25:16.554Z,1761524716.554 [DAT](INFO): Rx dataTimestamp_ set to:1761524716.554077
2025-10-27T00:25:16.555Z,1761524716.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529809
2025-10-27T00:25:16.709Z,1761524716.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902425,0.427458,0.053940],[-0.430651,-0.891126,-0.142950],[-0.013038,-0.152230,0.988259]]
2025-10-27T00:25:16.759Z,1761524716.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.03 m.
2025-10-27T00:25:16.762Z,1761524716.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.026703 m,
      nav range: 409.546478 m,
      bearing: 214.146046 deg,
      approach rate: -0.689970 m/s,
      LOS rate: 0.000356 deg/s,
      cmd heading: 205.801454 deg,
      new cmd heading: 205.801919 deg.

2025-10-27T00:25:16.763Z,1761524716.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591921 target range: 410.026703 and range: 412.00 m.
2025-10-27T00:25:16.804Z,1761524716.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778812
2025-10-27T00:25:17.061Z,1761524717.061 [DAT](INFO): DAT read: 00:25:17.3992 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 406, 0.30,-1.580, 2.966,-1.630,-1.740, PHS= 0.262,-1.532, 0.065, RAW= 144.3,  14.0, CAL= 143.8,  15.3, ROT=   6.2, -15.3

2025-10-27T00:25:17.062Z,1761524717.062 [DAT](INFO): got valid direction response:
 00:25:17.3992 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 406, 0.30,-1.580, 2.966,-1.630,-1.740, PHS= 0.262,-1.532, 0.065, RAW= 144.3,  14.0, CAL= 143.8,  15.3, ROT=   6.2, -15.3

2025-10-27T00:25:17.063Z,1761524717.063 [DAT](INFO): DAT read: Bearing   2.5,   2.8 (Local)

2025-10-27T00:25:17.064Z,1761524717.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,   2.8 (Local)

2025-10-27T00:25:17.065Z,1761524717.065 [DAT](INFO): DAT read: Range 11 to 50 : 409.7 m  (Round-trip  546.3 ms) speed  0.8 m/s

2025-10-27T00:25:17.066Z,1761524717.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:25:17.067Z,1761524717.067 [DAT](INFO): direction in FSK: [0.958916,0.104172,0.263873]
2025-10-27T00:25:17.067Z,1761524717.067 [DAT](INFO): publishing direction and range info
2025-10-27T00:25:17.070Z,1761524717.070 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:17.070Z,1761524717.070 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:17.071Z,1761524717.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:17.161Z,1761524717.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901262,0.429849,0.054371],[-0.433102,-0.890253,-0.140966],[-0.012190,-0.150596,0.988520]]
2025-10-27T00:25:17.208Z,1761524717.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 409.700012 m,
      deltaT: 4.283400 s,
      deltaX: -2.299988 m,
      approachRate: -0.536954 m/s,
      rangeRepo size: 4

2025-10-27T00:25:17.210Z,1761524717.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 407.744263 m,
      bearing: 214.107060 deg,
      lat: 36.779445 deg,
      lon: -121.859967 deg,
      deltaT: 4.283400 s,
      deltaX: -2.282440 m,
      approachRate: -0.532857 m/s,
      posRepo size: 4

2025-10-27T00:25:17.210Z,1761524717.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:17.217Z,1761524717.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 407.173401 m,
      bearing: 213.712598 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000356 deg/s,
      cmd heading: 205.801919 deg,
      new cmd heading: 205.802393 deg.

2025-10-27T00:25:17.218Z,1761524717.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591929 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:17.310Z,1761524717.310 [DAT](INFO): DAT read: user:88>

2025-10-27T00:25:17.311Z,1761524717.311 [DAT](INFO): DAT read: Tx time:00:25:18.6987

2025-10-27T00:25:17.311Z,1761524717.311 [DAT](INFO): Ping request sent.
2025-10-27T00:25:17.311Z,1761524717.311 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:25:17.311Z,1761524717.311 [DAT](INFO): publishing transmit ping time
2025-10-27T00:25:17.312Z,1761524717.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-10-27T00:25:17.515Z,1761524717.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899977,0.432434,0.055152],[-0.435794,-0.889224,-0.139153],[-0.011131,-0.149269,0.988734]]
2025-10-27T00:25:17.560Z,1761524717.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:17.562Z,1761524717.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:17.564Z,1761524717.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252712
2025-10-27T00:25:17.566Z,1761524717.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 406.919037 m,
      bearing: 213.713086 deg,
      approach rate: -0.708395 m/s,
      LOS rate: 0.001360 deg/s,
      cmd heading: 205.802397 deg,
      new cmd heading: 205.803862 deg.

2025-10-27T00:25:17.567Z,1761524717.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591955 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:17.816Z,1761524717.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504636
2025-10-27T00:25:17.918Z,1761524717.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898770,0.434904,0.055421],[-0.438303,-0.888387,-0.136601],[-0.010173,-0.147064,0.989075]]
2025-10-27T00:25:17.935Z,1761524717.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:17.938Z,1761524717.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 406.665100 m,
      bearing: 213.713474 deg,
      approach rate: -0.680573 m/s,
      LOS rate: 0.001041 deg/s,
      cmd heading: 205.803859 deg,
      new cmd heading: 205.805024 deg.

2025-10-27T00:25:17.959Z,1761524717.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591975 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:18.069Z,1761524718.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757715
2025-10-27T00:25:18.320Z,1761524718.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008491
2025-10-27T00:25:18.323Z,1761524718.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897873,0.436746,0.055474],[-0.440156,-0.887857,-0.134061],[-0.009298,-0.144787,0.989419]]
2025-10-27T00:25:18.352Z,1761524718.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:18.355Z,1761524718.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 406.382141 m,
      bearing: 213.713825 deg,
      approach rate: -0.678665 m/s,
      LOS rate: 0.000842 deg/s,
      cmd heading: 205.805020 deg,
      new cmd heading: 205.806073 deg.

2025-10-27T00:25:18.356Z,1761524718.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591994 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:18.572Z,1761524718.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260876
2025-10-27T00:25:18.727Z,1761524718.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897331,0.437888,0.055240],[-0.441267,-0.887538,-0.132514],[-0.008998,-0.143284,0.989641]]
2025-10-27T00:25:18.774Z,1761524718.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:18.777Z,1761524718.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 406.100769 m,
      bearing: 213.714731 deg,
      approach rate: -0.666343 m/s,
      LOS rate: 0.002145 deg/s,
      cmd heading: 205.806072 deg,
      new cmd heading: 205.808789 deg.

2025-10-27T00:25:18.778Z,1761524718.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592041 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:18.825Z,1761524718.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513429
2025-10-27T00:25:19.076Z,1761524719.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764576
2025-10-27T00:25:19.187Z,1761524719.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:19.189Z,1761524719.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 405.833679 m,
      bearing: 213.715591 deg,
      approach rate: -0.667006 m/s,
      LOS rate: 0.002150 deg/s,
      cmd heading: 205.808790 deg,
      new cmd heading: 205.811373 deg.

2025-10-27T00:25:19.190Z,1761524719.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592086 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:19.328Z,1761524719.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016584
2025-10-27T00:25:19.534Z,1761524719.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896453,0.439692,0.055160],[-0.443054,-0.886880,-0.130948],[-0.008657,-0.141827,0.989854]]
2025-10-27T00:25:19.580Z,1761524719.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268752
2025-10-27T00:25:19.582Z,1761524719.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:19.584Z,1761524719.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:19.586Z,1761524719.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 405.563049 m,
      bearing: 213.716534 deg,
      approach rate: -0.661304 m/s,
      LOS rate: 0.002307 deg/s,
      cmd heading: 205.811372 deg,
      new cmd heading: 205.814204 deg.

2025-10-27T00:25:19.588Z,1761524719.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592135 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:19.833Z,1761524719.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521224
2025-10-27T00:25:19.975Z,1761524719.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:19.978Z,1761524719.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 405.301270 m,
      bearing: 213.717448 deg,
      approach rate: -0.669637 m/s,
      LOS rate: 0.002339 deg/s,
      cmd heading: 205.814200 deg,
      new cmd heading: 205.816942 deg.

2025-10-27T00:25:19.979Z,1761524719.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592183 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:20.084Z,1761524720.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772926
2025-10-27T00:25:20.336Z,1761524720.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024730
2025-10-27T00:25:20.344Z,1761524720.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896432,0.439803,0.054623],[-0.443092,-0.886935,-0.130441],[-0.008921,-0.141134,0.989950]]
2025-10-27T00:25:20.367Z,1761524720.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:20.369Z,1761524720.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 405.040680 m,
      bearing: 213.718356 deg,
      approach rate: -0.665121 m/s,
      LOS rate: 0.002320 deg/s,
      cmd heading: 205.816945 deg,
      new cmd heading: 205.819672 deg.

2025-10-27T00:25:20.370Z,1761524720.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592231 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:20.588Z,1761524720.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276523
2025-10-27T00:25:20.745Z,1761524720.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896381,0.439873,0.054893],[-0.443182,-0.886613,-0.132313],[-0.009532,-0.142930,0.989687]]
2025-10-27T00:25:20.793Z,1761524720.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:20.795Z,1761524720.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 404.752563 m,
      bearing: 213.718271 deg,
      approach rate: -0.676446 m/s,
      LOS rate: -0.000199 deg/s,
      cmd heading: 205.819677 deg,
      new cmd heading: 205.819423 deg.

2025-10-27T00:25:20.796Z,1761524720.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592227 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:20.840Z,1761524720.840 [DAT](INFO): DAT read: Rx Time:00:25:21.6591

2025-10-27T00:25:20.841Z,1761524720.841 [DAT](INFO): Rx dataTimestamp_ set to:1761524720.840587
2025-10-27T00:25:20.841Z,1761524720.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530126
2025-10-27T00:25:21.093Z,1761524721.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781883
2025-10-27T00:25:21.199Z,1761524721.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896669,0.439203,0.055552],[-0.442581,-0.886399,-0.135718],[-0.010367,-0.146280,0.989189]]
2025-10-27T00:25:21.217Z,1761524721.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.74 m.
2025-10-27T00:25:21.220Z,1761524721.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 407.744263 m,
      nav range: 404.465210 m,
      bearing: 213.718218 deg,
      approach rate: -0.676385 m/s,
      LOS rate: -0.000125 deg/s,
      cmd heading: 205.819418 deg,
      new cmd heading: 205.819258 deg.

2025-10-27T00:25:21.221Z,1761524721.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592224 target range: 407.744263 and range: 409.70 m.
2025-10-27T00:25:21.351Z,1761524721.351 [DAT](INFO): DAT read: 00:25:21.6591 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX=  29,-0.22,-1.258,-2.987,-1.321,-1.817, PHS= 0.662,-1.125, 0.453, RAW= 143.9,   0.1, CAL= 143.5,   0.3, ROT=   6.5,  -0.3

2025-10-27T00:25:21.352Z,1761524721.352 [DAT](INFO): got valid direction response:
 00:25:21.6591 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX=  29,-0.22,-1.258,-2.987,-1.321,-1.817, PHS= 0.662,-1.125, 0.453, RAW= 143.9,   0.1, CAL= 143.5,   0.3, ROT=   6.5,  -0.3

2025-10-27T00:25:21.354Z,1761524721.354 [DAT](INFO): DAT read: Bearing 348.4,   6.2 (Local)

2025-10-27T00:25:21.357Z,1761524721.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,   6.2 (Local)

2025-10-27T00:25:21.360Z,1761524721.360 [DAT](INFO): DAT read: Range 11 to 50 : 417.2 m  (Round-trip  556.3 ms) speed  0.0 m/s

2025-10-27T00:25:21.361Z,1761524721.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:25:21.362Z,1761524721.362 [DAT](INFO): direction in FSK: [0.993558,0.113202,0.005236]
2025-10-27T00:25:21.362Z,1761524721.362 [DAT](INFO): publishing direction and range info
2025-10-27T00:25:21.366Z,1761524721.366 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:21.366Z,1761524721.366 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:21.366Z,1761524721.366 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:21.559Z,1761524721.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896906,0.438568,0.056731],[-0.442086,-0.886033,-0.139660],[-0.010985,-0.150342,0.988573]]
2025-10-27T00:25:21.597Z,1761524721.597 [DAT](INFO): DAT read: user:89>

2025-10-27T00:25:21.598Z,1761524721.598 [DAT](INFO): DAT read: Tx time:00:25:22.9987

2025-10-27T00:25:21.598Z,1761524721.598 [DAT](INFO): Ping request sent.
2025-10-27T00:25:21.600Z,1761524721.600 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:25:21.600Z,1761524721.600 [DAT](INFO): publishing transmit ping time
2025-10-27T00:25:21.601Z,1761524721.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002842
2025-10-27T00:25:21.629Z,1761524721.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 417.200012 m,
      deltaT: 4.288240 s,
      deltaX: 7.500000 m,
      approachRate: 1.748969 m/s,
      rangeRepo size: 4

2025-10-27T00:25:21.655Z,1761524721.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 415.190735 m,
      bearing: 212.711527 deg,
      lat: 36.779367 deg,
      lon: -121.859966 deg,
      deltaT: 4.288240 s,
      deltaX: 7.446472 m,
      approachRate: 1.736487 m/s,
      posRepo size: 4

2025-10-27T00:25:21.656Z,1761524721.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:21.658Z,1761524721.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 411.437958 m,
      bearing: 213.039674 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000125 deg/s,
      cmd heading: 205.819254 deg,
      new cmd heading: 205.819099 deg.

2025-10-27T00:25:21.664Z,1761524721.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592221 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:21.848Z,1761524721.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249451
2025-10-27T00:25:21.975Z,1761524721.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896799,0.438785,0.056732],[-0.442288,-0.885755,-0.140782],[-0.011522,-0.151345,0.988414]]
2025-10-27T00:25:21.992Z,1761524721.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:21.993Z,1761524721.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:21.996Z,1761524721.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 411.186981 m,
      bearing: 213.038629 deg,
      approach rate: -0.687140 m/s,
      LOS rate: -0.002863 deg/s,
      cmd heading: 205.819104 deg,
      new cmd heading: 205.815966 deg.

2025-10-27T00:25:21.997Z,1761524721.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592166 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:22.101Z,1761524722.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502111
2025-10-27T00:25:22.352Z,1761524722.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753397
2025-10-27T00:25:22.374Z,1761524722.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896929,0.438566,0.056379],[-0.442010,-0.885800,-0.141371],[-0.012060,-0.151720,0.988350]]
2025-10-27T00:25:22.404Z,1761524722.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:22.411Z,1761524722.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 410.919250 m,
      bearing: 213.037524 deg,
      approach rate: -0.651735 m/s,
      LOS rate: -0.002690 deg/s,
      cmd heading: 205.815962 deg,
      new cmd heading: 205.812646 deg.

2025-10-27T00:25:22.412Z,1761524722.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592108 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:22.605Z,1761524722.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005962
2025-10-27T00:25:22.786Z,1761524722.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897524,0.437331,0.056507],[-0.440791,-0.886162,-0.142896],[-0.012418,-0.153160,0.988123]]
2025-10-27T00:25:22.835Z,1761524722.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:22.838Z,1761524722.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 410.615509 m,
      bearing: 213.035626 deg,
      approach rate: -0.705417 m/s,
      LOS rate: -0.004413 deg/s,
      cmd heading: 205.812642 deg,
      new cmd heading: 205.806942 deg.

2025-10-27T00:25:22.839Z,1761524722.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592009 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:22.858Z,1761524722.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259204
2025-10-27T00:25:23.109Z,1761524723.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510017
2025-10-27T00:25:23.223Z,1761524723.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:23.225Z,1761524723.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 410.349304 m,
      bearing: 213.033959 deg,
      approach rate: -0.686521 m/s,
      LOS rate: -0.004300 deg/s,
      cmd heading: 205.806946 deg,
      new cmd heading: 205.801944 deg.

2025-10-27T00:25:23.226Z,1761524723.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591922 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:23.362Z,1761524723.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763028
2025-10-27T00:25:23.605Z,1761524723.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899654,0.432853,0.057105],[-0.436423,-0.887800,-0.146103],[-0.012543,-0.156364,0.987620]]
2025-10-27T00:25:23.613Z,1761524723.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014265
2025-10-27T00:25:23.672Z,1761524723.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:23.674Z,1761524723.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 410.053436 m,
      bearing: 213.032549 deg,
      approach rate: -0.658633 m/s,
      LOS rate: -0.003141 deg/s,
      cmd heading: 205.801946 deg,
      new cmd heading: 205.797713 deg.

2025-10-27T00:25:23.680Z,1761524723.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591848 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:23.864Z,1761524723.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265422
2025-10-27T00:25:24.000Z,1761524724.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900837,0.430176,0.058663],[-0.433985,-0.888417,-0.149575],[-0.012226,-0.160202,0.987009]]
2025-10-27T00:25:24.017Z,1761524724.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:24.019Z,1761524724.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:24.022Z,1761524724.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 409.795563 m,
      bearing: 213.031419 deg,
      approach rate: -0.743106 m/s,
      LOS rate: -0.003259 deg/s,
      cmd heading: 205.797711 deg,
      new cmd heading: 205.794319 deg.

2025-10-27T00:25:24.023Z,1761524724.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591789 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:24.123Z,1761524724.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524303
2025-10-27T00:25:24.372Z,1761524724.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773535
2025-10-27T00:25:24.402Z,1761524724.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902127,0.427098,0.061270],[-0.431309,-0.888770,-0.155113],[-0.011793,-0.166358,0.985995]]
2025-10-27T00:25:24.441Z,1761524724.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:24.451Z,1761524724.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 409.512543 m,
      bearing: 213.030300 deg,
      approach rate: -0.670406 m/s,
      LOS rate: -0.002653 deg/s,
      cmd heading: 205.794324 deg,
      new cmd heading: 205.790964 deg.

2025-10-27T00:25:24.452Z,1761524724.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591730 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:24.624Z,1761524724.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025644
2025-10-27T00:25:24.805Z,1761524724.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903212,0.424402,0.063960],[-0.429048,-0.888932,-0.160367],[-0.011204,-0.172287,0.984983]]
2025-10-27T00:25:24.852Z,1761524724.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:24.855Z,1761524724.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 409.214600 m,
      bearing: 213.028889 deg,
      approach rate: -0.724753 m/s,
      LOS rate: -0.003436 deg/s,
      cmd heading: 205.790963 deg,
      new cmd heading: 205.786726 deg.

2025-10-27T00:25:24.856Z,1761524724.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591656 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:24.876Z,1761524724.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277434
2025-10-27T00:25:25.135Z,1761524725.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536459
2025-10-27T00:25:25.209Z,1761524725.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904357,0.421758,0.065259],[-0.426649,-0.889710,-0.162439],[-0.010449,-0.174745,0.984558]]
2025-10-27T00:25:25.227Z,1761524725.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:25.230Z,1761524725.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 408.952942 m,
      bearing: 213.027746 deg,
      approach rate: -0.697931 m/s,
      LOS rate: -0.003049 deg/s,
      cmd heading: 205.786729 deg,
      new cmd heading: 205.783300 deg.

2025-10-27T00:25:25.231Z,1761524725.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591596 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:25.388Z,1761524725.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789414
2025-10-27T00:25:25.621Z,1761524725.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905584,0.418821,0.067130],[-0.424064,-0.890470,-0.165024],[-0.009338,-0.177911,0.984002]]
2025-10-27T00:25:25.640Z,1761524725.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.041497
2025-10-27T00:25:25.660Z,1761524725.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:25.662Z,1761524725.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 408.648346 m,
      bearing: 213.026798 deg,
      approach rate: -0.704351 m/s,
      LOS rate: -0.002196 deg/s,
      cmd heading: 205.783300 deg,
      new cmd heading: 205.780451 deg.

2025-10-27T00:25:25.684Z,1761524725.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591546 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:25.893Z,1761524725.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294368
2025-10-27T00:25:26.071Z,1761524726.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906323,0.416769,0.069880],[-0.422510,-0.890534,-0.168626],[-0.008048,-0.182354,0.983200]]
2025-10-27T00:25:26.144Z,1761524726.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.545753
2025-10-27T00:25:26.146Z,1761524726.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:26.152Z,1761524726.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:26.161Z,1761524726.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 408.333221 m,
      bearing: 213.025890 deg,
      approach rate: -0.639290 m/s,
      LOS rate: -0.001842 deg/s,
      cmd heading: 205.780445 deg,
      new cmd heading: 205.777721 deg.

2025-10-27T00:25:26.168Z,1761524726.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591499 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:26.396Z,1761524726.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.797966
2025-10-27T00:25:26.604Z,1761524726.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906634,0.414911,0.076571],[-0.421883,-0.889187,-0.177089],[-0.005390,-0.192859,0.981212]]
2025-10-27T00:25:26.648Z,1761524726.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.049489
2025-10-27T00:25:26.659Z,1761524726.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:26.662Z,1761524726.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 407.945099 m,
      bearing: 213.025797 deg,
      approach rate: -0.766488 m/s,
      LOS rate: -0.000184 deg/s,
      cmd heading: 205.777726 deg,
      new cmd heading: 205.777447 deg.

2025-10-27T00:25:26.663Z,1761524726.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591494 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:26.900Z,1761524726.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.301978
2025-10-27T00:25:26.987Z,1761524726.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906233,0.415612,0.077513],[-0.422750,-0.888712,-0.177405],[-0.004844,-0.193539,0.981081]]
2025-10-27T00:25:27.005Z,1761524727.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:27.024Z,1761524727.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 407.702454 m,
      bearing: 213.025707 deg,
      approach rate: -0.701226 m/s,
      LOS rate: -0.000263 deg/s,
      cmd heading: 205.777453 deg,
      new cmd heading: 205.777180 deg.

2025-10-27T00:25:27.025Z,1761524727.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591489 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:27.152Z,1761524727.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.553493
2025-10-27T00:25:27.389Z,1761524727.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905531,0.417140,0.077509],[-0.424262,-0.888545,-0.174615],[-0.003969,-0.191003,0.981581]]
2025-10-27T00:25:27.404Z,1761524727.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.805497
2025-10-27T00:25:27.425Z,1761524727.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:27.428Z,1761524727.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 407.409546 m,
      bearing: 213.025529 deg,
      approach rate: -0.697690 m/s,
      LOS rate: -0.000424 deg/s,
      cmd heading: 205.777180 deg,
      new cmd heading: 205.776646 deg.

2025-10-27T00:25:27.428Z,1761524727.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591480 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:27.656Z,1761524727.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.057417
2025-10-27T00:25:27.798Z,1761524727.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904401,0.419621,0.077309],[-0.426672,-0.888105,-0.170942],[-0.003072,-0.187586,0.982243]]
2025-10-27T00:25:27.845Z,1761524727.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:27.848Z,1761524727.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 407.114532 m,
      bearing: 213.025407 deg,
      approach rate: -0.701895 m/s,
      LOS rate: -0.000290 deg/s,
      cmd heading: 205.776647 deg,
      new cmd heading: 205.776282 deg.

2025-10-27T00:25:27.849Z,1761524727.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591474 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:27.908Z,1761524727.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.309518
2025-10-27T00:25:28.160Z,1761524728.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561363
2025-10-27T00:25:28.203Z,1761524728.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903115,0.422685,0.075633],[-0.429395,-0.888278,-0.163039],[-0.001731,-0.179719,0.983716]]
2025-10-27T00:25:28.220Z,1761524728.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:28.221Z,1761524728.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:28.224Z,1761524728.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 406.851654 m,
      bearing: 213.025189 deg,
      approach rate: -0.698094 m/s,
      LOS rate: -0.000580 deg/s,
      cmd heading: 205.776278 deg,
      new cmd heading: 205.775623 deg.

2025-10-27T00:25:28.225Z,1761524728.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591462 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:28.412Z,1761524728.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813367
2025-10-27T00:25:28.618Z,1761524728.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901916,0.425552,0.073849],[-0.431912,-0.888605,-0.154381],[-0.000074,-0.171135,0.985248]]
2025-10-27T00:25:28.664Z,1761524728.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.065442
2025-10-27T00:25:28.673Z,1761524728.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:28.676Z,1761524728.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 406.551666 m,
      bearing: 213.026546 deg,
      approach rate: -0.685458 m/s,
      LOS rate: 0.003104 deg/s,
      cmd heading: 205.775623 deg,
      new cmd heading: 205.779698 deg.

2025-10-27T00:25:28.677Z,1761524728.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591533 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:28.916Z,1761524728.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317350
2025-10-27T00:25:29.012Z,1761524729.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900441,0.428689,0.073706],[-0.434974,-0.888202,-0.147970],[0.002032,-0.165299,0.986241]]
2025-10-27T00:25:29.031Z,1761524729.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:29.033Z,1761524729.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 406.297302 m,
      bearing: 213.027580 deg,
      approach rate: -0.684875 m/s,
      LOS rate: 0.002785 deg/s,
      cmd heading: 205.779693 deg,
      new cmd heading: 205.782797 deg.

2025-10-27T00:25:29.034Z,1761524729.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591587 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:29.168Z,1761524729.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.569932
2025-10-27T00:25:29.415Z,1761524729.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899450,0.431016,0.072210],[-0.437002,-0.888662,-0.138959],[0.004277,-0.156542,0.987662]]
2025-10-27T00:25:29.420Z,1761524729.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821479
2025-10-27T00:25:29.436Z,1761524729.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:29.438Z,1761524729.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 406.019745 m,
      bearing: 213.028626 deg,
      approach rate: -0.685061 m/s,
      LOS rate: 0.002585 deg/s,
      cmd heading: 205.782794 deg,
      new cmd heading: 205.785936 deg.

2025-10-27T00:25:29.439Z,1761524729.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591642 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:29.672Z,1761524729.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.073456
2025-10-27T00:25:29.818Z,1761524729.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898897,0.432123,0.072483],[-0.438103,-0.889059,-0.132812],[0.007051,-0.151139,0.988487]]
2025-10-27T00:25:29.889Z,1761524729.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:29.896Z,1761524729.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 405.732849 m,
      bearing: 213.029352 deg,
      approach rate: -0.633269 m/s,
      LOS rate: 0.001602 deg/s,
      cmd heading: 205.785936 deg,
      new cmd heading: 205.788114 deg.

2025-10-27T00:25:29.897Z,1761524729.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591680 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:29.924Z,1761524729.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.325828
2025-10-27T00:25:30.178Z,1761524730.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579151
2025-10-27T00:25:30.226Z,1761524730.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898437,0.432586,0.075365],[-0.438967,-0.889090,-0.129722],[0.010891,-0.149630,0.988682]]
2025-10-27T00:25:30.242Z,1761524730.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:30.245Z,1761524730.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:30.247Z,1761524730.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 405.464722 m,
      bearing: 213.029994 deg,
      approach rate: -0.753688 m/s,
      LOS rate: 0.001805 deg/s,
      cmd heading: 205.788108 deg,
      new cmd heading: 205.790035 deg.

2025-10-27T00:25:30.248Z,1761524730.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591714 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:30.428Z,1761524730.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829444
2025-10-27T00:25:30.641Z,1761524730.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898605,0.431353,0.080270],[-0.438470,-0.889494,-0.128629],[0.015916,-0.150782,0.988439]]
2025-10-27T00:25:30.678Z,1761524730.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:30.681Z,1761524730.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.081942
2025-10-27T00:25:30.713Z,1761524730.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 405.173645 m,
      bearing: 213.030524 deg,
      approach rate: -0.671936 m/s,
      LOS rate: 0.001225 deg/s,
      cmd heading: 205.790034 deg,
      new cmd heading: 205.791626 deg.

2025-10-27T00:25:30.719Z,1761524730.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591741 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:30.932Z,1761524730.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333448
2025-10-27T00:25:31.027Z,1761524731.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898700,0.429782,0.087325],[-0.438053,-0.889289,-0.131437],[0.021168,-0.156375,0.987471]]
2025-10-27T00:25:31.044Z,1761524731.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:31.047Z,1761524731.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 404.926758 m,
      bearing: 213.030993 deg,
      approach rate: -0.673424 m/s,
      LOS rate: 0.001281 deg/s,
      cmd heading: 205.791619 deg,
      new cmd heading: 205.793028 deg.

2025-10-27T00:25:31.048Z,1761524731.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591766 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:31.185Z,1761524731.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586055
2025-10-27T00:25:31.436Z,1761524731.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837273
2025-10-27T00:25:31.440Z,1761524731.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899094,0.427447,0.094439],[-0.436985,-0.889169,-0.135731],[0.025955,-0.163303,0.986234]]
2025-10-27T00:25:31.458Z,1761524731.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:31.461Z,1761524731.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 404.648529 m,
      bearing: 213.031574 deg,
      approach rate: -0.672130 m/s,
      LOS rate: 0.001405 deg/s,
      cmd heading: 205.793026 deg,
      new cmd heading: 205.794770 deg.

2025-10-27T00:25:31.462Z,1761524731.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591796 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:31.688Z,1761524731.688 [DAT](INFO): Reached modem response timeout
2025-10-27T00:25:31.688Z,1761524731.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:31.689Z,1761524731.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:31.842Z,1761524731.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899454,0.424959,0.101946],[-0.435979,-0.888620,-0.142395],[0.030080,-0.172524,0.984546]]
2025-10-27T00:25:31.894Z,1761524731.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:31.897Z,1761524731.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 404.360016 m,
      bearing: 213.031769 deg,
      approach rate: -0.667203 m/s,
      LOS rate: 0.000450 deg/s,
      cmd heading: 205.794774 deg,
      new cmd heading: 205.795358 deg.

2025-10-27T00:25:31.898Z,1761524731.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591807 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:31.940Z,1761524731.940 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:32.192Z,1761524732.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:32.273Z,1761524732.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:32.293Z,1761524732.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:32.300Z,1761524732.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 404.103760 m,
      bearing: 213.031942 deg,
      approach rate: -0.666906 m/s,
      LOS rate: 0.000450 deg/s,
      cmd heading: 205.795362 deg,
      new cmd heading: 205.795881 deg.

2025-10-27T00:25:32.301Z,1761524732.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591816 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:32.444Z,1761524732.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:32.670Z,1761524732.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900039,0.418893,0.120245],[-0.434271,-0.885212,-0.166756],[0.036589,-0.202306,0.978639]]
2025-10-27T00:25:32.696Z,1761524732.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:32.731Z,1761524732.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:32.734Z,1761524732.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 403.794708 m,
      bearing: 213.031314 deg,
      approach rate: -0.677082 m/s,
      LOS rate: -0.001376 deg/s,
      cmd heading: 205.795881 deg,
      new cmd heading: 205.793996 deg.

2025-10-27T00:25:32.735Z,1761524732.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591783 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:32.948Z,1761524732.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:33.051Z,1761524733.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900148,0.416811,0.126500],[-0.433866,-0.883728,-0.175456],[0.038659,-0.212821,0.976326]]
2025-10-27T00:25:33.074Z,1761524733.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:33.080Z,1761524733.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 403.566162 m,
      bearing: 213.030883 deg,
      approach rate: -0.667510 m/s,
      LOS rate: -0.001260 deg/s,
      cmd heading: 205.793996 deg,
      new cmd heading: 205.792701 deg.

2025-10-27T00:25:33.081Z,1761524733.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591760 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:33.200Z,1761524733.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:33.452Z,1761524733.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:33.458Z,1761524733.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899868,0.416341,0.129991],[-0.434350,-0.882542,-0.180165],[0.039713,-0.218587,0.975009]]
2025-10-27T00:25:33.475Z,1761524733.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:33.478Z,1761524733.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 403.291504 m,
      bearing: 213.030356 deg,
      approach rate: -0.684605 m/s,
      LOS rate: -0.001315 deg/s,
      cmd heading: 205.792698 deg,
      new cmd heading: 205.791116 deg.

2025-10-27T00:25:33.480Z,1761524733.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591733 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:33.705Z,1761524733.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:33.858Z,1761524733.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899992,0.416960,0.127115],[-0.434061,-0.884034,-0.173423],[0.040063,-0.211255,0.976610]]
2025-10-27T00:25:33.916Z,1761524733.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:33.918Z,1761524733.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 402.993988 m,
      bearing: 213.028605 deg,
      approach rate: -0.674965 m/s,
      LOS rate: -0.003975 deg/s,
      cmd heading: 205.791114 deg,
      new cmd heading: 205.785857 deg.

2025-10-27T00:25:33.920Z,1761524733.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591641 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:33.957Z,1761524733.957 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:25:33.957Z,1761524733.957 [DAT](INFO): response not received
2025-10-27T00:25:33.958Z,1761524733.958 [DAT](INFO): DAT read: user:90>

2025-10-27T00:25:33.960Z,1761524733.960 [DAT](INFO): DAT read: Tx time:00:25:35.4487

2025-10-27T00:25:33.961Z,1761524733.961 [DAT](INFO): Ping request sent.
2025-10-27T00:25:33.961Z,1761524733.961 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:25:33.961Z,1761524733.961 [DAT](INFO): publishing transmit ping time
2025-10-27T00:25:33.962Z,1761524733.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001064
2025-10-27T00:25:34.208Z,1761524734.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246687
2025-10-27T00:25:34.263Z,1761524734.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900613,0.416991,0.122537],[-0.432785,-0.886322,-0.164715],[0.039923,-0.201376,0.978700]]
2025-10-27T00:25:34.285Z,1761524734.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:34.287Z,1761524734.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:34.290Z,1761524734.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 402.740906 m,
      bearing: 213.027140 deg,
      approach rate: -0.681575 m/s,
      LOS rate: -0.003948 deg/s,
      cmd heading: 205.785854 deg,
      new cmd heading: 205.781457 deg.

2025-10-27T00:25:34.291Z,1761524734.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591564 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:34.460Z,1761524734.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498944
2025-10-27T00:25:34.695Z,1761524734.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901116,0.417193,0.118069],[-0.431730,-0.888484,-0.155580],[0.039995,-0.191170,0.980742]]
2025-10-27T00:25:34.713Z,1761524734.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751254
2025-10-27T00:25:34.758Z,1761524734.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:34.765Z,1761524734.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 402.430542 m,
      bearing: 213.025056 deg,
      approach rate: -0.658850 m/s,
      LOS rate: -0.004427 deg/s,
      cmd heading: 205.781456 deg,
      new cmd heading: 205.775199 deg.

2025-10-27T00:25:34.766Z,1761524734.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591455 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:34.964Z,1761524734.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003105
2025-10-27T00:25:35.077Z,1761524735.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901538,0.417356,0.114211],[-0.430869,-0.890146,-0.148299],[0.039771,-0.182907,0.982325]]
2025-10-27T00:25:35.104Z,1761524735.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:35.128Z,1761524735.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 402.183807 m,
      bearing: 213.023414 deg,
      approach rate: -0.713110 m/s,
      LOS rate: -0.004747 deg/s,
      cmd heading: 205.775199 deg,
      new cmd heading: 205.770272 deg.

2025-10-27T00:25:35.129Z,1761524735.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591369 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:35.216Z,1761524735.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254846
2025-10-27T00:25:35.468Z,1761524735.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506870
2025-10-27T00:25:35.481Z,1761524735.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902188,0.416687,0.111480],[-0.429531,-0.891536,-0.143758],[0.039486,-0.177581,0.983314]]
2025-10-27T00:25:35.503Z,1761524735.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:35.506Z,1761524735.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 401.911682 m,
      bearing: 213.021649 deg,
      approach rate: -0.682730 m/s,
      LOS rate: -0.004433 deg/s,
      cmd heading: 205.770268 deg,
      new cmd heading: 205.764966 deg.

2025-10-27T00:25:35.506Z,1761524735.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591276 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:35.720Z,1761524735.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758951
2025-10-27T00:25:35.933Z,1761524735.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:35.936Z,1761524735.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 401.618256 m,
      bearing: 213.019994 deg,
      approach rate: -0.685707 m/s,
      LOS rate: -0.003868 deg/s,
      cmd heading: 205.764968 deg,
      new cmd heading: 205.760002 deg.

2025-10-27T00:25:35.936Z,1761524735.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591189 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:35.973Z,1761524735.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011417
2025-10-27T00:25:36.159Z,1761524736.159 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:25:36.226Z,1761524736.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264823
2025-10-27T00:25:36.288Z,1761524736.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902928,0.416283,0.106907],[-0.427972,-0.893710,-0.134622],[0.039504,-0.167307,0.985113]]
2025-10-27T00:25:36.305Z,1761524736.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:36.307Z,1761524736.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:36.310Z,1761524736.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 401.360535 m,
      bearing: 213.018592 deg,
      approach rate: -0.685208 m/s,
      LOS rate: -0.003732 deg/s,
      cmd heading: 205.759995 deg,
      new cmd heading: 205.755784 deg.

2025-10-27T00:25:36.310Z,1761524736.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591116 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:36.476Z,1761524736.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514665
2025-10-27T00:25:36.725Z,1761524736.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903309,0.415876,0.105259],[-0.427122,-0.894756,-0.130302],[0.039991,-0.162661,0.985871]]
2025-10-27T00:25:36.728Z,1761524736.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766837
2025-10-27T00:25:36.764Z,1761524736.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:36.783Z,1761524736.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 401.040771 m,
      bearing: 213.017419 deg,
      approach rate: -0.698911 m/s,
      LOS rate: -0.002566 deg/s,
      cmd heading: 205.755788 deg,
      new cmd heading: 205.752266 deg.

2025-10-27T00:25:36.784Z,1761524736.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591054 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:36.980Z,1761524736.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018904
2025-10-27T00:25:37.098Z,1761524737.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903259,0.415549,0.106970],[-0.427130,-0.894569,-0.131549],[0.041027,-0.164513,0.985521]]
2025-10-27T00:25:37.116Z,1761524737.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:37.119Z,1761524737.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 400.795013 m,
      bearing: 213.016515 deg,
      approach rate: -0.698492 m/s,
      LOS rate: -0.002569 deg/s,
      cmd heading: 205.752263 deg,
      new cmd heading: 205.749552 deg.

2025-10-27T00:25:37.120Z,1761524737.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591007 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:37.164Z,1761524737.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:25:37.232Z,1761524737.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271334
2025-10-27T00:25:37.484Z,1761524737.484 [DAT](INFO): DAT read: Rx Time:00:25:38.3950

2025-10-27T00:25:37.485Z,1761524737.485 [DAT](INFO): Rx dataTimestamp_ set to:1761524737.484478
2025-10-27T00:25:37.485Z,1761524737.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524147
2025-10-27T00:25:37.493Z,1761524737.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902820,0.415999,0.108910],[-0.427930,-0.894075,-0.132306],[0.042335,-0.166054,0.985207]]
2025-10-27T00:25:37.527Z,1761524737.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:37.530Z,1761524737.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 400.518921 m,
      bearing: 213.015464 deg,
      approach rate: -0.698926 m/s,
      LOS rate: -0.002664 deg/s,
      cmd heading: 205.749545 deg,
      new cmd heading: 205.746388 deg.

2025-10-27T00:25:37.535Z,1761524737.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590952 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:37.737Z,1761524737.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775497
2025-10-27T00:25:37.940Z,1761524737.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901967,0.417244,0.111192],[-0.429590,-0.893131,-0.133300],[0.043690,-0.167999,0.984818]]
2025-10-27T00:25:37.997Z,1761524737.997 [DAT](INFO): DAT read: 00:25:38.3950 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 274,-0.07,-3.036, 1.875,-3.123, 2.785, PHS= 0.565,-0.865, 0.331, RAW= 141.2,  -0.5, CAL= 141.2,  -0.1, ROT=   8.8,   0.1

2025-10-27T00:25:37.998Z,1761524737.998 [DAT](INFO): got valid direction response:
 00:25:38.3950 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 274,-0.07,-3.036, 1.875,-3.123, 2.785, PHS= 0.565,-0.865, 0.331, RAW= 141.2,  -0.5, CAL= 141.2,  -0.1, ROT=   8.8,   0.1

2025-10-27T00:25:37.000Z,1761524738.000 [DAT](INFO): DAT read: Bearing 349.2,  11.2 (Local)

2025-10-27T00:25:38.000Z,1761524738.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2,  11.2 (Local)

2025-10-27T00:25:38.002Z,1761524738.002 [DAT](INFO): DAT read: Range 11 to 50 : 406.5 m  (Round-trip  542.1 ms) speed  0.4 m/s

2025-10-27T00:25:38.002Z,1761524738.002 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:25:38.003Z,1761524738.003 [DAT](INFO): direction in FSK: [0.988227,0.152986,-0.001745]
2025-10-27T00:25:38.004Z,1761524738.004 [DAT](INFO): publishing direction and range info
2025-10-27T00:25:38.010Z,1761524738.010 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:38.010Z,1761524738.010 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:38.010Z,1761524738.010 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:38.017Z,1761524738.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 415.19 m.
2025-10-27T00:25:38.023Z,1761524738.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 415.190735 m,
      nav range: 400.188843 m,
      bearing: 213.015152 deg,
      approach rate: -0.699360 m/s,
      LOS rate: -0.000661 deg/s,
      cmd heading: 205.746389 deg,
      new cmd heading: 205.745453 deg.

2025-10-27T00:25:38.024Z,1761524738.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590935 target range: 415.190735 and range: 417.20 m.
2025-10-27T00:25:38.244Z,1761524738.244 [DAT](INFO): DAT read: user:91>

2025-10-27T00:25:38.245Z,1761524738.245 [DAT](INFO): DAT read: Tx time:00:25:39.6487

2025-10-27T00:25:38.246Z,1761524738.246 [DAT](INFO): Ping request sent.
2025-10-27T00:25:38.246Z,1761524738.246 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:25:38.246Z,1761524738.246 [DAT](INFO): publishing transmit ping time
2025-10-27T00:25:38.246Z,1761524738.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-27T00:25:38.321Z,1761524738.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901188,0.418236,0.113747],[-0.431044,-0.892306,-0.134131],[0.045399,-0.169907,0.984414]]
2025-10-27T00:25:38.344Z,1761524738.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 406.500000 m,
      deltaT: 16.647742 s,
      deltaX: -10.700012 m,
      approachRate: -0.642731 m/s,
      rangeRepo size: 4

2025-10-27T00:25:38.346Z,1761524738.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 404.724823 m,
      bearing: 214.216953 deg,
      lat: 36.779374 deg,
      lon: -121.859967 deg,
      deltaT: 16.647742 s,
      deltaX: -10.465912 m,
      approachRate: -0.628669 m/s,
      posRepo size: 4

2025-10-27T00:25:38.346Z,1761524738.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:38.349Z,1761524738.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 399.343506 m,
      bearing: 213.078137 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000661 deg/s,
      cmd heading: 205.745447 deg,
      new cmd heading: 205.744733 deg.

2025-10-27T00:25:38.350Z,1761524738.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590923 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:38.496Z,1761524738.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250406
2025-10-27T00:25:38.748Z,1761524738.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502322
2025-10-27T00:25:38.752Z,1761524738.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900116,0.419771,0.116547],[-0.433102,-0.891124,-0.135353],[0.047041,-0.172311,0.983919]]
2025-10-27T00:25:38.821Z,1761524738.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:38.823Z,1761524738.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:38.826Z,1761524738.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 399.002930 m,
      bearing: 213.079421 deg,
      approach rate: -0.709548 m/s,
      LOS rate: 0.002678 deg/s,
      cmd heading: 205.744737 deg,
      new cmd heading: 205.748593 deg.

2025-10-27T00:25:38.827Z,1761524738.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590990 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:38.000Z,1761524739.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754221
2025-10-27T00:25:39.144Z,1761524739.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899065,0.421501,0.118407],[-0.435134,-0.890147,-0.135263],[0.048386,-0.173133,0.983709]]
2025-10-27T00:25:39.171Z,1761524739.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:39.174Z,1761524739.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 398.763428 m,
      bearing: 213.080247 deg,
      approach rate: -0.688836 m/s,
      LOS rate: 0.002376 deg/s,
      cmd heading: 205.748589 deg,
      new cmd heading: 205.751067 deg.

2025-10-27T00:25:39.191Z,1761524739.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591033 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:39.253Z,1761524739.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006952
2025-10-27T00:25:39.504Z,1761524739.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258182
2025-10-27T00:25:39.546Z,1761524739.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898134,0.423039,0.119976],[-0.436898,-0.889384,-0.134599],[0.049764,-0.173305,0.983610]]
2025-10-27T00:25:39.595Z,1761524739.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:39.598Z,1761524739.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 398.479218 m,
      bearing: 213.081146 deg,
      approach rate: -0.676091 m/s,
      LOS rate: 0.002140 deg/s,
      cmd heading: 205.751061 deg,
      new cmd heading: 205.753760 deg.

2025-10-27T00:25:39.603Z,1761524739.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591081 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:39.756Z,1761524739.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510450
2025-10-27T00:25:39.951Z,1761524739.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896750,0.425582,0.121325],[-0.439590,-0.888237,-0.133402],[0.050992,-0.172962,0.983608]]
2025-10-27T00:25:40.002Z,1761524740.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:40.005Z,1761524740.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 398.175232 m,
      bearing: 213.082076 deg,
      approach rate: -0.739331 m/s,
      LOS rate: 0.002263 deg/s,
      cmd heading: 205.753766 deg,
      new cmd heading: 205.756557 deg.

2025-10-27T00:25:40.006Z,1761524740.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591129 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:40.008Z,1761524740.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762396
2025-10-27T00:25:40.261Z,1761524740.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014974
2025-10-27T00:25:40.356Z,1761524740.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895461,0.428003,0.122321],[-0.442027,-0.887408,-0.130838],[0.052550,-0.171230,0.983829]]
2025-10-27T00:25:40.381Z,1761524740.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:40.384Z,1761524740.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 397.912964 m,
      bearing: 213.082775 deg,
      approach rate: -0.692836 m/s,
      LOS rate: 0.001848 deg/s,
      cmd heading: 205.756553 deg,
      new cmd heading: 205.758651 deg.

2025-10-27T00:25:40.384Z,1761524740.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591166 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:40.512Z,1761524740.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266206
2025-10-27T00:25:40.767Z,1761524740.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520663
2025-10-27T00:25:40.790Z,1761524740.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894008,0.430638,0.123693],[-0.444746,-0.886394,-0.128479],[0.054313,-0.169873,0.983968]]
2025-10-27T00:25:40.824Z,1761524740.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:40.826Z,1761524740.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:40.830Z,1761524740.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 397.600098 m,
      bearing: 213.084332 deg,
      approach rate: -0.702343 m/s,
      LOS rate: 0.003498 deg/s,
      cmd heading: 205.758656 deg,
      new cmd heading: 205.763331 deg.

2025-10-27T00:25:40.830Z,1761524740.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591248 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:41.016Z,1761524741.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770183
2025-10-27T00:25:41.175Z,1761524741.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892867,0.432804,0.124378],[-0.446822,-0.885829,-0.125128],[0.056022,-0.167297,0.984314]]
2025-10-27T00:25:41.219Z,1761524741.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:41.222Z,1761524741.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 397.342346 m,
      bearing: 213.085527 deg,
      approach rate: -0.656623 m/s,
      LOS rate: 0.003047 deg/s,
      cmd heading: 205.763328 deg,
      new cmd heading: 205.766917 deg.

2025-10-27T00:25:41.222Z,1761524741.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591310 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:41.268Z,1761524741.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022362
2025-10-27T00:25:41.521Z,1761524741.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275167
2025-10-27T00:25:41.581Z,1761524741.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891797,0.434654,0.125596],[-0.448764,-0.885089,-0.123401],[0.057527,-0.166412,0.984377]]
2025-10-27T00:25:41.623Z,1761524741.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:41.626Z,1761524741.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 397.041809 m,
      bearing: 213.086826 deg,
      approach rate: -0.743368 m/s,
      LOS rate: 0.003215 deg/s,
      cmd heading: 205.766921 deg,
      new cmd heading: 205.770820 deg.

2025-10-27T00:25:41.627Z,1761524741.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591378 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:41.776Z,1761524741.776 [DAT](INFO): DAT read: Rx Time:00:25:42.5765

2025-10-27T00:25:41.778Z,1761524741.778 [DAT](INFO): Rx dataTimestamp_ set to:1761524741.776988
2025-10-27T00:25:41.781Z,1761524741.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535646
2025-10-27T00:25:41.974Z,1761524741.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891248,0.435313,0.127201],[-0.449594,-0.884883,-0.121845],[0.059517,-0.165783,0.984365]]
2025-10-27T00:25:42.024Z,1761524742.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778521
2025-10-27T00:25:42.132Z,1761524742.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.72 m.
2025-10-27T00:25:42.143Z,1761524742.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 404.724823 m,
      nav range: 396.726501 m,
      bearing: 213.087801 deg,
      approach rate: -0.619020 m/s,
      LOS rate: 0.001916 deg/s,
      cmd heading: 205.770814 deg,
      new cmd heading: 205.773741 deg.

2025-10-27T00:25:42.144Z,1761524742.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591429 target range: 404.724823 and range: 406.50 m.
2025-10-27T00:25:42.282Z,1761524742.282 [DAT](INFO): DAT read: 00:25:42.5765 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 254, 0.47,-2.253, 2.495,-2.372,-2.685, PHS= 0.534,-1.059, 0.268, RAW= 141.0,   3.5, CAL= 140.8,   4.1, ROT=   9.2,  -4.1

2025-10-27T00:25:42.283Z,1761524742.283 [DAT](INFO): got valid direction response:
 00:25:42.5765 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 254, 0.47,-2.253, 2.495,-2.372,-2.685, PHS= 0.534,-1.059, 0.268, RAW= 141.0,   3.5, CAL= 140.8,   4.1, ROT=   9.2,  -4.1

2025-10-27T00:25:42.284Z,1761524742.284 [DAT](INFO): DAT read: Bearing 354.3,  11.7 (Local)

2025-10-27T00:25:42.284Z,1761524742.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.3,  11.7 (Local)

2025-10-27T00:25:42.286Z,1761524742.286 [DAT](INFO): DAT read: Range 11 to 50 : 392.7 m  (Round-trip  523.7 ms) speed  0.5 m/s

2025-10-27T00:25:42.286Z,1761524742.286 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:25:42.287Z,1761524742.287 [DAT](INFO): direction in FSK: [0.984610,0.159472,0.071497]
2025-10-27T00:25:42.287Z,1761524742.287 [DAT](INFO): publishing direction and range info
2025-10-27T00:25:42.291Z,1761524742.291 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:42.291Z,1761524742.291 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:42.292Z,1761524742.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:42.528Z,1761524742.528 [DAT](INFO): DAT read: user:92>

2025-10-27T00:25:42.529Z,1761524742.529 [DAT](INFO): DAT read: Tx time:00:25:43.9487

2025-10-27T00:25:42.529Z,1761524742.529 [DAT](INFO): Ping request sent.
2025-10-27T00:25:42.529Z,1761524742.529 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:25:42.529Z,1761524742.529 [DAT](INFO): publishing transmit ping time
2025-10-27T00:25:42.530Z,1761524742.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-10-27T00:25:42.565Z,1761524742.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 392.700012 m,
      deltaT: 4.284286 s,
      deltaX: -13.799988 m,
      approachRate: -3.221071 m/s,
      rangeRepo size: 4

2025-10-27T00:25:42.584Z,1761524742.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 390.969666 m,
      bearing: 216.558308 deg,
      lat: 36.779445 deg,
      lon: -121.859967 deg,
      deltaT: 4.284286 s,
      deltaX: -13.755157 m,
      approachRate: -3.210607 m/s,
      posRepo size: 4

2025-10-27T00:25:42.585Z,1761524742.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:42.596Z,1761524742.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 389.772125 m,
      bearing: 213.727669 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001916 deg/s,
      cmd heading: 205.773738 deg,
      new cmd heading: 205.776052 deg.

2025-10-27T00:25:42.597Z,1761524742.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591470 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:42.783Z,1761524742.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253537
2025-10-27T00:25:42.907Z,1761524742.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889154,0.437334,0.134702],[-0.452991,-0.882896,-0.123669],[0.064843,-0.170979,0.983139]]
2025-10-27T00:25:42.961Z,1761524742.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:42.967Z,1761524742.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:42.970Z,1761524742.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 389.492340 m,
      bearing: 213.728679 deg,
      approach rate: -0.653916 m/s,
      LOS rate: 0.002364 deg/s,
      cmd heading: 205.776046 deg,
      new cmd heading: 205.779080 deg.

2025-10-27T00:25:42.975Z,1761524742.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591522 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:43.033Z,1761524743.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503856
2025-10-27T00:25:43.284Z,1761524743.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754836
2025-10-27T00:25:43.324Z,1761524743.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888615,0.438453,0.134619],[-0.453633,-0.883488,-0.116899],[0.067680,-0.164946,0.983978]]
2025-10-27T00:25:43.342Z,1761524743.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:43.345Z,1761524743.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 389.222687 m,
      bearing: 213.729613 deg,
      approach rate: -0.711237 m/s,
      LOS rate: 0.002464 deg/s,
      cmd heading: 205.779079 deg,
      new cmd heading: 205.781882 deg.

2025-10-27T00:25:43.346Z,1761524743.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591571 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:43.536Z,1761524743.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006885
2025-10-27T00:25:43.732Z,1761524743.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888032,0.439660,0.134532],[-0.454415,-0.883833,-0.111119],[0.070049,-0.159810,0.984659]]
2025-10-27T00:25:43.790Z,1761524743.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260663
2025-10-27T00:25:43.825Z,1761524743.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:43.832Z,1761524743.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 388.901611 m,
      bearing: 213.730671 deg,
      approach rate: -0.664958 m/s,
      LOS rate: 0.002194 deg/s,
      cmd heading: 205.781879 deg,
      new cmd heading: 205.785056 deg.

2025-10-27T00:25:43.833Z,1761524743.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591627 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:44.040Z,1761524744.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511061
2025-10-27T00:25:44.235Z,1761524744.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:44.237Z,1761524744.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 388.641266 m,
      bearing: 213.730754 deg,
      approach rate: -0.675021 m/s,
      LOS rate: 0.000216 deg/s,
      cmd heading: 205.785062 deg,
      new cmd heading: 205.785312 deg.

2025-10-27T00:25:44.238Z,1761524744.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591631 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:44.292Z,1761524744.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763063
2025-10-27T00:25:44.544Z,1761524744.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014896
2025-10-27T00:25:44.589Z,1761524744.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887005,0.436357,0.151043],[-0.455527,-0.880458,-0.131488],[0.075612,-0.185435,0.979743]]
2025-10-27T00:25:44.618Z,1761524744.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:44.621Z,1761524744.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 388.371460 m,
      bearing: 213.730832 deg,
      approach rate: -0.662733 m/s,
      LOS rate: 0.000190 deg/s,
      cmd heading: 205.785308 deg,
      new cmd heading: 205.785540 deg.

2025-10-27T00:25:44.621Z,1761524744.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591635 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:44.799Z,1761524744.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269046
2025-10-27T00:25:45.049Z,1761524745.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519878
2025-10-27T00:25:45.055Z,1761524745.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:45.059Z,1761524745.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:45.065Z,1761524745.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 388.096252 m,
      bearing: 213.730259 deg,
      approach rate: -0.624953 m/s,
      LOS rate: -0.001302 deg/s,
      cmd heading: 205.785540 deg,
      new cmd heading: 205.783820 deg.

2025-10-27T00:25:45.067Z,1761524745.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591605 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:45.300Z,1761524745.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771146
2025-10-27T00:25:45.553Z,1761524745.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024124
2025-10-27T00:25:45.581Z,1761524745.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887625,0.436141,0.147995],[-0.454022,-0.882585,-0.122101],[0.077365,-0.175573,0.981422]]
2025-10-27T00:25:45.600Z,1761524745.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:45.602Z,1761524745.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 387.720703 m,
      bearing: 213.729536 deg,
      approach rate: -0.693273 m/s,
      LOS rate: -0.001336 deg/s,
      cmd heading: 205.783819 deg,
      new cmd heading: 205.781648 deg.

2025-10-27T00:25:45.604Z,1761524745.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591567 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:45.808Z,1761524745.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277686
2025-10-27T00:25:46.012Z,1761524746.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:46.015Z,1761524746.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 387.447601 m,
      bearing: 213.729258 deg,
      approach rate: -0.662568 m/s,
      LOS rate: -0.000674 deg/s,
      cmd heading: 205.781647 deg,
      new cmd heading: 205.780813 deg.

2025-10-27T00:25:46.016Z,1761524746.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591553 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:46.065Z,1761524746.065 [DAT](INFO): DAT read: 00:25:46.8880 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX=  53, 0.26,-1.044,-2.858,-1.143,-2.021, PHS= 1.080,-0.792, 0.835, RAW= 143.1, -12.7, CAL= 143.5, -15.1, ROT=   6.5,  15.1

2025-10-27T00:25:46.067Z,1761524746.067 [DAT](INFO): got valid direction response:
 00:25:46.8880 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX=  53, 0.26,-1.044,-2.858,-1.143,-2.021, PHS= 1.080,-0.792, 0.835, RAW= 143.1, -12.7, CAL= 143.5, -15.1, ROT=   6.5,  15.1

2025-10-27T00:25:46.069Z,1761524746.069 [DAT](INFO): DAT read: Rx Time:00:25:46.8880

2025-10-27T00:25:46.069Z,1761524746.069 [DAT](INFO): Rx dataTimestamp_ set to:1761524746.068860
2025-10-27T00:25:46.071Z,1761524746.071 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-27T00:25:46.071Z,1761524746.071 [DAT](INFO): Received low SNR in chirp
2025-10-27T00:25:46.083Z,1761524746.083 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:25:46.084Z,1761524746.084 [DAT](INFO): direction in FSK: [0.959266,0.109295,-0.260505]
2025-10-27T00:25:46.087Z,1761524746.087 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:46.087Z,1761524746.087 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:46.088Z,1761524746.088 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:46.308Z,1761524746.308 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:46.308Z,1761524746.308 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:46.308Z,1761524746.308 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:46.436Z,1761524746.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890506,0.433152,0.139205],[-0.448702,-0.886735,-0.111209],[0.075268,-0.161494,0.983999]]
2025-10-27T00:25:46.457Z,1761524746.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:46.460Z,1761524746.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 387.152252 m,
      bearing: 213.729190 deg,
      approach rate: -0.664155 m/s,
      LOS rate: -0.000154 deg/s,
      cmd heading: 205.780814 deg,
      new cmd heading: 205.780609 deg.

2025-10-27T00:25:46.460Z,1761524746.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591549 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:46.561Z,1761524746.561 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:46.561Z,1761524746.561 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:46.561Z,1761524746.561 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:46.814Z,1761524746.814 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:46.814Z,1761524746.814 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:46.814Z,1761524746.814 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:46.916Z,1761524746.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891794,0.431182,0.137060],[-0.446445,-0.887783,-0.111930],[0.073417,-0.161008,0.984219]]
2025-10-27T00:25:46.935Z,1761524746.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:46.938Z,1761524746.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 386.835236 m,
      bearing: 213.729238 deg,
      approach rate: -0.662734 m/s,
      LOS rate: 0.000100 deg/s,
      cmd heading: 205.780609 deg,
      new cmd heading: 205.780752 deg.

2025-10-27T00:25:46.939Z,1761524746.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591552 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:47.064Z,1761524747.064 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:47.064Z,1761524747.064 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:47.064Z,1761524747.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:47.241Z,1761524747.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893364,0.428938,0.133842],[-0.443627,-0.889304,-0.111053],[0.071391,-0.158587,0.984761]]
2025-10-27T00:25:47.260Z,1761524747.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:47.262Z,1761524747.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:47.265Z,1761524747.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 386.619049 m,
      bearing: 213.729370 deg,
      approach rate: -0.660565 m/s,
      LOS rate: 0.000404 deg/s,
      cmd heading: 205.780759 deg,
      new cmd heading: 205.781156 deg.

2025-10-27T00:25:47.266Z,1761524747.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591559 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:47.316Z,1761524747.316 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:47.316Z,1761524747.316 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:47.316Z,1761524747.316 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:47.569Z,1761524747.569 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:47.569Z,1761524747.569 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:47.569Z,1761524747.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:47.646Z,1761524747.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895474,0.425097,0.131982],[-0.439670,-0.890978,-0.113355],[0.069406,-0.159535,0.984749]]
2025-10-27T00:25:47.669Z,1761524747.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:47.672Z,1761524747.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 386.348999 m,
      bearing: 213.729718 deg,
      approach rate: -0.664493 m/s,
      LOS rate: 0.000856 deg/s,
      cmd heading: 205.781155 deg,
      new cmd heading: 205.782198 deg.

2025-10-27T00:25:47.672Z,1761524747.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591577 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:47.822Z,1761524747.822 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:47.823Z,1761524747.823 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:47.823Z,1761524747.823 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:48.073Z,1761524748.073 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:48.073Z,1761524748.073 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:48.073Z,1761524748.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:48.118Z,1761524748.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:48.145Z,1761524748.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 386.051056 m,
      bearing: 213.730102 deg,
      approach rate: -0.662751 m/s,
      LOS rate: 0.000855 deg/s,
      cmd heading: 205.782193 deg,
      new cmd heading: 205.783346 deg.

2025-10-27T00:25:48.146Z,1761524748.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591597 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:48.324Z,1761524748.324 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:48.324Z,1761524748.324 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:48.324Z,1761524748.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:48.453Z,1761524748.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899117,0.419559,0.124737],[-0.432915,-0.894457,-0.111942],[0.064606,-0.154649,0.985855]]
2025-10-27T00:25:48.482Z,1761524748.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:48.484Z,1761524748.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 385.810333 m,
      bearing: 213.730678 deg,
      approach rate: -0.662427 m/s,
      LOS rate: 0.001588 deg/s,
      cmd heading: 205.783341 deg,
      new cmd heading: 205.785072 deg.

2025-10-27T00:25:48.485Z,1761524748.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591627 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:48.576Z,1761524748.576 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:48.576Z,1761524748.576 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:48.576Z,1761524748.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:48.830Z,1761524748.830 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:48.830Z,1761524748.830 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:48.831Z,1761524748.831 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:48.913Z,1761524748.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900421,0.417520,0.122143],[-0.430537,-0.895497,-0.112794],[0.062285,-0.154149,0.986082]]
2025-10-27T00:25:48.974Z,1761524748.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:48.977Z,1761524748.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 385.482605 m,
      bearing: 213.732247 deg,
      approach rate: -0.665612 m/s,
      LOS rate: 0.003189 deg/s,
      cmd heading: 205.785076 deg,
      new cmd heading: 205.789786 deg.

2025-10-27T00:25:48.978Z,1761524748.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591709 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:49.080Z,1761524749.080 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:49.080Z,1761524749.080 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:49.081Z,1761524749.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:49.307Z,1761524749.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901758,0.415271,0.119926],[-0.428018,-0.896578,-0.113792],[0.060269,-0.153943,0.986240]]
2025-10-27T00:25:49.332Z,1761524749.332 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:49.332Z,1761524749.332 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:49.332Z,1761524749.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:49.344Z,1761524749.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:49.346Z,1761524749.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:49.349Z,1761524749.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 385.234344 m,
      bearing: 213.733542 deg,
      approach rate: -0.667773 m/s,
      LOS rate: 0.003487 deg/s,
      cmd heading: 205.789788 deg,
      new cmd heading: 205.793677 deg.

2025-10-27T00:25:49.350Z,1761524749.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591777 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:49.585Z,1761524749.585 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:49.585Z,1761524749.585 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:49.585Z,1761524749.585 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:49.719Z,1761524749.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902434,0.413849,0.119760],[-0.426838,-0.896584,-0.118097],[0.058500,-0.157692,0.985754]]
2025-10-27T00:25:49.737Z,1761524749.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:49.743Z,1761524749.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 384.953857 m,
      bearing: 213.735072 deg,
      approach rate: -0.717496 m/s,
      LOS rate: 0.003915 deg/s,
      cmd heading: 205.793682 deg,
      new cmd heading: 205.798274 deg.

2025-10-27T00:25:49.744Z,1761524749.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591857 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:49.838Z,1761524749.838 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:49.838Z,1761524749.838 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:49.838Z,1761524749.838 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:50.088Z,1761524750.088 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:50.088Z,1761524750.088 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:50.088Z,1761524750.088 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:50.128Z,1761524750.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902784,0.413064,0.119829],[-0.426380,-0.896087,-0.123401],[0.056405,-0.162497,0.985096]]
2025-10-27T00:25:50.176Z,1761524750.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:50.179Z,1761524750.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 384.656036 m,
      bearing: 213.736569 deg,
      approach rate: -0.678008 m/s,
      LOS rate: 0.003411 deg/s,
      cmd heading: 205.798272 deg,
      new cmd heading: 205.802766 deg.

2025-10-27T00:25:50.180Z,1761524750.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591936 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:50.340Z,1761524750.340 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:50.340Z,1761524750.340 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:50.340Z,1761524750.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:50.518Z,1761524750.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903102,0.412548,0.119210],[-0.426008,-0.895657,-0.127736],[0.054074,-0.166143,0.984618]]
2025-10-27T00:25:50.561Z,1761524750.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:50.569Z,1761524750.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 384.395477 m,
      bearing: 213.737907 deg,
      approach rate: -0.676576 m/s,
      LOS rate: 0.003476 deg/s,
      cmd heading: 205.802766 deg,
      new cmd heading: 205.806781 deg.

2025-10-27T00:25:50.570Z,1761524750.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592006 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:50.592Z,1761524750.592 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:50.592Z,1761524750.592 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:50.592Z,1761524750.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:50.846Z,1761524750.846 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:50.847Z,1761524750.847 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:50.847Z,1761524750.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:50.946Z,1761524750.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903419,0.412086,0.118403],[-0.425636,-0.895232,-0.131887],[0.051649,-0.169546,0.984168]]
2025-10-27T00:25:51.006Z,1761524751.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:51.012Z,1761524751.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 384.073517 m,
      bearing: 213.739132 deg,
      approach rate: -0.724162 m/s,
      LOS rate: 0.002759 deg/s,
      cmd heading: 205.806782 deg,
      new cmd heading: 205.810462 deg.

2025-10-27T00:25:51.013Z,1761524751.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592070 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:51.096Z,1761524751.096 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:51.096Z,1761524751.096 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:51.096Z,1761524751.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:51.326Z,1761524751.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903808,0.412046,0.115538],[-0.425083,-0.895572,-0.131358],[0.049347,-0.167836,0.984579]]
2025-10-27T00:25:51.348Z,1761524751.348 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:51.348Z,1761524751.348 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:51.348Z,1761524751.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:51.362Z,1761524751.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:51.368Z,1761524751.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:51.371Z,1761524751.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 383.819000 m,
      bearing: 213.740125 deg,
      approach rate: -0.702516 m/s,
      LOS rate: 0.002741 deg/s,
      cmd heading: 205.810457 deg,
      new cmd heading: 205.813436 deg.

2025-10-27T00:25:51.376Z,1761524751.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592122 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:51.600Z,1761524751.600 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:51.600Z,1761524751.600 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:51.600Z,1761524751.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:51.730Z,1761524751.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904221,0.411985,0.112488],[-0.424413,-0.896182,-0.129350],[0.047520,-0.164702,0.985198]]
2025-10-27T00:25:51.750Z,1761524751.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:51.753Z,1761524751.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 383.532990 m,
      bearing: 213.741268 deg,
      approach rate: -0.749217 m/s,
      LOS rate: 0.002998 deg/s,
      cmd heading: 205.813435 deg,
      new cmd heading: 205.816868 deg.

2025-10-27T00:25:51.753Z,1761524751.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592182 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:51.853Z,1761524751.853 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:51.853Z,1761524751.853 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:51.853Z,1761524751.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:52.104Z,1761524752.104 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:52.104Z,1761524752.104 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:52.104Z,1761524752.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:52.138Z,1761524752.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904745,0.411281,0.110830],[-0.423388,-0.896833,-0.128193],[0.046672,-0.162906,0.985537]]
2025-10-27T00:25:52.218Z,1761524752.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:52.221Z,1761524752.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 383.194916 m,
      bearing: 213.742459 deg,
      approach rate: -0.721250 m/s,
      LOS rate: 0.002543 deg/s,
      cmd heading: 205.816863 deg,
      new cmd heading: 205.820440 deg.

2025-10-27T00:25:52.222Z,1761524752.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592244 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:52.356Z,1761524752.356 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:25:52.356Z,1761524752.356 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:25:52.356Z,1761524752.356 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:25:52.590Z,1761524752.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:52.594Z,1761524752.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 382.935150 m,
      bearing: 213.743376 deg,
      approach rate: -0.702728 m/s,
      LOS rate: 0.002481 deg/s,
      cmd heading: 205.820442 deg,
      new cmd heading: 205.823194 deg.

2025-10-27T00:25:52.596Z,1761524752.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592292 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:52.608Z,1761524752.608 [DAT](INFO): Reached modem response timeout
2025-10-27T00:25:52.608Z,1761524752.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:52.608Z,1761524752.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:52.860Z,1761524752.860 [DAT](INFO): DAT read: 

2025-10-27T00:25:52.860Z,1761524752.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:52.973Z,1761524752.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906475,0.408209,0.108024],[-0.419726,-0.899037,-0.124748],[0.046195,-0.158421,0.986290]]
2025-10-27T00:25:53.087Z,1761524753.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:53.090Z,1761524753.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 382.575592 m,
      bearing: 213.744539 deg,
      approach rate: -0.721323 m/s,
      LOS rate: 0.002336 deg/s,
      cmd heading: 205.823188 deg,
      new cmd heading: 205.826682 deg.

2025-10-27T00:25:53.091Z,1761524753.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592353 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:53.112Z,1761524753.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:53.364Z,1761524753.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:53.404Z,1761524753.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908518,0.403422,0.108840],[-0.415436,-0.900033,-0.131733],[0.044816,-0.164898,0.985292]]
2025-10-27T00:25:53.420Z,1761524753.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:53.422Z,1761524753.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:53.425Z,1761524753.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 382.338806 m,
      bearing: 213.745484 deg,
      approach rate: -0.705819 m/s,
      LOS rate: 0.002818 deg/s,
      cmd heading: 205.826685 deg,
      new cmd heading: 205.829521 deg.

2025-10-27T00:25:53.426Z,1761524753.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592403 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:53.616Z,1761524753.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:53.803Z,1761524753.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909310,0.401149,0.110614],[-0.413738,-0.899979,-0.137325],[0.044462,-0.170636,0.984330]]
2025-10-27T00:25:53.821Z,1761524753.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:53.840Z,1761524753.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 382.057007 m,
      bearing: 213.746699 deg,
      approach rate: -0.707162 m/s,
      LOS rate: 0.003050 deg/s,
      cmd heading: 205.829526 deg,
      new cmd heading: 205.833173 deg.

2025-10-27T00:25:53.841Z,1761524753.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592467 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:53.868Z,1761524753.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:54.120Z,1761524754.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:54.206Z,1761524754.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909887,0.400127,0.109561],[-0.412519,-0.900631,-0.136718],[0.043970,-0.169594,0.984533]]
2025-10-27T00:25:54.250Z,1761524754.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:54.253Z,1761524754.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 381.756531 m,
      bearing: 213.747914 deg,
      approach rate: -0.699390 m/s,
      LOS rate: 0.002830 deg/s,
      cmd heading: 205.833174 deg,
      new cmd heading: 205.836822 deg.

2025-10-27T00:25:54.254Z,1761524754.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592530 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:54.372Z,1761524754.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:54.611Z,1761524754.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910744,0.398761,0.107400],[-0.410655,-0.901980,-0.133399],[0.043679,-0.165597,0.985226]]
2025-10-27T00:25:54.624Z,1761524754.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:54.630Z,1761524754.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:54.632Z,1761524754.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 381.490784 m,
      bearing: 213.749070 deg,
      approach rate: -0.700355 m/s,
      LOS rate: 0.003051 deg/s,
      cmd heading: 205.836821 deg,
      new cmd heading: 205.840294 deg.

2025-10-27T00:25:54.633Z,1761524754.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592591 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:54.876Z,1761524754.876 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:25:54.877Z,1761524754.877 [DAT](INFO): response not received
2025-10-27T00:25:54.878Z,1761524754.878 [DAT](INFO): DAT read: user:94>Tx time:00:25:56.3986

2025-10-27T00:25:54.878Z,1761524754.878 [DAT](ERROR): No response from remote modem.
2025-10-27T00:25:54.879Z,1761524754.879 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:54.879Z,1761524754.879 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:55.010Z,1761524755.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911358,0.398063,0.104750],[-0.409389,-0.903017,-0.130231],[0.042751,-0.161570,0.985935]]
2025-10-27T00:25:55.088Z,1761524755.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:55.095Z,1761524755.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 381.190125 m,
      bearing: 213.751576 deg,
      approach rate: -0.655629 m/s,
      LOS rate: 0.005467 deg/s,
      cmd heading: 205.840291 deg,
      new cmd heading: 205.847812 deg.

2025-10-27T00:25:55.096Z,1761524755.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592722 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:55.128Z,1761524755.128 [DAT](INFO): DAT read: 

2025-10-27T00:25:55.128Z,1761524755.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:55.380Z,1761524755.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:55.419Z,1761524755.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911381,0.398341,0.103487],[-0.409419,-0.903141,-0.129275],[0.041968,-0.160188,0.986194]]
2025-10-27T00:25:55.436Z,1761524755.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:55.438Z,1761524755.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:55.441Z,1761524755.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 380.942841 m,
      bearing: 213.753638 deg,
      approach rate: -0.707486 m/s,
      LOS rate: 0.005906 deg/s,
      cmd heading: 205.847818 deg,
      new cmd heading: 205.854010 deg.

2025-10-27T00:25:55.441Z,1761524755.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592830 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:55.635Z,1761524755.635 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:55.822Z,1761524755.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910657,0.399621,0.104915],[-0.410957,-0.902314,-0.130172],[0.042647,-0.161657,0.985925]]
2025-10-27T00:25:55.850Z,1761524755.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:55.852Z,1761524755.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 380.663574 m,
      bearing: 213.755899 deg,
      approach rate: -0.677913 m/s,
      LOS rate: 0.005492 deg/s,
      cmd heading: 205.854006 deg,
      new cmd heading: 205.860793 deg.

2025-10-27T00:25:55.853Z,1761524755.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592949 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:55.884Z,1761524755.884 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:56.136Z,1761524756.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:56.226Z,1761524756.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909550,0.401184,0.108492],[-0.413137,-0.901168,-0.131205],[0.045132,-0.164160,0.985401]]
2025-10-27T00:25:56.274Z,1761524756.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:56.277Z,1761524756.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 380.383057 m,
      bearing: 213.759375 deg,
      approach rate: -0.660660 m/s,
      LOS rate: 0.008191 deg/s,
      cmd heading: 205.860795 deg,
      new cmd heading: 205.871229 deg.

2025-10-27T00:25:56.278Z,1761524756.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593131 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:56.388Z,1761524756.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:56.631Z,1761524756.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907515,0.404866,0.111803],[-0.417234,-0.899580,-0.129122],[0.048298,-0.163828,0.985306]]
2025-10-27T00:25:56.640Z,1761524756.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:56.651Z,1761524756.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:56.654Z,1761524756.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 380.134552 m,
      bearing: 213.762285 deg,
      approach rate: -0.659704 m/s,
      LOS rate: 0.007731 deg/s,
      cmd heading: 205.871232 deg,
      new cmd heading: 205.879968 deg.

2025-10-27T00:25:56.655Z,1761524756.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593283 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:56.892Z,1761524756.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:57.095Z,1761524757.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:57.098Z,1761524757.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 379.846680 m,
      bearing: 213.766661 deg,
      approach rate: -0.648466 m/s,
      LOS rate: 0.009866 deg/s,
      cmd heading: 205.879974 deg,
      new cmd heading: 205.893114 deg.

2025-10-27T00:25:57.099Z,1761524757.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593513 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:57.144Z,1761524757.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:57.398Z,1761524757.398 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:57.442Z,1761524757.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902302,0.415568,0.114692],[-0.427544,-0.896723,-0.114428],[0.055294,-0.152285,0.986789]]
2025-10-27T00:25:57.458Z,1761524757.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:57.461Z,1761524757.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:57.464Z,1761524757.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 379.609985 m,
      bearing: 213.769852 deg,
      approach rate: -0.647091 m/s,
      LOS rate: 0.008727 deg/s,
      cmd heading: 205.893116 deg,
      new cmd heading: 205.902692 deg.

2025-10-27T00:25:57.464Z,1761524757.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593680 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:57.648Z,1761524757.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:57.888Z,1761524757.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:57.890Z,1761524757.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 379.340790 m,
      bearing: 213.773485 deg,
      approach rate: -0.630169 m/s,
      LOS rate: 0.008511 deg/s,
      cmd heading: 205.902691 deg,
      new cmd heading: 205.913598 deg.

2025-10-27T00:25:57.892Z,1761524757.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593870 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:57.900Z,1761524757.900 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:58.152Z,1761524758.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:58.248Z,1761524758.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896225,0.426785,0.120978],[-0.438973,-0.892546,-0.103267],[0.063905,-0.145657,0.987269]]
2025-10-27T00:25:58.305Z,1761524758.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:58.315Z,1761524758.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 379.081299 m,
      bearing: 213.777536 deg,
      approach rate: -0.622709 m/s,
      LOS rate: 0.009728 deg/s,
      cmd heading: 205.913592 deg,
      new cmd heading: 205.925754 deg.

2025-10-27T00:25:58.316Z,1761524758.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594082 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:58.404Z,1761524758.404 [DAT](INFO): DAT read: Rx Time:00:25:59.2958

2025-10-27T00:25:58.404Z,1761524758.404 [DAT](INFO): Rx dataTimestamp_ set to:1761524758.404204
2025-10-27T00:25:58.405Z,1761524758.405 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:58.650Z,1761524758.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892532,0.432821,0.126703],[-0.445667,-0.889500,-0.100849],[0.069053,-0.146478,0.986801]]
2025-10-27T00:25:58.656Z,1761524758.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:58.682Z,1761524758.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.97 m.
2025-10-27T00:25:58.686Z,1761524758.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.969666 m,
      nav range: 378.830048 m,
      bearing: 213.781169 deg,
      approach rate: -0.666486 m/s,
      LOS rate: 0.009645 deg/s,
      cmd heading: 205.925750 deg,
      new cmd heading: 205.936658 deg.

2025-10-27T00:25:58.688Z,1761524758.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594273 target range: 390.969666 and range: 392.70 m.
2025-10-27T00:25:58.913Z,1761524758.913 [DAT](INFO): DAT read: 00:25:59.2958 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=   5,-0.17,-2.919, 1.643,-2.959, 3.087, PHS= 0.379,-1.399, 0.194, RAW= 144.6,   9.8, CAL= 144.1,  10.7, ROT=   5.9, -10.7

2025-10-27T00:25:58.915Z,1761524758.915 [DAT](INFO): got valid direction response:
 00:25:59.2958 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=   5,-0.17,-2.919, 1.643,-2.959, 3.087, PHS= 0.379,-1.399, 0.194, RAW= 144.6,   9.8, CAL= 144.1,  10.7, ROT=   5.9, -10.7

2025-10-27T00:25:58.916Z,1761524758.916 [DAT](INFO): DAT read: Bearing 359.7,   7.6 (Local)

2025-10-27T00:25:58.916Z,1761524758.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,   7.6 (Local)

2025-10-27T00:25:58.918Z,1761524758.918 [DAT](INFO): DAT read: Range 11 to 50 : 369.7 m  (Round-trip  493.0 ms) speed  0.6 m/s

2025-10-27T00:25:58.919Z,1761524758.919 [DAT](INFO): DAT read: user:95>Tx time:00:26:00.3986

2025-10-27T00:25:58.923Z,1761524758.923 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:25:58.924Z,1761524758.924 [DAT](INFO): direction in FSK: [0.977408,0.101005,0.185667]
2025-10-27T00:25:58.924Z,1761524758.924 [DAT](INFO): publishing direction and range info
2025-10-27T00:25:58.928Z,1761524758.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:58.928Z,1761524758.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:25:59.160Z,1761524759.160 [DAT](INFO): DAT read: 

2025-10-27T00:25:59.160Z,1761524759.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:59.164Z,1761524759.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 369.700012 m,
      deltaT: 16.631665 s,
      deltaX: -23.000000 m,
      approachRate: -1.382904 m/s,
      rangeRepo size: 4

2025-10-27T00:25:59.166Z,1761524759.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 368.036499 m,
      bearing: 214.053905 deg,
      lat: 36.779539 deg,
      lon: -121.859966 deg,
      deltaT: 16.631665 s,
      deltaX: -22.933167 m,
      approachRate: -1.378886 m/s,
      posRepo size: 4

2025-10-27T00:25:59.171Z,1761524759.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:25:59.174Z,1761524759.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 369.888306 m,
      bearing: 214.678011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009645 deg/s,
      cmd heading: 205.936665 deg,
      new cmd heading: 205.950480 deg.

2025-10-27T00:25:59.179Z,1761524759.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594514 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:25:59.412Z,1761524759.412 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:59.475Z,1761524759.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888097,0.442730,0.123586],[-0.453065,-0.888497,-0.072840],[0.077558,-0.120681,0.989657]]
2025-10-27T00:25:59.507Z,1761524759.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:25:59.509Z,1761524759.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:25:59.516Z,1761524759.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 369.662384 m,
      bearing: 214.681874 deg,
      approach rate: -0.645643 m/s,
      LOS rate: 0.011046 deg/s,
      cmd heading: 205.950475 deg,
      new cmd heading: 205.962071 deg.

2025-10-27T00:25:59.517Z,1761524759.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594716 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:25:59.664Z,1761524759.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:25:59.916Z,1761524759.916 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:00.027Z,1761524760.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886813,0.445601,0.122486],[-0.455048,-0.888215,-0.063294],[0.080590,-0.111867,0.990450]]
2025-10-27T00:26:00.085Z,1761524760.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:00.088Z,1761524760.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 369.276031 m,
      bearing: 214.686135 deg,
      approach rate: -0.670644 m/s,
      LOS rate: 0.007404 deg/s,
      cmd heading: 205.962073 deg,
      new cmd heading: 205.974870 deg.

2025-10-27T00:26:00.089Z,1761524760.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594940 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:00.169Z,1761524760.169 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:00.388Z,1761524760.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885639,0.447338,0.124628],[-0.456760,-0.887560,-0.060057],[0.083749,-0.110114,0.990384]]
2025-10-27T00:26:00.407Z,1761524760.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:00.409Z,1761524760.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 369.066498 m,
      bearing: 214.688379 deg,
      approach rate: -0.651713 m/s,
      LOS rate: 0.006983 deg/s,
      cmd heading: 205.974873 deg,
      new cmd heading: 205.981608 deg.

2025-10-27T00:26:00.410Z,1761524760.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595057 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:00.420Z,1761524760.420 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:00.672Z,1761524760.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:00.789Z,1761524760.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884559,0.447759,0.130639],[-0.458289,-0.886432,-0.064878],[0.086753,-0.117259,0.989305]]
2025-10-27T00:26:00.819Z,1761524760.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:00.822Z,1761524760.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 368.797211 m,
      bearing: 214.691204 deg,
      approach rate: -0.652971 m/s,
      LOS rate: 0.006856 deg/s,
      cmd heading: 205.981607 deg,
      new cmd heading: 205.990089 deg.

2025-10-27T00:26:00.823Z,1761524760.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595205 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:00.924Z,1761524760.924 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:01.187Z,1761524761.187 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:01.199Z,1761524761.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883477,0.447230,0.139478],[-0.459919,-0.884650,-0.076608],[0.089127,-0.131830,0.987257]]
2025-10-27T00:26:01.250Z,1761524761.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:01.253Z,1761524761.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 368.513306 m,
      bearing: 214.694630 deg,
      approach rate: -0.658326 m/s,
      LOS rate: 0.007950 deg/s,
      cmd heading: 205.990091 deg,
      new cmd heading: 206.000376 deg.

2025-10-27T00:26:01.254Z,1761524761.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595385 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:01.428Z,1761524761.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:01.599Z,1761524761.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882099,0.447073,0.148416],[-0.462292,-0.882103,-0.090441],[0.090484,-0.148389,0.984781]]
2025-10-27T00:26:01.617Z,1761524761.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:01.619Z,1761524761.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:01.624Z,1761524761.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 368.271454 m,
      bearing: 214.697496 deg,
      approach rate: -0.656366 m/s,
      LOS rate: 0.007786 deg/s,
      cmd heading: 206.000377 deg,
      new cmd heading: 206.008983 deg.

2025-10-27T00:26:01.624Z,1761524761.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595535 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:01.681Z,1761524761.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:01.932Z,1761524761.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:02.081Z,1761524762.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:02.084Z,1761524762.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 367.971954 m,
      bearing: 214.701051 deg,
      approach rate: -0.647351 m/s,
      LOS rate: 0.007690 deg/s,
      cmd heading: 206.008983 deg,
      new cmd heading: 206.019656 deg.

2025-10-27T00:26:02.085Z,1761524762.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595721 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:02.185Z,1761524762.185 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:02.423Z,1761524762.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880712,0.449039,0.150701],[-0.464809,-0.880550,-0.092645],[0.091099,-0.151641,0.984229]]
2025-10-27T00:26:02.436Z,1761524762.436 [DAT](INFO): DAT read: Rx Time:00:26:03.3250

2025-10-27T00:26:02.436Z,1761524762.436 [DAT](INFO): Rx dataTimestamp_ set to:1761524762.436195
2025-10-27T00:26:02.437Z,1761524762.437 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:02.488Z,1761524762.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:02.491Z,1761524762.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 367.690674 m,
      bearing: 214.702448 deg,
      approach rate: -0.691459 m/s,
      LOS rate: 0.003435 deg/s,
      cmd heading: 206.019652 deg,
      new cmd heading: 206.023844 deg.

2025-10-27T00:26:02.492Z,1761524762.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595794 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:02.690Z,1761524762.690 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:02.946Z,1761524762.946 [DAT](INFO): DAT read: 00:26:03.3250 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 225, 0.10,-2.687, 1.964,-2.766, 2.920, PHS= 0.778,-0.911, 0.553, RAW= 143.0,  -5.4, CAL= 142.9,  -6.3, ROT=   7.1,   6.3

2025-10-27T00:26:02.947Z,1761524762.947 [DAT](INFO): got valid direction response:
 00:26:03.3250 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 225, 0.10,-2.687, 1.964,-2.766, 2.920, PHS= 0.778,-0.911, 0.553, RAW= 143.0,  -5.4, CAL= 142.9,  -6.3, ROT=   7.1,   6.3

2025-10-27T00:26:02.948Z,1761524762.948 [DAT](INFO): DAT read: Bearing 344.1,  13.1 (Local)

2025-10-27T00:26:02.949Z,1761524762.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.1,  13.1 (Local)

2025-10-27T00:26:02.950Z,1761524762.950 [DAT](INFO): DAT read: Range 11 to 50 : 391.7 m  (Round-trip  522.3 ms) speed  0.4 m/s

2025-10-27T00:26:02.951Z,1761524762.951 [DAT](INFO): DAT read: user:96>Tx time:00:26:04.3986

2025-10-27T00:26:02.952Z,1761524762.952 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:26:02.953Z,1761524762.953 [DAT](INFO): direction in FSK: [0.986339,0.122855,-0.109734]
2025-10-27T00:26:02.953Z,1761524762.953 [DAT](INFO): publishing direction and range info
2025-10-27T00:26:02.977Z,1761524762.977 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:02.977Z,1761524762.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:26:02.983Z,1761524762.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880155,0.448988,0.154067],[-0.465948,-0.879170,-0.099758],[0.090661,-0.159590,0.983011]]
2025-10-27T00:26:03.154Z,1761524763.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 391.700012 m,
 deltaT: 4.032012 s,
 deltaX: 22.000000 m,
 approachRate: 5.456333 m/s,
 rangeRepo size: 4
2025-10-27T00:26:03.154Z,1761524763.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:03.161Z,1761524763.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 367.257629 m,
      bearing: 214.704570 deg,
      approach rate: -0.651409 m/s,
      LOS rate: 0.003196 deg/s,
      cmd heading: 206.023845 deg,
      new cmd heading: 206.030219 deg.

2025-10-27T00:26:03.162Z,1761524763.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595906 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:03.192Z,1761524763.192 [DAT](INFO): DAT read: 

2025-10-27T00:26:03.192Z,1761524763.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:03.444Z,1761524763.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:03.673Z,1761524763.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:03.675Z,1761524763.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:03.678Z,1761524763.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 366.875122 m,
      bearing: 214.705366 deg,
      approach rate: -0.732648 m/s,
      LOS rate: 0.001526 deg/s,
      cmd heading: 206.030225 deg,
      new cmd heading: 206.032614 deg.

2025-10-27T00:26:03.679Z,1761524763.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595948 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:03.696Z,1761524763.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:03.948Z,1761524763.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:04.134Z,1761524764.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879002,0.454643,0.143718],[-0.470153,-0.876627,-0.102376],[0.079442,-0.157558,0.984309]]
2025-10-27T00:26:04.170Z,1761524764.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:04.173Z,1761524764.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 366.529968 m,
      bearing: 214.703841 deg,
      approach rate: -0.696941 m/s,
      LOS rate: -0.003082 deg/s,
      cmd heading: 206.032615 deg,
      new cmd heading: 206.028036 deg.

2025-10-27T00:26:04.174Z,1761524764.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595868 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:04.205Z,1761524764.205 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:04.453Z,1761524764.453 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:04.544Z,1761524764.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880134,0.454994,0.135446],[-0.469053,-0.877447,-0.100378],[0.073175,-0.151877,0.985687]]
2025-10-27T00:26:04.562Z,1761524764.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:04.564Z,1761524764.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 366.257629 m,
      bearing: 214.702676 deg,
      approach rate: -0.695693 m/s,
      LOS rate: -0.002977 deg/s,
      cmd heading: 206.028039 deg,
      new cmd heading: 206.024543 deg.

2025-10-27T00:26:04.565Z,1761524764.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595807 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:04.705Z,1761524764.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:04.938Z,1761524764.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881641,0.453971,0.128916],[-0.467259,-0.878030,-0.103597],[0.066162,-0.151572,0.986229]]
2025-10-27T00:26:04.956Z,1761524764.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:04.957Z,1761524764.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:04.960Z,1761524764.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 365.983459 m,
      bearing: 214.701598 deg,
      approach rate: -0.693713 m/s,
      LOS rate: -0.002730 deg/s,
      cmd heading: 206.024542 deg,
      new cmd heading: 206.021305 deg.

2025-10-27T00:26:04.961Z,1761524764.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595750 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:05.208Z,1761524765.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:05.342Z,1761524765.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882892,0.452954,0.123834],[-0.465828,-0.878095,-0.109334],[0.059215,-0.154215,0.986261]]
2025-10-27T00:26:05.408Z,1761524765.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:05.410Z,1761524765.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 365.687164 m,
      bearing: 214.699920 deg,
      approach rate: -0.657135 m/s,
      LOS rate: -0.003725 deg/s,
      cmd heading: 206.021305 deg,
      new cmd heading: 206.016266 deg.

2025-10-27T00:26:05.416Z,1761524765.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595662 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:05.461Z,1761524765.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:05.712Z,1761524765.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:05.750Z,1761524765.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884603,0.451661,0.116105],[-0.463412,-0.879238,-0.110407],[0.052217,-0.151471,0.987082]]
2025-10-27T00:26:05.765Z,1761524765.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:05.768Z,1761524765.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:05.770Z,1761524765.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 365.418610 m,
      bearing: 214.698509 deg,
      approach rate: -0.746375 m/s,
      LOS rate: -0.003923 deg/s,
      cmd heading: 206.016264 deg,
      new cmd heading: 206.012029 deg.

2025-10-27T00:26:05.771Z,1761524765.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595588 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:05.964Z,1761524765.964 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:06.150Z,1761524766.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887071,0.448716,0.108445],[-0.459389,-0.881193,-0.111627],[0.045472,-0.148839,0.987815]]
2025-10-27T00:26:06.216Z,1761524766.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:06.232Z,1761524766.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:06.237Z,1761524766.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 365.093811 m,
      bearing: 214.696259 deg,
      approach rate: -0.699021 m/s,
      LOS rate: -0.004847 deg/s,
      cmd heading: 206.012029 deg,
      new cmd heading: 206.005272 deg.

2025-10-27T00:26:06.238Z,1761524766.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595470 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:06.468Z,1761524766.468 [DAT](INFO): DAT read: Rx Time:00:26:07.3204

2025-10-27T00:26:06.469Z,1761524766.469 [DAT](INFO): Rx dataTimestamp_ set to:1761524766.468416
2025-10-27T00:26:06.469Z,1761524766.469 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:06.590Z,1761524766.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.04 m.
2025-10-27T00:26:06.593Z,1761524766.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.036499 m,
      nav range: 364.843811 m,
      bearing: 214.694524 deg,
      approach rate: -0.698648 m/s,
      LOS rate: -0.004851 deg/s,
      cmd heading: 206.005267 deg,
      new cmd heading: 206.000060 deg.

2025-10-27T00:26:06.594Z,1761524766.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595379 target range: 368.036499 and range: 369.70 m.
2025-10-27T00:26:06.720Z,1761524766.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:06.957Z,1761524766.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891305,0.442355,0.099481],[-0.452156,-0.883459,-0.122700],[0.033610,-0.154344,0.987445]]
2025-10-27T00:26:06.983Z,1761524766.983 [DAT](INFO): DAT read: 00:26:07.3204 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 402, 0.07, 2.234, 0.550, 2.169, 1.611, PHS= 0.725,-1.016, 0.514, RAW= 143.6,  -2.7, CAL= 143.4,  -3.2, ROT=   6.6,   3.2

2025-10-27T00:26:06.984Z,1761524766.984 [DAT](INFO): got valid direction response:
 00:26:07.3204 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 402, 0.07, 2.234, 0.550, 2.169, 1.611, PHS= 0.725,-1.016, 0.514, RAW= 143.6,  -2.7, CAL= 143.4,  -3.2, ROT=   6.6,   3.2

2025-10-27T00:26:06.985Z,1761524766.985 [DAT](INFO): DAT read: Bearing 347.6,   9.1 (Local)

2025-10-27T00:26:06.985Z,1761524766.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.6,   9.1 (Local)

2025-10-27T00:26:06.987Z,1761524766.987 [DAT](INFO): DAT read: Range 11 to 50 : 388.2 m  (Round-trip  517.7 ms) speed  0.5 m/s

2025-10-27T00:26:06.988Z,1761524766.988 [DAT](INFO): DAT read: user:97>Tx time:00:26:08.3985

2025-10-27T00:26:06.988Z,1761524766.988 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:26:06.989Z,1761524766.989 [DAT](INFO): direction in FSK: [0.991824,0.114758,-0.055822]
2025-10-27T00:26:06.990Z,1761524766.990 [DAT](INFO): publishing direction and range info
2025-10-27T00:26:07.017Z,1761524767.017 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:07.017Z,1761524767.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:26:07.027Z,1761524767.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 388.200012 m,
      deltaT: 8.069231 s,
      deltaX: 18.500000 m,
      approachRate: 2.292660 m/s,
      rangeRepo size: 4

2025-10-27T00:26:07.035Z,1761524767.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 386.379791 m,
      bearing: 212.916598 deg,
      lat: 36.779374 deg,
      lon: -121.860056 deg,
      deltaT: 8.069231 s,
      deltaX: 18.343292 m,
      approachRate: 2.273239 m/s,
      posRepo size: 4

2025-10-27T00:26:07.037Z,1761524767.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:07.059Z,1761524767.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 384.234619 m,
      bearing: 214.106918 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004851 deg/s,
      cmd heading: 206.000063 deg,
      new cmd heading: 205.993788 deg.

2025-10-27T00:26:07.060Z,1761524767.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595270 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:07.230Z,1761524767.230 [DAT](INFO): DAT read: 

2025-10-27T00:26:07.230Z,1761524767.230 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:07.284Z,1761524767.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:26:07.444Z,1761524767.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894701,0.436734,0.093662],[-0.446052,-0.884589,-0.136161],[0.023386,-0.163602,0.986249]]
2025-10-27T00:26:07.480Z,1761524767.480 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:07.545Z,1761524767.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:07.552Z,1761524767.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 383.850006 m,
      bearing: 214.104939 deg,
      approach rate: -0.733700 m/s,
      LOS rate: -0.003778 deg/s,
      cmd heading: 205.993793 deg,
      new cmd heading: 205.987851 deg.

2025-10-27T00:26:07.553Z,1761524767.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595166 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:07.732Z,1761524767.732 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:07.846Z,1761524767.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896646,0.433059,0.092121],[-0.442341,-0.885141,-0.144428],[0.018994,-0.170250,0.985218]]
2025-10-27T00:26:07.866Z,1761524767.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:07.868Z,1761524767.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:07.871Z,1761524767.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 383.616333 m,
      bearing: 214.103897 deg,
      approach rate: -0.723751 m/s,
      LOS rate: -0.003229 deg/s,
      cmd heading: 205.987850 deg,
      new cmd heading: 205.984723 deg.

2025-10-27T00:26:07.872Z,1761524767.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595112 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:07.984Z,1761524767.984 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:08.236Z,1761524768.236 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:08.251Z,1761524768.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897825,0.430638,0.091981],[-0.440105,-0.884520,-0.154701],[0.014739,-0.179376,0.983670]]
2025-10-27T00:26:08.287Z,1761524768.287 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:26:08.299Z,1761524768.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:08.302Z,1761524768.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 383.324493 m,
      bearing: 214.102606 deg,
      approach rate: -0.677416 m/s,
      LOS rate: -0.003000 deg/s,
      cmd heading: 205.984722 deg,
      new cmd heading: 205.980844 deg.

2025-10-27T00:26:08.304Z,1761524768.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595044 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:08.488Z,1761524768.488 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:08.654Z,1761524768.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898763,0.429229,0.089375],[-0.438312,-0.884476,-0.159952],[0.010394,-0.182933,0.983070]]
2025-10-27T00:26:08.678Z,1761524768.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:08.682Z,1761524768.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 383.067688 m,
      bearing: 214.101553 deg,
      approach rate: -0.677680 m/s,
      LOS rate: -0.002780 deg/s,
      cmd heading: 205.980842 deg,
      new cmd heading: 205.977682 deg.

2025-10-27T00:26:08.708Z,1761524768.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594989 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:08.740Z,1761524768.740 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:08.993Z,1761524768.993 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:09.058Z,1761524769.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899785,0.428084,0.084452],[-0.436297,-0.885235,-0.161260],[0.005727,-0.181946,0.983292]]
2025-10-27T00:26:09.086Z,1761524769.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:09.089Z,1761524769.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 382.791779 m,
      bearing: 214.100509 deg,
      approach rate: -0.676210 m/s,
      LOS rate: -0.002560 deg/s,
      cmd heading: 205.977687 deg,
      new cmd heading: 205.974553 deg.

2025-10-27T00:26:09.090Z,1761524769.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594934 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:09.244Z,1761524769.244 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:09.469Z,1761524769.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900630,0.427400,0.078712],[-0.434586,-0.886177,-0.160703],[0.001068,-0.178941,0.983859]]
2025-10-27T00:26:09.496Z,1761524769.496 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:09.538Z,1761524769.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:09.545Z,1761524769.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 382.492645 m,
      bearing: 214.100184 deg,
      approach rate: -0.662111 m/s,
      LOS rate: -0.000720 deg/s,
      cmd heading: 205.974559 deg,
      new cmd heading: 205.973584 deg.

2025-10-27T00:26:09.546Z,1761524769.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594917 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:09.751Z,1761524769.751 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:09.869Z,1761524769.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901346,0.426916,0.072920],[-0.433085,-0.887082,-0.159762],[-0.003519,-0.175581,0.984459]]
2025-10-27T00:26:09.894Z,1761524769.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:09.897Z,1761524769.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:09.902Z,1761524769.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 382.234406 m,
      bearing: 214.099958 deg,
      approach rate: -0.719686 m/s,
      LOS rate: -0.000632 deg/s,
      cmd heading: 205.973589 deg,
      new cmd heading: 205.972909 deg.

2025-10-27T00:26:09.904Z,1761524769.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594905 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:10.001Z,1761524770.001 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:10.252Z,1761524770.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:10.270Z,1761524770.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901750,0.426900,0.067848],[-0.432191,-0.887668,-0.158921],[-0.007617,-0.172630,0.984957]]
2025-10-27T00:26:10.330Z,1761524770.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:10.333Z,1761524770.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 381.937775 m,
      bearing: 214.100708 deg,
      approach rate: -0.684251 m/s,
      LOS rate: 0.001733 deg/s,
      cmd heading: 205.972906 deg,
      new cmd heading: 205.975159 deg.

2025-10-27T00:26:10.334Z,1761524770.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594945 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:10.506Z,1761524770.506 [DAT](INFO): DAT read: Rx Time:00:26:11.3012

2025-10-27T00:26:10.507Z,1761524770.507 [DAT](INFO): Rx dataTimestamp_ set to:1761524770.506051
2025-10-27T00:26:10.507Z,1761524770.507 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:10.673Z,1761524770.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902170,0.426882,0.062143],[-0.431233,-0.888675,-0.155872],[-0.011314,-0.167421,0.985821]]
2025-10-27T00:26:10.737Z,1761524770.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.38 m.
2025-10-27T00:26:10.744Z,1761524770.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.379791 m,
      nav range: 381.664734 m,
      bearing: 214.101432 deg,
      approach rate: -0.670756 m/s,
      LOS rate: 0.001779 deg/s,
      cmd heading: 205.975160 deg,
      new cmd heading: 205.977332 deg.

2025-10-27T00:26:10.745Z,1761524770.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594983 target range: 386.379791 and range: 388.20 m.
2025-10-27T00:26:10.764Z,1761524770.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:11.026Z,1761524771.026 [DAT](INFO): DAT read: 00:26:11.3012 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 237, 0.28, 1.415,-0.207, 1.368, 0.935, PHS= 0.582,-1.096, 0.389, RAW= 144.0,   1.6, CAL= 143.6,   1.8, ROT=   6.4,  -1.8

2025-10-27T00:26:11.028Z,1761524771.028 [DAT](INFO): got valid direction response:
 00:26:11.3012 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 237, 0.28, 1.415,-0.207, 1.368, 0.935, PHS= 0.582,-1.096, 0.389, RAW= 144.0,   1.6, CAL= 143.6,   1.8, ROT=   6.4,  -1.8

2025-10-27T00:26:11.030Z,1761524771.030 [DAT](INFO): DAT read: Bearing 350.6,   5.6 (Local)

2025-10-27T00:26:11.030Z,1761524771.030 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,   5.6 (Local)

2025-10-27T00:26:11.032Z,1761524771.032 [DAT](INFO): DAT read: Range 11 to 50 : 373.9 m  (Round-trip  498.6 ms) speed  0.4 m/s

2025-10-27T00:26:11.033Z,1761524771.033 [DAT](INFO): DAT read: user:98>Tx time:00:26:12.3985

2025-10-27T00:26:11.034Z,1761524771.034 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:26:11.042Z,1761524771.042 [DAT](INFO): direction in FSK: [0.993278,0.111414,0.031411]
2025-10-27T00:26:11.042Z,1761524771.042 [DAT](INFO): publishing direction and range info
2025-10-27T00:26:11.046Z,1761524771.046 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:11.046Z,1761524771.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:26:11.146Z,1761524771.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902529,0.426740,0.057746],[-0.430391,-0.889431,-0.153869],[-0.014301,-0.163725,0.986402]]
2025-10-27T00:26:11.253Z,1761524771.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 373.899994 m,
      deltaT: 4.039297 s,
      deltaX: -14.300018 m,
      approachRate: -3.540225 m/s,
      rangeRepo size: 4

2025-10-27T00:26:11.260Z,1761524771.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 372.147491 m,
      bearing: 212.101908 deg,
      lat: 36.779378 deg,
      lon: -121.859992 deg,
      deltaT: 4.039297 s,
      deltaX: -14.232300 m,
      approachRate: -3.523460 m/s,
      posRepo size: 4

2025-10-27T00:26:11.260Z,1761524771.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:11.268Z,1761524771.268 [DAT](INFO): DAT read: 

2025-10-27T00:26:11.268Z,1761524771.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:11.269Z,1761524771.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 377.763336 m,
      bearing: 213.435823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001779 deg/s,
      cmd heading: 205.977332 deg,
      new cmd heading: 205.980082 deg.

2025-10-27T00:26:11.270Z,1761524771.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595031 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:11.521Z,1761524771.521 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:11.675Z,1761524771.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902710,0.426730,0.054913],[-0.429908,-0.889536,-0.154610],[-0.017129,-0.163176,0.986448]]
2025-10-27T00:26:11.691Z,1761524771.691 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-3278V
2025-10-27T00:26:11.739Z,1761524771.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:11.742Z,1761524771.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 377.439423 m,
      bearing: 213.436178 deg,
      approach rate: -0.666616 m/s,
      LOS rate: 0.000732 deg/s,
      cmd heading: 205.980078 deg,
      new cmd heading: 205.981144 deg.

2025-10-27T00:26:11.743Z,1761524771.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595049 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:11.772Z,1761524771.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:12.024Z,1761524772.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:12.106Z,1761524772.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902641,0.427275,0.051715],[-0.429936,-0.889611,-0.154101],[-0.019837,-0.161332,0.986701]]
2025-10-27T00:26:12.142Z,1761524772.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:12.148Z,1761524772.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:12.151Z,1761524772.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 377.156219 m,
      bearing: 213.436482 deg,
      approach rate: -0.691510 m/s,
      LOS rate: 0.000743 deg/s,
      cmd heading: 205.981143 deg,
      new cmd heading: 205.982056 deg.

2025-10-27T00:26:12.152Z,1761524772.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595065 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:12.276Z,1761524772.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:12.528Z,1761524772.528 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:12.579Z,1761524772.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:12.582Z,1761524772.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 376.854797 m,
      bearing: 213.438017 deg,
      approach rate: -0.699143 m/s,
      LOS rate: 0.003563 deg/s,
      cmd heading: 205.982058 deg,
      new cmd heading: 205.986667 deg.

2025-10-27T00:26:12.583Z,1761524772.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595145 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:12.780Z,1761524772.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:12.914Z,1761524772.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903256,0.426614,0.046140],[-0.428381,-0.890284,-0.154547],[-0.024854,-0.159361,0.986907]]
2025-10-27T00:26:12.942Z,1761524772.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:12.945Z,1761524772.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 376.615265 m,
      bearing: 213.439296 deg,
      approach rate: -0.661188 m/s,
      LOS rate: 0.003534 deg/s,
      cmd heading: 205.986662 deg,
      new cmd heading: 205.990503 deg.

2025-10-27T00:26:12.945Z,1761524772.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595212 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:13.033Z,1761524773.033 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:13.284Z,1761524773.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:13.369Z,1761524773.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:13.371Z,1761524773.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 376.335693 m,
      bearing: 213.441665 deg,
      approach rate: -0.654903 m/s,
      LOS rate: 0.005552 deg/s,
      cmd heading: 205.990500 deg,
      new cmd heading: 205.997611 deg.

2025-10-27T00:26:13.372Z,1761524773.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595336 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:13.536Z,1761524773.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:13.727Z,1761524773.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904034,0.425472,0.041195],[-0.426471,-0.891183,-0.154644],[-0.029085,-0.157372,0.987111]]
2025-10-27T00:26:13.745Z,1761524773.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:13.748Z,1761524773.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 376.089111 m,
      bearing: 213.443833 deg,
      approach rate: -0.654632 m/s,
      LOS rate: 0.005759 deg/s,
      cmd heading: 205.997604 deg,
      new cmd heading: 206.004111 deg.

2025-10-27T00:26:13.749Z,1761524773.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595450 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:13.788Z,1761524773.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:14.040Z,1761524774.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:14.125Z,1761524774.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904694,0.424206,0.039731],[-0.424971,-0.891774,-0.155364],[-0.030475,-0.157442,0.987058]]
2025-10-27T00:26:14.144Z,1761524774.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:14.146Z,1761524774.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 375.828339 m,
      bearing: 213.446193 deg,
      approach rate: -0.654667 m/s,
      LOS rate: 0.005930 deg/s,
      cmd heading: 206.004106 deg,
      new cmd heading: 206.011193 deg.

2025-10-27T00:26:14.147Z,1761524774.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595574 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:14.304Z,1761524774.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:14.531Z,1761524774.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905116,0.423315,0.039608],[-0.423984,-0.891741,-0.158226],[-0.031659,-0.160006,0.986608]]
2025-10-27T00:26:14.549Z,1761524774.549 [DAT](INFO): DAT read: 00:26:15.3155 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX=  78,-0.15, 2.909, 1.284, 2.782, 2.564, PHS= 0.447,-1.235, 0.175, RAW= 141.3,   7.9, CAL= 140.9,   8.7, ROT=   9.1,  -8.7

2025-10-27T00:26:14.550Z,1761524774.550 [DAT](INFO): got valid direction response:
 00:26:15.3155 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX=  78,-0.15, 2.909, 1.284, 2.782, 2.564, PHS= 0.447,-1.235, 0.175, RAW= 141.3,   7.9, CAL= 140.9,   8.7, ROT=   9.1,  -8.7

2025-10-27T00:26:14.560Z,1761524774.560 [DAT](INFO): DAT read: Rx Time:00:26:15.3155

2025-10-27T00:26:14.560Z,1761524774.560 [DAT](INFO): Rx dataTimestamp_ set to:1761524774.559722
2025-10-27T00:26:14.561Z,1761524774.561 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-27T00:26:14.561Z,1761524774.561 [DAT](INFO): Received low SNR in chirp
2025-10-27T00:26:14.575Z,1761524774.575 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:26:14.576Z,1761524774.576 [DAT](INFO): direction in FSK: [0.976053,0.156338,0.151261]
2025-10-27T00:26:14.580Z,1761524774.580 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:14.651Z,1761524774.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:14.657Z,1761524774.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:14.664Z,1761524774.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 375.497833 m,
      bearing: 213.449441 deg,
      approach rate: -0.643971 m/s,
      LOS rate: 0.006334 deg/s,
      cmd heading: 206.011196 deg,
      new cmd heading: 206.020948 deg.

2025-10-27T00:26:14.665Z,1761524774.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595744 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:14.796Z,1761524774.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:15.029Z,1761524775.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:15.048Z,1761524775.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:15.049Z,1761524775.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 375.249756 m,
      bearing: 213.451882 deg,
      approach rate: -0.667160 m/s,
      LOS rate: 0.006570 deg/s,
      cmd heading: 206.020949 deg,
      new cmd heading: 206.028278 deg.

2025-10-27T00:26:15.050Z,1761524775.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595872 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:15.300Z,1761524775.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:15.382Z,1761524775.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905302,0.422998,0.038745],[-0.423418,-0.891390,-0.161681],[-0.033854,-0.162775,0.986082]]
2025-10-27T00:26:15.439Z,1761524775.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:15.442Z,1761524775.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 374.987061 m,
      bearing: 213.454377 deg,
      approach rate: -0.640214 m/s,
      LOS rate: 0.006084 deg/s,
      cmd heading: 206.028285 deg,
      new cmd heading: 206.035774 deg.

2025-10-27T00:26:15.447Z,1761524775.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596003 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:15.552Z,1761524775.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:15.804Z,1761524775.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:15.829Z,1761524775.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:15.832Z,1761524775.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 374.737885 m,
      bearing: 213.456746 deg,
      approach rate: -0.638157 m/s,
      LOS rate: 0.006072 deg/s,
      cmd heading: 206.035771 deg,
      new cmd heading: 206.042883 deg.

2025-10-27T00:26:15.833Z,1761524775.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596127 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:16.059Z,1761524776.059 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:16.262Z,1761524776.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904732,0.424447,0.036115],[-0.424352,-0.890621,-0.163462],[-0.037216,-0.163215,0.985888]]
2025-10-27T00:26:16.308Z,1761524776.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:16.329Z,1761524776.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:16.331Z,1761524776.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 374.418823 m,
      bearing: 213.460311 deg,
      approach rate: -0.639214 m/s,
      LOS rate: 0.007149 deg/s,
      cmd heading: 206.042888 deg,
      new cmd heading: 206.053593 deg.

2025-10-27T00:26:16.332Z,1761524776.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596314 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:16.339Z,1761524776.339 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T00:16:16.0Z
2025-10-27T00:26:16.340Z,1761524776.340 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-10-27T00:26:16.340Z,1761524776.340 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-10-27T00:26:16.340Z,1761524776.340 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-10-27T00:26:16.340Z,1761524776.340 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-10-27T00:26:16.341Z,1761524776.341 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-10-27T00:26:16.560Z,1761524776.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:16.634Z,1761524776.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:16.637Z,1761524776.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 374.223419 m,
      bearing: 213.462498 deg,
      approach rate: -0.639794 m/s,
      LOS rate: 0.007164 deg/s,
      cmd heading: 206.053598 deg,
      new cmd heading: 206.060162 deg.

2025-10-27T00:26:16.638Z,1761524776.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596428 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:16.642Z,1761524776.642 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-10-27T00:26:16.642Z,1761524776.642 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-10-27T00:26:16.642Z,1761524776.642 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-10-27T00:26:16.642Z,1761524776.642 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-10-27T00:26:16.642Z,1761524776.642 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-10-27T00:26:16.812Z,1761524776.812 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:17.064Z,1761524777.064 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:17.096Z,1761524777.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904573,0.425385,0.028204],[-0.424244,-0.891677,-0.157891],[-0.042015,-0.154789,0.987054]]
2025-10-27T00:26:17.112Z,1761524777.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:17.114Z,1761524777.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:17.117Z,1761524777.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 373.916901 m,
      bearing: 213.465913 deg,
      approach rate: -0.638459 m/s,
      LOS rate: 0.007119 deg/s,
      cmd heading: 206.060168 deg,
      new cmd heading: 206.070421 deg.

2025-10-27T00:26:17.118Z,1761524777.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596607 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:17.316Z,1761524777.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:17.503Z,1761524777.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903990,0.426782,0.025673],[-0.425080,-0.890687,-0.161194],[-0.045928,-0.156631,0.986589]]
2025-10-27T00:26:17.554Z,1761524777.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:17.557Z,1761524777.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 373.639893 m,
      bearing: 213.468026 deg,
      approach rate: -0.629425 m/s,
      LOS rate: 0.004805 deg/s,
      cmd heading: 206.070427 deg,
      new cmd heading: 206.076771 deg.

2025-10-27T00:26:17.558Z,1761524777.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596718 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:17.568Z,1761524777.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:17.821Z,1761524777.821 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:17.898Z,1761524777.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903423,0.428180,0.022129],[-0.425810,-0.889992,-0.163094],[-0.050139,-0.156766,0.986362]]
2025-10-27T00:26:17.922Z,1761524777.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:17.924Z,1761524777.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 373.406860 m,
      bearing: 213.469772 deg,
      approach rate: -0.634093 m/s,
      LOS rate: 0.004755 deg/s,
      cmd heading: 206.076766 deg,
      new cmd heading: 206.082008 deg.

2025-10-27T00:26:17.925Z,1761524777.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596810 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:18.072Z,1761524778.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:18.322Z,1761524778.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902536,0.430218,0.018459],[-0.427186,-0.889129,-0.164202],[-0.054230,-0.156084,0.986254]]
2025-10-27T00:26:18.324Z,1761524778.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:18.375Z,1761524778.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:18.378Z,1761524778.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 373.121552 m,
      bearing: 213.470002 deg,
      approach rate: -0.629800 m/s,
      LOS rate: 0.000508 deg/s,
      cmd heading: 206.082011 deg,
      new cmd heading: 206.082702 deg.

2025-10-27T00:26:18.378Z,1761524778.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596822 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:18.576Z,1761524778.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:18.744Z,1761524778.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:18.746Z,1761524778.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 372.887085 m,
      bearing: 213.470192 deg,
      approach rate: -0.635354 m/s,
      LOS rate: 0.000513 deg/s,
      cmd heading: 206.082708 deg,
      new cmd heading: 206.083276 deg.

2025-10-27T00:26:18.748Z,1761524778.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596832 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:18.828Z,1761524778.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:19.080Z,1761524779.080 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:19.110Z,1761524779.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900189,0.435353,0.011326],[-0.431178,-0.887297,-0.163676],[-0.061208,-0.152223,0.986449]]
2025-10-27T00:26:19.126Z,1761524779.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:19.128Z,1761524779.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:19.131Z,1761524779.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 372.644562 m,
      bearing: 213.470200 deg,
      approach rate: -0.630991 m/s,
      LOS rate: 0.000020 deg/s,
      cmd heading: 206.083282 deg,
      new cmd heading: 206.083305 deg.

2025-10-27T00:26:19.132Z,1761524779.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596832 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:19.335Z,1761524779.335 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:19.530Z,1761524779.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898752,0.438384,0.007970],[-0.433657,-0.886085,-0.163689],[-0.064696,-0.150572,0.986480]]
2025-10-27T00:26:19.566Z,1761524779.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:19.569Z,1761524779.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 372.363983 m,
      bearing: 213.468584 deg,
      approach rate: -0.640980 m/s,
      LOS rate: -0.003694 deg/s,
      cmd heading: 206.083309 deg,
      new cmd heading: 206.078458 deg.

2025-10-27T00:26:19.570Z,1761524779.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596748 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:19.584Z,1761524779.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:19.836Z,1761524779.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:20.041Z,1761524780.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897243,0.441509,0.004926],[-0.436315,-0.884867,-0.163218],[-0.067703,-0.148595,0.986578]]
2025-10-27T00:26:20.072Z,1761524780.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:20.074Z,1761524780.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 372.047699 m,
      bearing: 213.466597 deg,
      approach rate: -0.625263 m/s,
      LOS rate: -0.003931 deg/s,
      cmd heading: 206.078460 deg,
      new cmd heading: 206.072495 deg.

2025-10-27T00:26:20.079Z,1761524780.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596643 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:20.088Z,1761524780.088 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:20.342Z,1761524780.342 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:20.442Z,1761524780.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896547,0.442947,0.000451],[-0.437374,-0.885106,-0.159033],[-0.070045,-0.142778,0.987273]]
2025-10-27T00:26:20.478Z,1761524780.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:20.502Z,1761524780.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 371.764984 m,
      bearing: 213.462876 deg,
      approach rate: -0.696208 m/s,
      LOS rate: -0.009171 deg/s,
      cmd heading: 206.072490 deg,
      new cmd heading: 206.061318 deg.

2025-10-27T00:26:20.510Z,1761524780.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596448 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:20.592Z,1761524780.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:20.850Z,1761524780.850 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:20.975Z,1761524780.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:20.978Z,1761524780.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 371.428711 m,
      bearing: 213.458443 deg,
      approach rate: -0.676749 m/s,
      LOS rate: -0.008930 deg/s,
      cmd heading: 206.061316 deg,
      new cmd heading: 206.048004 deg.

2025-10-27T00:26:20.981Z,1761524780.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596216 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:21.101Z,1761524781.101 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:21.355Z,1761524781.355 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:21.380Z,1761524781.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896364,0.443259,-0.007356],[-0.437269,-0.886741,-0.149954],[-0.072992,-0.131197,0.988666]]
2025-10-27T00:26:21.427Z,1761524781.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:21.429Z,1761524781.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:21.432Z,1761524781.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 371.121460 m,
      bearing: 213.453118 deg,
      approach rate: -0.675500 m/s,
      LOS rate: -0.011716 deg/s,
      cmd heading: 206.048011 deg,
      new cmd heading: 206.032024 deg.

2025-10-27T00:26:21.433Z,1761524781.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595937 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:21.604Z,1761524781.604 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:21.805Z,1761524781.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:21.808Z,1761524781.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 370.865387 m,
      bearing: 213.448673 deg,
      approach rate: -0.681158 m/s,
      LOS rate: -0.011833 deg/s,
      cmd heading: 206.032028 deg,
      new cmd heading: 206.018683 deg.

2025-10-27T00:26:21.809Z,1761524781.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595704 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:21.856Z,1761524781.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:22.108Z,1761524782.108 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:22.149Z,1761524782.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898327,0.439290,-0.005638],[-0.433396,-0.888229,-0.152373],[-0.071944,-0.134437,0.988307]]
2025-10-27T00:26:22.182Z,1761524782.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:22.184Z,1761524782.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 370.604004 m,
      bearing: 213.444320 deg,
      approach rate: -0.694872 m/s,
      LOS rate: -0.011581 deg/s,
      cmd heading: 206.018682 deg,
      new cmd heading: 206.005613 deg.

2025-10-27T00:26:22.185Z,1761524782.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595476 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:22.362Z,1761524782.362 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:22.554Z,1761524782.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899766,0.436369,-0.001771],[-0.430763,-0.888840,-0.156224],[-0.069746,-0.139802,0.987720]]
2025-10-27T00:26:22.612Z,1761524782.612 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:22.618Z,1761524782.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:22.626Z,1761524782.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 370.319916 m,
      bearing: 213.439630 deg,
      approach rate: -0.650406 m/s,
      LOS rate: -0.010745 deg/s,
      cmd heading: 206.005609 deg,
      new cmd heading: 205.991528 deg.

2025-10-27T00:26:22.627Z,1761524782.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595230 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:22.864Z,1761524782.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:22.959Z,1761524782.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901579,0.432611,0.001576],[-0.427396,-0.890135,-0.158092],[-0.066989,-0.143206,0.987423]]
2025-10-27T00:26:22.982Z,1761524782.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:22.986Z,1761524782.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 370.050476 m,
      bearing: 213.435348 deg,
      approach rate: -0.742991 m/s,
      LOS rate: -0.011815 deg/s,
      cmd heading: 205.991525 deg,
      new cmd heading: 205.978671 deg.

2025-10-27T00:26:22.988Z,1761524782.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595006 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:23.116Z,1761524783.116 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:23.372Z,1761524783.372 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:26:23.372Z,1761524783.372 [DAT](INFO): response not received
2025-10-27T00:26:23.374Z,1761524783.374 [DAT](INFO): DAT read: Tx time:00:26:24.8485

2025-10-27T00:26:23.376Z,1761524783.376 [DAT](INFO): Ping request sent.
2025-10-27T00:26:23.376Z,1761524783.376 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:26:23.377Z,1761524783.377 [DAT](INFO): publishing transmit ping time
2025-10-27T00:26:23.438Z,1761524783.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904533,0.426208,0.012938],[-0.421754,-0.889788,-0.174357],[-0.062800,-0.163168,0.984598]]
2025-10-27T00:26:23.514Z,1761524783.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:23.521Z,1761524783.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:23.529Z,1761524783.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 369.678864 m,
      bearing: 213.432038 deg,
      approach rate: -0.688031 m/s,
      LOS rate: -0.006135 deg/s,
      cmd heading: 205.978670 deg,
      new cmd heading: 205.968729 deg.

2025-10-27T00:26:23.530Z,1761524783.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594832 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:23.620Z,1761524783.620 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:23.620Z,1761524783.620 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:23.620Z,1761524783.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:23.838Z,1761524783.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905685,0.423542,0.018642],[-0.419571,-0.889152,-0.182671],[-0.060793,-0.173264,0.982997]]
2025-10-27T00:26:23.857Z,1761524783.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:23.860Z,1761524783.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 369.426910 m,
      bearing: 213.429904 deg,
      approach rate: -0.749800 m/s,
      LOS rate: -0.006355 deg/s,
      cmd heading: 205.968726 deg,
      new cmd heading: 205.962319 deg.

2025-10-27T00:26:23.861Z,1761524783.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594721 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:23.872Z,1761524783.872 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:23.872Z,1761524783.872 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:23.872Z,1761524783.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:24.124Z,1761524784.124 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:24.124Z,1761524784.124 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:24.124Z,1761524784.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:24.238Z,1761524784.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906125,0.422338,0.023837],[-0.418827,-0.887834,-0.190617],[-0.059342,-0.182706,0.981375]]
2025-10-27T00:26:24.269Z,1761524784.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:24.272Z,1761524784.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 369.135101 m,
      bearing: 213.427487 deg,
      approach rate: -0.708458 m/s,
      LOS rate: -0.005874 deg/s,
      cmd heading: 205.962319 deg,
      new cmd heading: 205.955061 deg.

2025-10-27T00:26:24.273Z,1761524784.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594594 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:24.379Z,1761524784.379 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:24.379Z,1761524784.379 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:24.380Z,1761524784.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:24.628Z,1761524784.628 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:24.628Z,1761524784.628 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:24.628Z,1761524784.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:24.655Z,1761524784.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906068,0.422312,0.026344],[-0.419007,-0.886819,-0.194899],[-0.058946,-0.187630,0.980469]]
2025-10-27T00:26:24.720Z,1761524784.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:24.722Z,1761524784.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 368.840363 m,
      bearing: 213.425774 deg,
      approach rate: -0.653827 m/s,
      LOS rate: -0.003802 deg/s,
      cmd heading: 205.955065 deg,
      new cmd heading: 205.949923 deg.

2025-10-27T00:26:24.728Z,1761524784.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594504 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:24.880Z,1761524784.880 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:24.880Z,1761524784.880 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:24.880Z,1761524784.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:25.042Z,1761524785.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905760,0.423040,0.025222],[-0.419596,-0.886850,-0.193485],[-0.059484,-0.185834,0.980779]]
2025-10-27T00:26:25.083Z,1761524785.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:25.086Z,1761524785.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 368.570831 m,
      bearing: 213.424176 deg,
      approach rate: -0.741789 m/s,
      LOS rate: -0.004400 deg/s,
      cmd heading: 205.949929 deg,
      new cmd heading: 205.945132 deg.

2025-10-27T00:26:25.088Z,1761524785.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594421 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:25.133Z,1761524785.133 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:25.133Z,1761524785.133 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:25.133Z,1761524785.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:25.386Z,1761524785.386 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:25.386Z,1761524785.386 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:25.387Z,1761524785.387 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:25.518Z,1761524785.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:25.520Z,1761524785.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:25.523Z,1761524785.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 368.273254 m,
      bearing: 213.424502 deg,
      approach rate: -0.681331 m/s,
      LOS rate: 0.000746 deg/s,
      cmd heading: 205.945134 deg,
      new cmd heading: 205.946111 deg.

2025-10-27T00:26:25.552Z,1761524785.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594438 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:25.659Z,1761524785.659 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:25.660Z,1761524785.660 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:25.660Z,1761524785.660 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:25.866Z,1761524785.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904261,0.426496,0.020325],[-0.422468,-0.886789,-0.187418],[-0.061909,-0.178062,0.982070]]
2025-10-27T00:26:25.884Z,1761524785.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:25.887Z,1761524785.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 368.023926 m,
      bearing: 213.424652 deg,
      approach rate: -0.684735 m/s,
      LOS rate: 0.000413 deg/s,
      cmd heading: 205.946118 deg,
      new cmd heading: 205.946569 deg.

2025-10-27T00:26:25.888Z,1761524785.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594446 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:25.892Z,1761524785.892 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:25.892Z,1761524785.892 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:25.892Z,1761524785.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:26.144Z,1761524786.144 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:26.144Z,1761524786.144 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:26.144Z,1761524786.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:26.268Z,1761524786.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903187,0.428922,0.016697],[-0.424587,-0.886990,-0.181589],[-0.063078,-0.171098,0.983233]]
2025-10-27T00:26:26.291Z,1761524786.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:26.294Z,1761524786.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 367.746063 m,
      bearing: 213.424720 deg,
      approach rate: -0.683263 m/s,
      LOS rate: 0.000168 deg/s,
      cmd heading: 205.946569 deg,
      new cmd heading: 205.946774 deg.

2025-10-27T00:26:26.294Z,1761524786.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594449 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:26.399Z,1761524786.399 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:26.399Z,1761524786.399 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:26.400Z,1761524786.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:26.648Z,1761524786.648 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:26.648Z,1761524786.648 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:26.648Z,1761524786.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:26.686Z,1761524786.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902320,0.430882,0.012621],[-0.426300,-0.887619,-0.174358],[-0.063925,-0.162707,0.984601]]
2025-10-27T00:26:26.747Z,1761524786.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:26.750Z,1761524786.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 367.443054 m,
      bearing: 213.427179 deg,
      approach rate: -0.664441 m/s,
      LOS rate: 0.005395 deg/s,
      cmd heading: 205.946774 deg,
      new cmd heading: 205.954155 deg.

2025-10-27T00:26:26.750Z,1761524786.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594578 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:26.900Z,1761524786.900 [DAT](INFO): DAT read: Rx Time:00:26:27.7546

2025-10-27T00:26:26.900Z,1761524786.900 [DAT](INFO): Rx dataTimestamp_ set to:1761524786.900120
2025-10-27T00:26:26.901Z,1761524786.901 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:26.901Z,1761524786.901 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:26.901Z,1761524786.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:27.075Z,1761524787.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901807,0.432030,0.009681],[-0.427246,-0.888012,-0.169985],[-0.064841,-0.157430,0.985399]]
2025-10-27T00:26:27.113Z,1761524787.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 372.15 m.
2025-10-27T00:26:27.120Z,1761524787.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 372.147491 m,
      nav range: 367.212769 m,
      bearing: 213.429017 deg,
      approach rate: -0.628282 m/s,
      LOS rate: 0.005017 deg/s,
      cmd heading: 205.954150 deg,
      new cmd heading: 205.959667 deg.

2025-10-27T00:26:27.121Z,1761524787.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594674 target range: 372.147491 and range: 373.90 m.
2025-10-27T00:26:27.152Z,1761524787.152 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:27.152Z,1761524787.152 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:27.152Z,1761524787.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:27.436Z,1761524787.436 [DAT](INFO): DAT read: 00:26:27.7546 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 336, 0.27,-2.774, 1.835,-2.850, 3.120, PHS= 0.492,-1.239, 0.270, RAW= 143.2,   5.9, CAL= 142.8,   6.5, ROT=   7.2,  -6.5

2025-10-27T00:26:27.450Z,1761524787.450 [DAT](INFO): got valid direction response:
 00:26:27.7546 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 336, 0.27,-2.774, 1.835,-2.850, 3.120, PHS= 0.492,-1.239, 0.270, RAW= 143.2,   5.9, CAL= 142.8,   6.5, ROT=   7.2,  -6.5

2025-10-27T00:26:27.452Z,1761524787.452 [DAT](INFO): DAT read: Bearing 355.7,   2.1 (Local)

2025-10-27T00:26:27.454Z,1761524787.454 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,   2.1 (Local)

2025-10-27T00:26:27.482Z,1761524787.482 [DAT](INFO): DAT read: Range 11 to 50 : 376.5 m  (Round-trip  502.0 ms) speed  0.5 m/s

2025-10-27T00:26:27.492Z,1761524787.492 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-27T00:26:27.494Z,1761524787.494 [DAT](INFO): direction in FSK: [0.985737,0.124528,0.113203]
2025-10-27T00:26:27.494Z,1761524787.494 [DAT](INFO): publishing direction and range info
2025-10-27T00:26:27.506Z,1761524787.506 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:27.506Z,1761524787.506 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:27.515Z,1761524787.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:26:27.523Z,1761524787.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900989,0.433767,0.008125],[-0.428952,-0.887871,-0.166388],[-0.064959,-0.153398,0.986027]]
2025-10-27T00:26:27.627Z,1761524787.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 376.500000 m,
      deltaT: 16.389156 s,
      deltaX: 2.600006 m,
      approachRate: 0.158642 m/s,
      rangeRepo size: 4

2025-10-27T00:26:27.629Z,1761524787.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 374.757446 m,
      bearing: 213.535815 deg,
      lat: 36.779345 deg,
      lon: -121.859992 deg,
      deltaT: 16.389156 s,
      deltaX: 2.609955 m,
      approachRate: 0.159249 m/s,
      posRepo size: 4

2025-10-27T00:26:27.630Z,1761524787.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:27.637Z,1761524787.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 370.022614 m,
      bearing: 213.113446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005017 deg/s,
      cmd heading: 205.959669 deg,
      new cmd heading: 205.967332 deg.

2025-10-27T00:26:27.638Z,1761524787.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594808 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:27.656Z,1761524787.656 [DAT](INFO): DAT read: 

2025-10-27T00:26:27.656Z,1761524787.656 [DAT](INFO): DAT read: Tx time:00:26:29.1485

2025-10-27T00:26:27.657Z,1761524787.657 [DAT](INFO): Ping request sent.
2025-10-27T00:26:27.657Z,1761524787.657 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:26:27.657Z,1761524787.657 [DAT](INFO): publishing transmit ping time
2025-10-27T00:26:27.658Z,1761524787.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766
2025-10-27T00:26:27.910Z,1761524787.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253294
2025-10-27T00:26:28.001Z,1761524788.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:28.003Z,1761524788.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:28.005Z,1761524788.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 369.770447 m,
      bearing: 213.116964 deg,
      approach rate: -0.663288 m/s,
      LOS rate: 0.009259 deg/s,
      cmd heading: 205.967332 deg,
      new cmd heading: 205.977893 deg.

2025-10-27T00:26:28.006Z,1761524788.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594992 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:28.160Z,1761524788.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503029
2025-10-27T00:26:28.416Z,1761524788.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758529
2025-10-27T00:26:28.502Z,1761524788.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899503,0.436833,0.008486],[-0.432016,-0.886348,-0.166583],[-0.065247,-0.153508,0.985991]]
2025-10-27T00:26:28.540Z,1761524788.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:28.543Z,1761524788.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 369.428497 m,
      bearing: 213.121434 deg,
      approach rate: -0.635749 m/s,
      LOS rate: 0.008318 deg/s,
      cmd heading: 205.977892 deg,
      new cmd heading: 205.991314 deg.

2025-10-27T00:26:28.544Z,1761524788.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595227 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:28.664Z,1761524788.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007070
2025-10-27T00:26:28.865Z,1761524788.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898925,0.438013,0.008855],[-0.433181,-0.885624,-0.167407],[-0.065484,-0.154322,0.985848]]
2025-10-27T00:26:28.887Z,1761524788.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:28.890Z,1761524788.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 369.210388 m,
      bearing: 213.124245 deg,
      approach rate: -0.629202 m/s,
      LOS rate: 0.008114 deg/s,
      cmd heading: 205.991320 deg,
      new cmd heading: 205.999758 deg.

2025-10-27T00:26:28.916Z,1761524788.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259185
2025-10-27T00:26:28.917Z,1761524788.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595374 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:29.168Z,1761524789.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511007
2025-10-27T00:26:29.336Z,1761524789.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:29.338Z,1761524789.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 368.928162 m,
      bearing: 213.127888 deg,
      approach rate: -0.629220 m/s,
      LOS rate: 0.008127 deg/s,
      cmd heading: 205.999762 deg,
      new cmd heading: 206.010698 deg.

2025-10-27T00:26:29.339Z,1761524789.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595565 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:29.421Z,1761524789.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763794
2025-10-27T00:26:29.672Z,1761524789.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015023
2025-10-27T00:26:29.774Z,1761524789.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:29.777Z,1761524789.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 368.653564 m,
      bearing: 213.130347 deg,
      approach rate: -0.626611 m/s,
      LOS rate: 0.005616 deg/s,
      cmd heading: 206.010704 deg,
      new cmd heading: 206.018088 deg.

2025-10-27T00:26:29.778Z,1761524789.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595694 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:29.924Z,1761524789.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267075
2025-10-27T00:26:30.129Z,1761524790.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896078,0.443687,0.013665],[-0.439565,-0.882621,-0.166619],[-0.061866,-0.155311,0.985927]]
2025-10-27T00:26:30.145Z,1761524790.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:30.148Z,1761524790.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:30.150Z,1761524790.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 368.418518 m,
      bearing: 213.132201 deg,
      approach rate: -0.628592 m/s,
      LOS rate: 0.004961 deg/s,
      cmd heading: 206.018094 deg,
      new cmd heading: 206.023659 deg.

2025-10-27T00:26:30.152Z,1761524790.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595791 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:30.176Z,1761524790.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519081
2025-10-27T00:26:30.431Z,1761524790.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773211
2025-10-27T00:26:30.525Z,1761524790.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895019,0.445703,0.017028],[-0.441895,-0.880896,-0.169561],[-0.060574,-0.159285,0.985373]]
2025-10-27T00:26:30.579Z,1761524790.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:30.582Z,1761524790.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 368.152344 m,
      bearing: 213.132629 deg,
      approach rate: -0.617653 m/s,
      LOS rate: 0.000995 deg/s,
      cmd heading: 206.023654 deg,
      new cmd heading: 206.024941 deg.

2025-10-27T00:26:30.582Z,1761524790.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595814 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:30.683Z,1761524790.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025796
2025-10-27T00:26:30.930Z,1761524790.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893930,0.447739,0.020461],[-0.444270,-0.879118,-0.172555],[-0.059272,-0.163342,0.984787]]
2025-10-27T00:26:30.936Z,1761524790.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279028
2025-10-27T00:26:30.963Z,1761524790.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:30.969Z,1761524790.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 367.913208 m,
      bearing: 213.132927 deg,
      approach rate: -0.624030 m/s,
      LOS rate: 0.000778 deg/s,
      cmd heading: 206.024938 deg,
      new cmd heading: 206.025833 deg.

2025-10-27T00:26:30.970Z,1761524790.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595829 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:31.188Z,1761524791.188 [DAT](INFO): DAT read: Rx Time:00:26:32.0498

2025-10-27T00:26:31.188Z,1761524791.188 [DAT](INFO): Rx dataTimestamp_ set to:1761524791.188183
2025-10-27T00:26:31.189Z,1761524791.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532123
2025-10-27T00:26:31.334Z,1761524791.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892869,0.449767,0.022251],[-0.446564,-0.877977,-0.172443],[-0.058023,-0.163906,0.984768]]
2025-10-27T00:26:31.353Z,1761524791.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 374.76 m.
2025-10-27T00:26:31.356Z,1761524791.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 374.757446 m,
      nav range: 367.669922 m,
      bearing: 213.133137 deg,
      approach rate: -0.622055 m/s,
      LOS rate: 0.000536 deg/s,
      cmd heading: 206.025826 deg,
      new cmd heading: 206.026455 deg.

2025-10-27T00:26:31.357Z,1761524791.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595840 target range: 374.757446 and range: 376.50 m.
2025-10-27T00:26:31.440Z,1761524791.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783202
2025-10-27T00:26:31.702Z,1761524791.702 [DAT](INFO): DAT read: 00:26:32.0498 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 400,-0.34,-2.735, 1.865,-2.855, 3.112, PHS= 0.539,-1.202, 0.272, RAW= 141.8,   4.9, CAL= 141.5,   5.5, ROT=   8.5,  -5.5

2025-10-27T00:26:31.704Z,1761524791.704 [DAT](INFO): got valid direction response:
 00:26:32.0498 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 400,-0.34,-2.735, 1.865,-2.855, 3.112, PHS= 0.539,-1.202, 0.272, RAW= 141.8,   4.9, CAL= 141.5,   5.5, ROT=   8.5,  -5.5

2025-10-27T00:26:31.705Z,1761524791.705 [DAT](INFO): DAT read: Bearing 354.9,   4.1 (Local)

2025-10-27T00:26:31.706Z,1761524791.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.9,   4.1 (Local)

2025-10-27T00:26:31.708Z,1761524791.708 [DAT](INFO): DAT read: Range 11 to 50 : 372.9 m  (Round-trip  497.2 ms) speed  0.4 m/s

2025-10-27T00:26:31.709Z,1761524791.709 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:26:31.710Z,1761524791.710 [DAT](INFO): direction in FSK: [0.984463,0.147129,0.095846]
2025-10-27T00:26:31.710Z,1761524791.710 [DAT](INFO): publishing direction and range info
2025-10-27T00:26:31.717Z,1761524791.717 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:31.717Z,1761524791.717 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:31.718Z,1761524791.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:26:31.778Z,1761524791.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891811,0.451790,0.023645],[-0.448824,-0.876969,-0.171703],[-0.056838,-0.163739,0.984865]]
2025-10-27T00:26:31.874Z,1761524791.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 372.899994 m,
      deltaT: 4.286656 s,
      deltaX: -3.600006 m,
      approachRate: -0.839817 m/s,
      rangeRepo size: 4

2025-10-27T00:26:31.880Z,1761524791.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 371.180603 m,
      bearing: 215.972397 deg,
      lat: 36.779345 deg,
      lon: -121.860046 deg,
      deltaT: 4.286656 s,
      deltaX: -3.576843 m,
      approachRate: -0.834413 m/s,
      posRepo size: 4

2025-10-27T00:26:31.881Z,1761524791.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:31.888Z,1761524791.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 370.007202 m,
      bearing: 213.755920 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000536 deg/s,
      cmd heading: 206.026455 deg,
      new cmd heading: 206.027291 deg.

2025-10-27T00:26:31.889Z,1761524791.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595855 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:31.945Z,1761524791.945 [DAT](INFO): DAT read: user:100>

2025-10-27T00:26:31.946Z,1761524791.946 [DAT](INFO): DAT read: Tx time:00:26:33.3484

2025-10-27T00:26:31.946Z,1761524791.946 [DAT](INFO): Ping request sent.
2025-10-27T00:26:31.947Z,1761524791.947 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:26:31.947Z,1761524791.947 [DAT](INFO): publishing transmit ping time
2025-10-27T00:26:31.948Z,1761524791.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001460
2025-10-27T00:26:32.142Z,1761524792.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890840,0.453650,0.024594],[-0.450915,-0.876261,-0.169832],[-0.055493,-0.162383,0.985166]]
2025-10-27T00:26:32.171Z,1761524792.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:32.173Z,1761524792.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:32.181Z,1761524792.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 369.808502 m,
      bearing: 213.754893 deg,
      approach rate: -0.662232 m/s,
      LOS rate: -0.003424 deg/s,
      cmd heading: 206.027288 deg,
      new cmd heading: 206.024205 deg.

2025-10-27T00:26:32.182Z,1761524792.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595801 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:32.196Z,1761524792.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249679
2025-10-27T00:26:32.448Z,1761524792.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501619
2025-10-27T00:26:32.545Z,1761524792.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889999,0.455330,0.024006],[-0.452710,-0.876147,-0.165587],[-0.054364,-0.158240,0.985903]]
2025-10-27T00:26:32.600Z,1761524792.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:32.602Z,1761524792.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 369.520874 m,
      bearing: 213.751020 deg,
      approach rate: -0.674797 m/s,
      LOS rate: -0.009092 deg/s,
      cmd heading: 206.024201 deg,
      new cmd heading: 206.012575 deg.

2025-10-27T00:26:32.603Z,1761524792.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595598 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:32.701Z,1761524792.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754574
2025-10-27T00:26:32.952Z,1761524792.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005594
2025-10-27T00:26:32.953Z,1761524792.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889282,0.456715,0.024288],[-0.454191,-0.875633,-0.164251],[-0.053748,-0.157097,0.986120]]
2025-10-27T00:26:32.986Z,1761524792.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:32.990Z,1761524792.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 369.268097 m,
      bearing: 213.747544 deg,
      approach rate: -0.655294 m/s,
      LOS rate: -0.009018 deg/s,
      cmd heading: 206.012576 deg,
      new cmd heading: 206.002139 deg.

2025-10-27T00:26:32.991Z,1761524792.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595416 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:33.205Z,1761524793.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258282
2025-10-27T00:26:33.354Z,1761524793.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889053,0.457115,0.025125],[-0.454698,-0.875306,-0.164589],[-0.053244,-0.157752,0.986042]]
2025-10-27T00:26:33.373Z,1761524793.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:33.376Z,1761524793.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 369.006927 m,
      bearing: 213.743927 deg,
      approach rate: -0.674314 m/s,
      LOS rate: -0.009345 deg/s,
      cmd heading: 206.002139 deg,
      new cmd heading: 205.991281 deg.

2025-10-27T00:26:33.376Z,1761524793.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595226 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:33.458Z,1761524793.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511413
2025-10-27T00:26:33.709Z,1761524793.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761906
2025-10-27T00:26:33.758Z,1761524793.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888866,0.457295,0.028251],[-0.455153,-0.874278,-0.168742],[-0.052466,-0.162848,0.985255]]
2025-10-27T00:26:33.801Z,1761524793.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:33.804Z,1761524793.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 368.717773 m,
      bearing: 213.738570 deg,
      approach rate: -0.674358 m/s,
      LOS rate: -0.012503 deg/s,
      cmd heading: 205.991279 deg,
      new cmd heading: 205.975196 deg.

2025-10-27T00:26:33.805Z,1761524793.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594945 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:33.962Z,1761524793.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015063
2025-10-27T00:26:34.165Z,1761524794.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889426,0.455984,0.031610],[-0.454226,-0.874046,-0.172402],[-0.050984,-0.167697,0.984519]]
2025-10-27T00:26:34.185Z,1761524794.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:34.187Z,1761524794.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:34.190Z,1761524794.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 368.457642 m,
      bearing: 213.733802 deg,
      approach rate: -0.674278 m/s,
      LOS rate: -0.012368 deg/s,
      cmd heading: 205.975201 deg,
      new cmd heading: 205.960886 deg.

2025-10-27T00:26:34.191Z,1761524794.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594696 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:34.212Z,1761524794.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265776
2025-10-27T00:26:34.465Z,1761524794.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517953
2025-10-27T00:26:34.577Z,1761524794.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890767,0.453130,0.034752],[-0.451824,-0.874782,-0.174959],[-0.048879,-0.171550,0.983962]]
2025-10-27T00:26:34.622Z,1761524794.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:34.625Z,1761524794.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 368.159149 m,
      bearing: 213.728580 deg,
      approach rate: -0.686541 m/s,
      LOS rate: -0.012021 deg/s,
      cmd heading: 205.960885 deg,
      new cmd heading: 205.945206 deg.

2025-10-27T00:26:34.626Z,1761524794.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594422 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:34.717Z,1761524794.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771117
2025-10-27T00:26:34.969Z,1761524794.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022577
2025-10-27T00:26:35.010Z,1761524795.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892539,0.449442,0.037101],[-0.448573,-0.876312,-0.175667],[-0.046441,-0.173432,0.983750]]
2025-10-27T00:26:35.028Z,1761524795.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:35.030Z,1761524795.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 367.875671 m,
      bearing: 213.723784 deg,
      approach rate: -0.698316 m/s,
      LOS rate: -0.011823 deg/s,
      cmd heading: 205.945203 deg,
      new cmd heading: 205.930804 deg.

2025-10-27T00:26:35.032Z,1761524795.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594171 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:35.220Z,1761524795.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273553
2025-10-27T00:26:35.427Z,1761524795.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894871,0.444633,0.038834],[-0.444188,-0.878705,-0.174855],[-0.043623,-0.173722,0.983828]]
2025-10-27T00:26:35.449Z,1761524795.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:35.454Z,1761524795.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 367.583893 m,
      bearing: 213.719072 deg,
      approach rate: -0.692640 m/s,
      LOS rate: -0.011194 deg/s,
      cmd heading: 205.930805 deg,
      new cmd heading: 205.916657 deg.

2025-10-27T00:26:35.456Z,1761524795.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593924 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:35.473Z,1761524795.473 [DAT](INFO): DAT read: Rx Time:00:26:36.2462

2025-10-27T00:26:35.474Z,1761524795.474 [DAT](INFO): Rx dataTimestamp_ set to:1761524795.473175
2025-10-27T00:26:35.475Z,1761524795.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528288
2025-10-27T00:26:35.724Z,1761524795.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777618
2025-10-27T00:26:35.908Z,1761524795.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900049,0.433081,0.048508],[-0.434357,-0.882501,-0.180347],[-0.035296,-0.183391,0.982406]]
2025-10-27T00:26:35.985Z,1761524795.985 [DAT](INFO): DAT read: 00:26:36.2462 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.14,-2.972, 1.734,-3.045, 2.911, PHS= 0.503,-1.132, 0.284, RAW= 142.9,   4.5, CAL= 142.6,   5.1, ROT=   7.4,  -5.1

2025-10-27T00:26:35.986Z,1761524795.986 [DAT](INFO): got valid direction response:
 00:26:36.2462 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.14,-2.972, 1.734,-3.045, 2.911, PHS= 0.503,-1.132, 0.284, RAW= 142.9,   4.5, CAL= 142.6,   5.1, ROT=   7.4,  -5.1

2025-10-27T00:26:35.987Z,1761524795.987 [DAT](INFO): DAT read: Bearing 355.1,   3.8 (Local)

2025-10-27T00:26:35.988Z,1761524795.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,   3.8 (Local)

2025-10-27T00:26:35.989Z,1761524795.989 [DAT](INFO): DAT read: Range 11 to 50 : 370.2 m  (Round-trip  493.7 ms) speed  0.4 m/s

2025-10-27T00:26:35.990Z,1761524795.990 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:26:35.991Z,1761524795.991 [DAT](INFO): direction in FSK: [0.987745,0.128286,0.088894]
2025-10-27T00:26:35.991Z,1761524795.991 [DAT](INFO): publishing direction and range info
2025-10-27T00:26:35.994Z,1761524795.994 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:35.994Z,1761524795.994 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:35.995Z,1761524795.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.18 m.
2025-10-27T00:26:35.998Z,1761524795.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.180603 m,
      nav range: 367.233276 m,
      bearing: 213.715918 deg,
      approach rate: -0.671868 m/s,
      LOS rate: -0.006050 deg/s,
      cmd heading: 205.916652 deg,
      new cmd heading: 205.907181 deg.

2025-10-27T00:26:36.003Z,1761524796.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593758 target range: 371.180603 and range: 372.90 m.
2025-10-27T00:26:35.995Z,1761524795.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:26:36.228Z,1761524796.228 [DAT](INFO): DAT read: user:101>

2025-10-27T00:26:36.229Z,1761524796.229 [DAT](INFO): DAT read: Tx time:00:26:37.6484

2025-10-27T00:26:36.230Z,1761524796.230 [DAT](INFO): Ping request sent.
2025-10-27T00:26:36.230Z,1761524796.230 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:26:36.230Z,1761524796.230 [DAT](INFO): publishing transmit ping time
2025-10-27T00:26:36.231Z,1761524796.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001174
2025-10-27T00:26:36.334Z,1761524796.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902327,0.427168,0.057738],[-0.429993,-0.882613,-0.190002],[-0.030203,-0.196271,0.980084]]
2025-10-27T00:26:36.357Z,1761524796.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 370.200012 m,
      deltaT: 4.284606 s,
      deltaX: -2.699982 m,
      approachRate: -0.630159 m/s,
      rangeRepo size: 4

2025-10-27T00:26:36.360Z,1761524796.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 368.528046 m,
      bearing: 213.719438 deg,
      lat: 36.779334 deg,
      lon: -121.860046 deg,
      deltaT: 4.284606 s,
      deltaX: -2.652557 m,
      approachRate: -0.619090 m/s,
      posRepo size: 4

2025-10-27T00:26:36.360Z,1761524796.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:36.363Z,1761524796.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 367.890106 m,
      bearing: 213.615463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006050 deg/s,
      cmd heading: 205.907186 deg,
      new cmd heading: 205.900187 deg.

2025-10-27T00:26:36.364Z,1761524796.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593636 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:36.481Z,1761524796.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250928
2025-10-27T00:26:36.732Z,1761524796.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502125
2025-10-27T00:26:36.742Z,1761524796.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903845,0.422368,0.068338],[-0.427126,-0.881355,-0.201934],[-0.025061,-0.211706,0.977012]]
2025-10-27T00:26:36.780Z,1761524796.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:36.782Z,1761524796.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:36.785Z,1761524796.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 367.593079 m,
      bearing: 213.614436 deg,
      approach rate: -0.697934 m/s,
      LOS rate: -0.002415 deg/s,
      cmd heading: 205.900192 deg,
      new cmd heading: 205.897108 deg.

2025-10-27T00:26:36.786Z,1761524796.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593582 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:36.984Z,1761524796.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754599
2025-10-27T00:26:37.195Z,1761524797.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:37.198Z,1761524797.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 367.307129 m,
      bearing: 213.613446 deg,
      approach rate: -0.693164 m/s,
      LOS rate: -0.002402 deg/s,
      cmd heading: 205.897104 deg,
      new cmd heading: 205.894131 deg.

2025-10-27T00:26:37.199Z,1761524797.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593530 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:37.237Z,1761524797.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006835
2025-10-27T00:26:37.488Z,1761524797.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258084
2025-10-27T00:26:37.545Z,1761524797.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905420,0.417499,0.076871],[-0.424178,-0.882499,-0.203148],[-0.016976,-0.216541,0.976126]]
2025-10-27T00:26:37.627Z,1761524797.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:37.630Z,1761524797.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 367.010559 m,
      bearing: 213.612572 deg,
      approach rate: -0.685871 m/s,
      LOS rate: -0.002023 deg/s,
      cmd heading: 205.894126 deg,
      new cmd heading: 205.891502 deg.

2025-10-27T00:26:37.631Z,1761524797.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593485 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:37.740Z,1761524797.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510291
2025-10-27T00:26:37.945Z,1761524797.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905541,0.416916,0.078594],[-0.424052,-0.883641,-0.198393],[-0.013264,-0.212981,0.976966]]
2025-10-27T00:26:37.992Z,1761524797.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762287
2025-10-27T00:26:38.005Z,1761524798.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:38.008Z,1761524798.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 366.746765 m,
      bearing: 213.613352 deg,
      approach rate: -0.698488 m/s,
      LOS rate: 0.002067 deg/s,
      cmd heading: 205.891504 deg,
      new cmd heading: 205.893846 deg.

2025-10-27T00:26:38.009Z,1761524798.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593525 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:38.244Z,1761524798.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014017
2025-10-27T00:26:38.351Z,1761524798.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905314,0.417195,0.079721],[-0.424629,-0.884617,-0.192725],[-0.009881,-0.208328,0.978009]]
2025-10-27T00:26:38.369Z,1761524798.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:38.372Z,1761524798.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 366.494904 m,
      bearing: 213.614079 deg,
      approach rate: -0.691014 m/s,
      LOS rate: 0.001996 deg/s,
      cmd heading: 205.893840 deg,
      new cmd heading: 205.896022 deg.

2025-10-27T00:26:38.373Z,1761524798.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593564 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:38.416Z,1761524798.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:26:38.496Z,1761524798.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266399
2025-10-27T00:26:38.748Z,1761524798.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518263
2025-10-27T00:26:38.763Z,1761524798.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904891,0.418014,0.080222],[-0.425588,-0.885547,-0.186230],[-0.006807,-0.202659,0.979226]]
2025-10-27T00:26:38.804Z,1761524798.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:38.806Z,1761524798.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:38.825Z,1761524798.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 366.202271 m,
      bearing: 213.617029 deg,
      approach rate: -0.670210 m/s,
      LOS rate: 0.006762 deg/s,
      cmd heading: 205.896025 deg,
      new cmd heading: 205.904882 deg.

2025-10-27T00:26:38.826Z,1761524798.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593718 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:38.000Z,1761524799.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770088
2025-10-27T00:26:39.170Z,1761524799.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904239,0.419394,0.080375],[-0.427010,-0.886390,-0.178817],[-0.003751,-0.196014,0.980594]]
2025-10-27T00:26:39.205Z,1761524799.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:39.211Z,1761524799.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 365.940247 m,
      bearing: 213.619625 deg,
      approach rate: -0.657438 m/s,
      LOS rate: 0.006517 deg/s,
      cmd heading: 205.904877 deg,
      new cmd heading: 205.912669 deg.

2025-10-27T00:26:39.212Z,1761524799.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593854 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:39.252Z,1761524799.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022227
2025-10-27T00:26:39.421Z,1761524799.421 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:26:39.504Z,1761524799.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274559
2025-10-27T00:26:39.562Z,1761524799.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903398,0.421187,0.080454],[-0.428800,-0.886785,-0.172458],[-0.001292,-0.190297,0.981726]]
2025-10-27T00:26:39.647Z,1761524799.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:39.657Z,1761524799.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 365.663849 m,
      bearing: 213.622294 deg,
      approach rate: -0.625268 m/s,
      LOS rate: 0.006043 deg/s,
      cmd heading: 205.912664 deg,
      new cmd heading: 205.920678 deg.

2025-10-27T00:26:39.658Z,1761524799.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593994 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:39.757Z,1761524799.757 [DAT](INFO): DAT read: Rx Time:00:26:40.5442

2025-10-27T00:26:39.757Z,1761524799.757 [DAT](INFO): Rx dataTimestamp_ set to:1761524799.756771
2025-10-27T00:26:39.758Z,1761524799.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528193
2025-10-27T00:26:40.008Z,1761524800.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778585
2025-10-27T00:26:40.029Z,1761524800.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902413,0.423309,0.080380],[-0.430871,-0.887038,-0.165873],[0.001085,-0.184319,0.982866]]
2025-10-27T00:26:40.126Z,1761524800.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.53 m.
2025-10-27T00:26:40.129Z,1761524800.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.528046 m,
      nav range: 365.329590 m,
      bearing: 213.627221 deg,
      approach rate: -0.696833 m/s,
      LOS rate: 0.010281 deg/s,
      cmd heading: 205.920682 deg,
      new cmd heading: 205.935477 deg.

2025-10-27T00:26:40.130Z,1761524800.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594252 target range: 368.528046 and range: 370.20 m.
2025-10-27T00:26:40.265Z,1761524800.265 [DAT](INFO): DAT read: 00:26:40.5442 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 423,-0.19,-2.976, 1.676,-3.104, 2.754, PHS= 0.655,-1.033, 0.381, RAW= 141.3,  -0.0, CAL= 141.2,   0.3, ROT=   8.8,  -0.3

2025-10-27T00:26:40.266Z,1761524800.266 [DAT](INFO): got valid direction response:
 00:26:40.5442 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 423,-0.19,-2.976, 1.676,-3.104, 2.754, PHS= 0.655,-1.033, 0.381, RAW= 141.3,  -0.0, CAL= 141.2,   0.3, ROT=   8.8,  -0.3

2025-10-27T00:26:40.268Z,1761524800.268 [DAT](INFO): DAT read: Bearing 350.0,   8.3 (Local)

2025-10-27T00:26:40.268Z,1761524800.268 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.0,   8.3 (Local)

2025-10-27T00:26:40.269Z,1761524800.269 [DAT](INFO): DAT read: Range 11 to 50 : 368.7 m  (Round-trip  491.6 ms) speed  0.8 m/s

2025-10-27T00:26:40.270Z,1761524800.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:26:40.271Z,1761524800.271 [DAT](INFO): direction in FSK: [0.988215,0.152984,0.005236]
2025-10-27T00:26:40.271Z,1761524800.271 [DAT](INFO): publishing direction and range info
2025-10-27T00:26:40.275Z,1761524800.275 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:40.275Z,1761524800.275 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:40.275Z,1761524800.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:26:40.447Z,1761524800.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901691,0.424783,0.080702],[-0.432365,-0.887405,-0.159914],[0.003686,-0.179086,0.983827]]
2025-10-27T00:26:40.489Z,1761524800.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 368.700012 m,
      deltaT: 4.283115 s,
      deltaX: -1.500000 m,
      approachRate: -0.350212 m/s,
      rangeRepo size: 4

2025-10-27T00:26:40.491Z,1761524800.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 367.143219 m,
      bearing: 214.330309 deg,
      lat: 36.779342 deg,
      lon: -121.860055 deg,
      deltaT: 4.283115 s,
      deltaX: -1.384827 m,
      approachRate: -0.323322 m/s,
      posRepo size: 4

2025-10-27T00:26:40.492Z,1761524800.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:40.494Z,1761524800.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 364.835144 m,
      bearing: 213.811381 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010281 deg/s,
      cmd heading: 205.935476 deg,
      new cmd heading: 205.946640 deg.

2025-10-27T00:26:40.495Z,1761524800.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594447 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:40.512Z,1761524800.512 [DAT](INFO): DAT read: user:102>

2025-10-27T00:26:40.513Z,1761524800.513 [DAT](INFO): DAT read: Tx time:00:26:41.8984

2025-10-27T00:26:40.513Z,1761524800.513 [DAT](INFO): Ping request sent.
2025-10-27T00:26:40.513Z,1761524800.513 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:26:40.513Z,1761524800.513 [DAT](INFO): publishing transmit ping time
2025-10-27T00:26:40.514Z,1761524800.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765
2025-10-27T00:26:40.765Z,1761524800.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252122
2025-10-27T00:26:40.846Z,1761524800.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900636,0.426683,0.082441],[-0.434526,-0.887014,-0.156182],[0.006486,-0.176486,0.984282]]
2025-10-27T00:26:40.896Z,1761524800.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:40.898Z,1761524800.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:40.900Z,1761524800.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 364.568115 m,
      bearing: 213.816592 deg,
      approach rate: -0.652333 m/s,
      LOS rate: 0.012741 deg/s,
      cmd heading: 205.946637 deg,
      new cmd heading: 205.962283 deg.

2025-10-27T00:26:40.901Z,1761524800.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594720 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:41.016Z,1761524801.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502853
2025-10-27T00:26:41.251Z,1761524801.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899688,0.428495,0.083391],[-0.436434,-0.886998,-0.150865],[0.009323,-0.172126,0.985031]]
2025-10-27T00:26:41.268Z,1761524801.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754764
2025-10-27T00:26:41.281Z,1761524801.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:41.283Z,1761524801.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 364.319916 m,
      bearing: 213.821367 deg,
      approach rate: -0.647976 m/s,
      LOS rate: 0.012475 deg/s,
      cmd heading: 205.962278 deg,
      new cmd heading: 205.976613 deg.

2025-10-27T00:26:41.284Z,1761524801.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594970 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:41.524Z,1761524801.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010846
2025-10-27T00:26:41.694Z,1761524801.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898903,0.429772,0.085255],[-0.437986,-0.886673,-0.148256],[0.011877,-0.170609,0.985267]]
2025-10-27T00:26:41.752Z,1761524801.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:41.759Z,1761524801.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 364.031647 m,
      bearing: 213.826632 deg,
      approach rate: -0.610917 m/s,
      LOS rate: 0.011166 deg/s,
      cmd heading: 205.976608 deg,
      new cmd heading: 205.992414 deg.

2025-10-27T00:26:41.760Z,1761524801.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595246 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:41.772Z,1761524801.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259034
2025-10-27T00:26:42.025Z,1761524802.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511380
2025-10-27T00:26:42.137Z,1761524802.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:42.140Z,1761524802.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 363.778320 m,
      bearing: 213.831265 deg,
      approach rate: -0.659038 m/s,
      LOS rate: 0.012063 deg/s,
      cmd heading: 205.992413 deg,
      new cmd heading: 206.006323 deg.

2025-10-27T00:26:42.141Z,1761524802.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595489 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:42.276Z,1761524802.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762765
2025-10-27T00:26:42.493Z,1761524802.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897220,0.432534,0.088938],[-0.441290,-0.885589,-0.144897],[0.016089,-0.169252,0.985441]]
2025-10-27T00:26:42.523Z,1761524802.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:42.526Z,1761524802.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 363.534058 m,
      bearing: 213.835596 deg,
      approach rate: -0.632851 m/s,
      LOS rate: 0.011228 deg/s,
      cmd heading: 206.006319 deg,
      new cmd heading: 206.019320 deg.

2025-10-27T00:26:42.526Z,1761524802.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595716 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:42.528Z,1761524802.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015002
2025-10-27T00:26:42.780Z,1761524802.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267177
2025-10-27T00:26:42.954Z,1761524802.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:42.957Z,1761524802.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:42.962Z,1761524802.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 363.264709 m,
      bearing: 213.839711 deg,
      approach rate: -0.619952 m/s,
      LOS rate: 0.009479 deg/s,
      cmd heading: 206.019324 deg,
      new cmd heading: 206.031678 deg.

2025-10-27T00:26:42.981Z,1761524802.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595931 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:43.033Z,1761524803.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519693
2025-10-27T00:26:43.284Z,1761524803.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770848
2025-10-27T00:26:43.310Z,1761524803.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895877,0.434483,0.092887],[-0.443776,-0.885208,-0.139531],[0.021601,-0.166224,0.985851]]
2025-10-27T00:26:43.330Z,1761524803.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:43.332Z,1761524803.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 363.025085 m,
      bearing: 213.843270 deg,
      approach rate: -0.643549 m/s,
      LOS rate: 0.009564 deg/s,
      cmd heading: 206.031673 deg,
      new cmd heading: 206.042356 deg.

2025-10-27T00:26:43.333Z,1761524803.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596117 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:43.536Z,1761524803.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022927
2025-10-27T00:26:43.728Z,1761524803.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895465,0.434643,0.096063],[-0.444414,-0.885208,-0.137486],[0.025278,-0.165806,0.985834]]
2025-10-27T00:26:43.769Z,1761524803.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:43.791Z,1761524803.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277666
2025-10-27T00:26:43.809Z,1761524803.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 362.736694 m,
      bearing: 213.846169 deg,
      approach rate: -0.660493 m/s,
      LOS rate: 0.006644 deg/s,
      cmd heading: 206.042355 deg,
      new cmd heading: 206.051058 deg.

2025-10-27T00:26:43.815Z,1761524803.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596269 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:44.046Z,1761524804.046 [DAT](INFO): DAT read: 00:26:44.7882 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 380, 0.23,-1.860, 3.076,-1.967,-2.183, PHS= 0.425,-0.979, 0.172, RAW= 140.3,   6.0, CAL= 140.0,   6.7, ROT=  10.0,  -6.7

2025-10-27T00:26:44.047Z,1761524804.047 [DAT](INFO): got valid direction response:
 00:26:44.7882 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 380, 0.23,-1.860, 3.076,-1.967,-2.183, PHS= 0.425,-0.979, 0.172, RAW= 140.3,   6.0, CAL= 140.0,   6.7, ROT=  10.0,  -6.7

2025-10-27T00:26:44.048Z,1761524804.048 [DAT](INFO): DAT read: Rx Time:00:26:44.7882

2025-10-27T00:26:44.049Z,1761524804.049 [DAT](INFO): Rx dataTimestamp_ set to:1761524804.048278
2025-10-27T00:26:44.049Z,1761524804.049 [DAT](INFO): DAT read: $Low SNR acquisition

2025-10-27T00:26:44.049Z,1761524804.049 [DAT](INFO): Received low SNR in chirp
2025-10-27T00:26:44.063Z,1761524804.063 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:26:44.065Z,1761524804.065 [DAT](INFO): direction in FSK: [0.978082,0.172462,0.116671]
2025-10-27T00:26:44.069Z,1761524804.069 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:44.070Z,1761524804.070 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:44.070Z,1761524804.070 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:44.137Z,1761524804.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895092,0.434486,0.100164],[-0.444887,-0.885270,-0.135547],[0.029779,-0.165888,0.985695]]
2025-10-27T00:26:44.183Z,1761524804.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:44.186Z,1761524804.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 362.475769 m,
      bearing: 213.848771 deg,
      approach rate: -0.638745 m/s,
      LOS rate: 0.006374 deg/s,
      cmd heading: 206.051057 deg,
      new cmd heading: 206.058868 deg.

2025-10-27T00:26:44.187Z,1761524804.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596406 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:44.292Z,1761524804.292 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:44.293Z,1761524804.293 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:44.293Z,1761524804.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:44.528Z,1761524804.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894909,0.433786,0.104730],[-0.444850,-0.885757,-0.132449],[0.035310,-0.165119,0.985641]]
2025-10-27T00:26:44.544Z,1761524804.544 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:44.544Z,1761524804.544 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:44.544Z,1761524804.544 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:44.548Z,1761524804.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:44.550Z,1761524804.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 362.219513 m,
      bearing: 213.851327 deg,
      approach rate: -0.686861 m/s,
      LOS rate: 0.006856 deg/s,
      cmd heading: 206.058871 deg,
      new cmd heading: 206.066544 deg.

2025-10-27T00:26:44.552Z,1761524804.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596540 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:44.796Z,1761524804.796 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:44.796Z,1761524804.796 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:44.796Z,1761524804.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:44.931Z,1761524804.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895288,0.431756,0.109754],[-0.443520,-0.886987,-0.128622],[0.041817,-0.163832,0.985602]]
2025-10-27T00:26:45.001Z,1761524805.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:45.008Z,1761524805.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:45.010Z,1761524805.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 361.927246 m,
      bearing: 213.852218 deg,
      approach rate: -0.642165 m/s,
      LOS rate: 0.001961 deg/s,
      cmd heading: 206.066548 deg,
      new cmd heading: 206.069225 deg.

2025-10-27T00:26:45.016Z,1761524805.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596586 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:45.050Z,1761524805.050 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:45.050Z,1761524805.050 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:45.050Z,1761524805.050 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:45.300Z,1761524805.300 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:45.300Z,1761524805.300 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:45.300Z,1761524805.300 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:45.342Z,1761524805.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895768,0.428561,0.118049],[-0.441808,-0.887634,-0.130046],[0.049051,-0.168646,0.984455]]
2025-10-27T00:26:45.380Z,1761524805.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:45.390Z,1761524805.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 361.665405 m,
      bearing: 213.853097 deg,
      approach rate: -0.693631 m/s,
      LOS rate: 0.002329 deg/s,
      cmd heading: 206.069225 deg,
      new cmd heading: 206.071863 deg.

2025-10-27T00:26:45.392Z,1761524805.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596632 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:45.552Z,1761524805.552 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:45.552Z,1761524805.552 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:45.552Z,1761524805.552 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:45.752Z,1761524805.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895687,0.424768,0.131595],[-0.441057,-0.886314,-0.141123],[0.056690,-0.184443,0.981207]]
2025-10-27T00:26:45.804Z,1761524805.804 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:45.804Z,1761524805.804 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:45.804Z,1761524805.804 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:45.806Z,1761524805.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:45.812Z,1761524805.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 361.389099 m,
      bearing: 213.852746 deg,
      approach rate: -0.650005 m/s,
      LOS rate: -0.000827 deg/s,
      cmd heading: 206.071862 deg,
      new cmd heading: 206.070807 deg.

2025-10-27T00:26:45.813Z,1761524805.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596614 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:46.056Z,1761524806.056 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:46.057Z,1761524806.057 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:46.057Z,1761524806.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:46.146Z,1761524806.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895020,0.422089,0.144150],[-0.441390,-0.884659,-0.150178],[0.064135,-0.198039,0.978094]]
2025-10-27T00:26:46.181Z,1761524806.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:46.184Z,1761524806.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 361.127625 m,
      bearing: 213.852407 deg,
      approach rate: -0.695698 m/s,
      LOS rate: -0.000902 deg/s,
      cmd heading: 206.070810 deg,
      new cmd heading: 206.069792 deg.

2025-10-27T00:26:46.185Z,1761524806.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596596 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:46.308Z,1761524806.308 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:46.308Z,1761524806.308 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:46.308Z,1761524806.308 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:46.560Z,1761524806.560 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:46.560Z,1761524806.560 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:46.560Z,1761524806.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:46.633Z,1761524806.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894212,0.420509,0.153485],[-0.442013,-0.883656,-0.154199],[0.070786,-0.205728,0.976046]]
2025-10-27T00:26:46.662Z,1761524806.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:46.665Z,1761524806.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 360.815582 m,
      bearing: 213.851969 deg,
      approach rate: -0.648815 m/s,
      LOS rate: -0.000911 deg/s,
      cmd heading: 206.069799 deg,
      new cmd heading: 206.068484 deg.

2025-10-27T00:26:46.666Z,1761524806.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596574 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:46.812Z,1761524806.812 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:46.812Z,1761524806.812 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:46.813Z,1761524806.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:47.061Z,1761524807.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891877,0.423063,0.159915],[-0.445117,-0.883726,-0.144564],[0.080161,-0.200114,0.976488]]
2025-10-27T00:26:47.064Z,1761524807.064 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:47.064Z,1761524807.064 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:47.064Z,1761524807.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:47.099Z,1761524807.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:47.101Z,1761524807.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:47.104Z,1761524807.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 360.505157 m,
      bearing: 213.850987 deg,
      approach rate: -0.707714 m/s,
      LOS rate: -0.002241 deg/s,
      cmd heading: 206.068487 deg,
      new cmd heading: 206.065539 deg.

2025-10-27T00:26:47.105Z,1761524807.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596522 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:47.316Z,1761524807.316 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:47.316Z,1761524807.316 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:47.317Z,1761524807.317 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:47.525Z,1761524807.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891236,0.424929,0.158536],[-0.445958,-0.884703,-0.135727],[0.082583,-0.191665,0.977980]]
2025-10-27T00:26:47.543Z,1761524807.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:47.546Z,1761524807.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 360.199402 m,
      bearing: 213.849956 deg,
      approach rate: -0.691523 m/s,
      LOS rate: -0.002334 deg/s,
      cmd heading: 206.065537 deg,
      new cmd heading: 206.062441 deg.

2025-10-27T00:26:47.547Z,1761524807.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596468 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:47.568Z,1761524807.568 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:47.568Z,1761524807.568 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:47.568Z,1761524807.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:47.820Z,1761524807.820 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:47.820Z,1761524807.820 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:47.820Z,1761524807.820 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:47.925Z,1761524807.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890496,0.426563,0.158307],[-0.446965,-0.885194,-0.129050],[0.085085,-0.185676,0.978920]]
2025-10-27T00:26:47.985Z,1761524807.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:47.988Z,1761524807.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 359.897034 m,
      bearing: 213.848255 deg,
      approach rate: -0.684921 m/s,
      LOS rate: -0.003857 deg/s,
      cmd heading: 206.062436 deg,
      new cmd heading: 206.057328 deg.

2025-10-27T00:26:47.989Z,1761524807.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596379 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:48.073Z,1761524808.073 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:48.073Z,1761524808.073 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:48.073Z,1761524808.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:48.324Z,1761524808.324 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:48.324Z,1761524808.324 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:48.324Z,1761524808.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:48.332Z,1761524808.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889400,0.429170,0.157420],[-0.448819,-0.885185,-0.122508],[0.086769,-0.179612,0.979903]]
2025-10-27T00:26:48.350Z,1761524808.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:48.353Z,1761524808.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 359.646454 m,
      bearing: 213.846753 deg,
      approach rate: -0.685452 m/s,
      LOS rate: -0.004110 deg/s,
      cmd heading: 206.057327 deg,
      new cmd heading: 206.052819 deg.

2025-10-27T00:26:48.354Z,1761524808.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596300 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:48.576Z,1761524808.576 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:48.576Z,1761524808.576 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:48.577Z,1761524808.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:48.775Z,1761524808.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889020,0.430797,0.155104],[-0.449260,-0.886108,-0.113918],[0.088363,-0.170958,0.981308]]
2025-10-27T00:26:48.811Z,1761524808.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:48.814Z,1761524808.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 359.329620 m,
      bearing: 213.846378 deg,
      approach rate: -0.687185 m/s,
      LOS rate: -0.000815 deg/s,
      cmd heading: 206.052819 deg,
      new cmd heading: 206.051692 deg.

2025-10-27T00:26:48.828Z,1761524808.828 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:48.828Z,1761524808.828 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:48.828Z,1761524808.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:48.829Z,1761524808.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596280 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:49.080Z,1761524809.080 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:49.080Z,1761524809.080 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:49.080Z,1761524809.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:49.154Z,1761524809.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888933,0.431286,0.154240],[-0.449125,-0.886834,-0.108683],[0.089912,-0.165885,0.982038]]
2025-10-27T00:26:49.185Z,1761524809.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:49.187Z,1761524809.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:49.190Z,1761524809.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 359.070953 m,
      bearing: 213.846077 deg,
      approach rate: -0.688242 m/s,
      LOS rate: -0.000802 deg/s,
      cmd heading: 206.051685 deg,
      new cmd heading: 206.050781 deg.

2025-10-27T00:26:49.191Z,1761524809.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596265 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:49.332Z,1761524809.332 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:49.332Z,1761524809.332 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:49.332Z,1761524809.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:49.545Z,1761524809.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889522,0.430474,0.153109],[-0.447480,-0.888492,-0.101702],[0.092256,-0.158980,0.982962]]
2025-10-27T00:26:49.579Z,1761524809.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:49.582Z,1761524809.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 358.801483 m,
      bearing: 213.845841 deg,
      approach rate: -0.687377 m/s,
      LOS rate: -0.000601 deg/s,
      cmd heading: 206.050784 deg,
      new cmd heading: 206.050076 deg.

2025-10-27T00:26:49.584Z,1761524809.584 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:49.584Z,1761524809.584 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:49.584Z,1761524809.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:49.584Z,1761524809.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596252 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:49.837Z,1761524809.837 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:49.837Z,1761524809.837 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:49.837Z,1761524809.837 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:49.959Z,1761524809.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891004,0.427294,0.153401],[-0.443770,-0.891021,-0.095652],[0.095812,-0.153301,0.983524]]
2025-10-27T00:26:50.002Z,1761524810.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:50.005Z,1761524810.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 358.514008 m,
      bearing: 213.846519 deg,
      approach rate: -0.679001 m/s,
      LOS rate: 0.001603 deg/s,
      cmd heading: 206.050073 deg,
      new cmd heading: 206.052109 deg.

2025-10-27T00:26:50.006Z,1761524810.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596288 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:50.088Z,1761524810.088 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:50.088Z,1761524810.088 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:50.088Z,1761524810.088 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:50.340Z,1761524810.340 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:26:50.340Z,1761524810.340 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:26:50.340Z,1761524810.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:26:50.464Z,1761524810.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892147,0.422640,0.159531],[-0.440420,-0.892319,-0.098978],[0.100520,-0.158564,0.982218]]
2025-10-27T00:26:50.482Z,1761524810.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:50.485Z,1761524810.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 358.189117 m,
      bearing: 213.847459 deg,
      approach rate: -0.676991 m/s,
      LOS rate: 0.001959 deg/s,
      cmd heading: 206.052109 deg,
      new cmd heading: 206.054930 deg.

2025-10-27T00:26:50.486Z,1761524810.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596337 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:50.592Z,1761524810.592 [DAT](INFO): Reached modem response timeout
2025-10-27T00:26:50.592Z,1761524810.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:50.593Z,1761524810.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:26:50.844Z,1761524810.844 [DAT](INFO): DAT read: 

2025-10-27T00:26:50.844Z,1761524810.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:50.855Z,1761524810.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892559,0.419023,0.166611],[-0.438377,-0.892886,-0.102858],[0.105665,-0.164845,0.980643]]
2025-10-27T00:26:50.908Z,1761524810.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:50.911Z,1761524810.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 357.904053 m,
      bearing: 213.849792 deg,
      approach rate: -0.669765 m/s,
      LOS rate: 0.005487 deg/s,
      cmd heading: 206.054936 deg,
      new cmd heading: 206.061943 deg.

2025-10-27T00:26:50.912Z,1761524810.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596459 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:51.096Z,1761524811.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:51.348Z,1761524811.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:51.365Z,1761524811.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893623,0.413981,0.173370],[-0.434997,-0.894002,-0.107418],[0.110524,-0.171407,0.978981]]
2025-10-27T00:26:51.381Z,1761524811.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:51.384Z,1761524811.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:51.386Z,1761524811.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 357.586426 m,
      bearing: 213.852566 deg,
      approach rate: -0.667645 m/s,
      LOS rate: 0.005835 deg/s,
      cmd heading: 206.061944 deg,
      new cmd heading: 206.070272 deg.

2025-10-27T00:26:51.387Z,1761524811.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596605 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:51.600Z,1761524811.600 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:51.808Z,1761524811.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894028,0.409060,0.182713],[-0.432998,-0.893637,-0.118008],[0.115007,-0.184616,0.976058]]
2025-10-27T00:26:51.856Z,1761524811.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:51.870Z,1761524811.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:51.873Z,1761524811.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 357.265381 m,
      bearing: 213.856205 deg,
      approach rate: -0.659872 m/s,
      LOS rate: 0.007487 deg/s,
      cmd heading: 206.070277 deg,
      new cmd heading: 206.081205 deg.

2025-10-27T00:26:51.874Z,1761524811.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596796 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:52.104Z,1761524812.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:52.199Z,1761524812.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894114,0.405035,0.191068],[-0.431665,-0.893074,-0.126822],[0.119271,-0.195871,0.973350]]
2025-10-27T00:26:52.229Z,1761524812.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:52.236Z,1761524812.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 357.036041 m,
      bearing: 213.858847 deg,
      approach rate: -0.639422 m/s,
      LOS rate: 0.007371 deg/s,
      cmd heading: 206.081205 deg,
      new cmd heading: 206.089137 deg.

2025-10-27T00:26:52.237Z,1761524812.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596934 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:52.356Z,1761524812.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:52.604Z,1761524812.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893690,0.402984,0.197285],[-0.431549,-0.892363,-0.132110],[0.122812,-0.203204,0.971404]]
2025-10-27T00:26:52.608Z,1761524812.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:52.624Z,1761524812.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:52.626Z,1761524812.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 356.767578 m,
      bearing: 213.861935 deg,
      approach rate: -0.679886 m/s,
      LOS rate: 0.007825 deg/s,
      cmd heading: 206.089142 deg,
      new cmd heading: 206.098411 deg.

2025-10-27T00:26:52.627Z,1761524812.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597096 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:52.861Z,1761524812.861 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:26:52.862Z,1761524812.862 [DAT](INFO): response not received
2025-10-27T00:26:52.863Z,1761524812.863 [DAT](INFO): DAT read: user:104>Tx time:00:26:54.3483

2025-10-27T00:26:52.864Z,1761524812.864 [DAT](ERROR): No response from remote modem.
2025-10-27T00:26:52.864Z,1761524812.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:52.864Z,1761524812.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:26:53.007Z,1761524813.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892741,0.402945,0.201616],[-0.432808,-0.891305,-0.135102],[0.125263,-0.207872,0.970102]]
2025-10-27T00:26:53.043Z,1761524813.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:53.046Z,1761524813.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 356.498962 m,
      bearing: 213.866288 deg,
      approach rate: -0.640690 m/s,
      LOS rate: 0.010392 deg/s,
      cmd heading: 206.098417 deg,
      new cmd heading: 206.111488 deg.

2025-10-27T00:26:53.047Z,1761524813.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597324 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:53.112Z,1761524813.112 [DAT](INFO): DAT read: 

2025-10-27T00:26:53.112Z,1761524813.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:53.364Z,1761524813.364 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:53.530Z,1761524813.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:53.536Z,1761524813.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:53.543Z,1761524813.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 356.194183 m,
      bearing: 213.871237 deg,
      approach rate: -0.617793 m/s,
      LOS rate: 0.010039 deg/s,
      cmd heading: 206.111490 deg,
      new cmd heading: 206.126348 deg.

2025-10-27T00:26:53.544Z,1761524813.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597584 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:53.616Z,1761524813.616 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:53.868Z,1761524813.868 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:53.896Z,1761524813.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888608,0.414019,0.197392],[-0.441256,-0.889108,-0.121568],[0.125172,-0.195127,0.972758]]
2025-10-27T00:26:53.978Z,1761524813.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:53.981Z,1761524813.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 355.899414 m,
      bearing: 213.876063 deg,
      approach rate: -0.667586 m/s,
      LOS rate: 0.010940 deg/s,
      cmd heading: 206.126353 deg,
      new cmd heading: 206.140845 deg.

2025-10-27T00:26:53.982Z,1761524813.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597836 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:54.120Z,1761524814.120 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:54.372Z,1761524814.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:54.380Z,1761524814.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886679,0.419680,0.194086],[-0.445795,-0.887339,-0.117880],[0.122748,-0.191045,0.973876]]
2025-10-27T00:26:54.398Z,1761524814.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:54.401Z,1761524814.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 355.629578 m,
      bearing: 213.880273 deg,
      approach rate: -0.641789 m/s,
      LOS rate: 0.010021 deg/s,
      cmd heading: 206.140847 deg,
      new cmd heading: 206.153487 deg.

2025-10-27T00:26:54.402Z,1761524814.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598057 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:54.624Z,1761524814.624 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:54.822Z,1761524814.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885019,0.425969,0.187861],[-0.449948,-0.886226,-0.110229],[0.119534,-0.182082,0.975991]]
2025-10-27T00:26:54.874Z,1761524814.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:54.876Z,1761524814.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:54.878Z,1761524814.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 355.323242 m,
      bearing: 213.884842 deg,
      approach rate: -0.643863 m/s,
      LOS rate: 0.009611 deg/s,
      cmd heading: 206.153482 deg,
      new cmd heading: 206.167201 deg.

2025-10-27T00:26:54.879Z,1761524814.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598296 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:55.128Z,1761524815.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:55.190Z,1761524815.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883048,0.433165,0.180539],[-0.454712,-0.884899,-0.100949],[0.116032,-0.171236,0.978374]]
2025-10-27T00:26:55.227Z,1761524815.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:55.230Z,1761524815.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 355.099091 m,
      bearing: 213.888229 deg,
      approach rate: -0.635106 m/s,
      LOS rate: 0.009601 deg/s,
      cmd heading: 206.167197 deg,
      new cmd heading: 206.177363 deg.

2025-10-27T00:26:55.231Z,1761524815.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598474 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:55.380Z,1761524815.380 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:55.588Z,1761524815.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881498,0.439928,0.171537],[-0.458616,-0.884140,-0.089259],[0.112395,-0.157352,0.981126]]
2025-10-27T00:26:55.604Z,1761524815.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:55.606Z,1761524815.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:55.609Z,1761524815.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 354.858490 m,
      bearing: 213.891710 deg,
      approach rate: -0.635269 m/s,
      LOS rate: 0.009197 deg/s,
      cmd heading: 206.177361 deg,
      new cmd heading: 206.187810 deg.

2025-10-27T00:26:55.609Z,1761524815.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598656 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:55.632Z,1761524815.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:55.885Z,1761524815.885 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:55.990Z,1761524815.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880059,0.446128,0.162684],[-0.462162,-0.883395,-0.077591],[0.109099,-0.143471,0.983623]]
2025-10-27T00:26:56.034Z,1761524816.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:56.036Z,1761524816.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 354.583435 m,
      bearing: 213.896682 deg,
      approach rate: -0.642823 m/s,
      LOS rate: 0.011629 deg/s,
      cmd heading: 206.187811 deg,
      new cmd heading: 206.202738 deg.

2025-10-27T00:26:56.037Z,1761524816.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598917 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:56.136Z,1761524816.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:56.388Z,1761524816.388 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:56.401Z,1761524816.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879194,0.450548,0.154998],[-0.464495,-0.882945,-0.068207],[0.106125,-0.131963,0.985557]]
2025-10-27T00:26:56.426Z,1761524816.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:56.431Z,1761524816.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 354.335175 m,
      bearing: 213.901079 deg,
      approach rate: -0.633814 m/s,
      LOS rate: 0.011235 deg/s,
      cmd heading: 206.202742 deg,
      new cmd heading: 206.215944 deg.

2025-10-27T00:26:56.432Z,1761524816.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599147 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:56.640Z,1761524816.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:56.805Z,1761524816.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878556,0.453290,0.150558],[-0.466240,-0.882324,-0.064225],[0.103728,-0.126621,0.986513]]
2025-10-27T00:26:56.888Z,1761524816.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:56.890Z,1761524816.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 354.073914 m,
      bearing: 213.905636 deg,
      approach rate: -0.565104 m/s,
      LOS rate: 0.009865 deg/s,
      cmd heading: 206.215938 deg,
      new cmd heading: 206.229620 deg.

2025-10-27T00:26:56.892Z,1761524816.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:56.895Z,1761524816.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599386 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:57.147Z,1761524817.147 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:57.205Z,1761524817.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878273,0.454460,0.148670],[-0.467259,-0.881724,-0.065060],[0.101519,-0.126608,0.986744]]
2025-10-27T00:26:57.269Z,1761524817.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:57.276Z,1761524817.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 353.787231 m,
      bearing: 213.909714 deg,
      approach rate: -0.751545 m/s,
      LOS rate: 0.010698 deg/s,
      cmd heading: 206.229625 deg,
      new cmd heading: 206.241868 deg.

2025-10-27T00:26:57.277Z,1761524817.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599600 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:57.396Z,1761524817.396 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:57.618Z,1761524817.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877862,0.455078,0.149204],[-0.468534,-0.880602,-0.070815],[0.099163,-0.132073,0.986267]]
2025-10-27T00:26:57.635Z,1761524817.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:57.637Z,1761524817.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:57.640Z,1761524817.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 353.540833 m,
      bearing: 213.913173 deg,
      approach rate: -0.670103 m/s,
      LOS rate: 0.009414 deg/s,
      cmd heading: 206.241865 deg,
      new cmd heading: 206.252250 deg.

2025-10-27T00:26:57.641Z,1761524817.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599781 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:57.648Z,1761524817.648 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:57.902Z,1761524817.902 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:58.018Z,1761524818.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877243,0.456269,0.149206],[-0.470157,-0.879381,-0.075114],[0.096937,-0.136043,0.985949]]
2025-10-27T00:26:58.068Z,1761524818.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:58.070Z,1761524818.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 353.252441 m,
      bearing: 213.916411 deg,
      approach rate: -0.669494 m/s,
      LOS rate: 0.007524 deg/s,
      cmd heading: 206.252247 deg,
      new cmd heading: 206.261970 deg.

2025-10-27T00:26:58.071Z,1761524818.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599951 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:58.152Z,1761524818.152 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:58.404Z,1761524818.404 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:58.438Z,1761524818.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877005,0.456885,0.148726],[-0.470978,-0.878699,-0.077901],[0.095093,-0.138366,0.985805]]
2025-10-27T00:26:58.458Z,1761524818.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:58.461Z,1761524818.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 352.991272 m,
      bearing: 213.919317 deg,
      approach rate: -0.669421 m/s,
      LOS rate: 0.007452 deg/s,
      cmd heading: 206.261973 deg,
      new cmd heading: 206.270695 deg.

2025-10-27T00:26:58.461Z,1761524818.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600103 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:58.656Z,1761524818.656 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:58.828Z,1761524818.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877010,0.456835,0.148847],[-0.471327,-0.878148,-0.081894],[0.093297,-0.141978,0.985463]]
2025-10-27T00:26:58.912Z,1761524818.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:58.922Z,1761524818.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:58.935Z,1761524818.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 352.728180 m,
      bearing: 213.922241 deg,
      approach rate: -0.567303 m/s,
      LOS rate: 0.006310 deg/s,
      cmd heading: 206.270688 deg,
      new cmd heading: 206.279467 deg.

2025-10-27T00:26:58.937Z,1761524818.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600256 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:59.160Z,1761524819.160 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:59.265Z,1761524819.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877518,0.455550,0.149789],[-0.470687,-0.877971,-0.087297],[0.091742,-0.147109,0.984856]]
2025-10-27T00:26:59.302Z,1761524819.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:59.305Z,1761524819.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 352.423187 m,
      bearing: 213.924270 deg,
      approach rate: -0.801692 m/s,
      LOS rate: 0.005338 deg/s,
      cmd heading: 206.279472 deg,
      new cmd heading: 206.285564 deg.

2025-10-27T00:26:59.306Z,1761524819.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600362 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:59.413Z,1761524819.413 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:59.664Z,1761524819.664 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:26:59.667Z,1761524819.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878258,0.453705,0.151047],[-0.469646,-0.877844,-0.093929],[0.089980,-0.153432,0.984054]]
2025-10-27T00:26:59.686Z,1761524819.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:26:59.690Z,1761524819.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:26:59.694Z,1761524819.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 352.163940 m,
      bearing: 213.926067 deg,
      approach rate: -0.668365 m/s,
      LOS rate: 0.004636 deg/s,
      cmd heading: 206.285565 deg,
      new cmd heading: 206.290959 deg.

2025-10-27T00:26:59.696Z,1761524819.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600456 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:26:59.918Z,1761524819.918 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:00.168Z,1761524820.168 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:00.201Z,1761524820.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:00.204Z,1761524820.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 351.811707 m,
      bearing: 213.926149 deg,
      approach rate: -0.689171 m/s,
      LOS rate: 0.000161 deg/s,
      cmd heading: 206.290960 deg,
      new cmd heading: 206.291207 deg.

2025-10-27T00:27:00.205Z,1761524820.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600461 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:00.421Z,1761524820.421 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:00.474Z,1761524820.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878956,0.452302,0.151192],[-0.469073,-0.877141,-0.102932],[0.086060,-0.161392,0.983131]]
2025-10-27T00:27:00.510Z,1761524820.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:00.512Z,1761524820.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 351.603821 m,
      bearing: 213.926248 deg,
      approach rate: -0.673513 m/s,
      LOS rate: 0.000320 deg/s,
      cmd heading: 206.291206 deg,
      new cmd heading: 206.291503 deg.

2025-10-27T00:27:00.513Z,1761524820.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600466 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:00.672Z,1761524820.672 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:00.891Z,1761524820.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879961,0.450492,0.150753],[-0.467541,-0.877479,-0.106936],[0.084109,-0.164582,0.982771]]
2025-10-27T00:27:00.928Z,1761524820.928 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:00.965Z,1761524820.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:00.972Z,1761524820.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 351.288055 m,
      bearing: 213.926506 deg,
      approach rate: -0.692747 m/s,
      LOS rate: 0.000566 deg/s,
      cmd heading: 206.291507 deg,
      new cmd heading: 206.292281 deg.

2025-10-27T00:27:00.973Z,1761524820.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600480 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:01.176Z,1761524821.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:01.304Z,1761524821.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880803,0.448609,0.151446],[-0.466261,-0.877453,-0.112588],[0.082378,-0.169781,0.982033]]
2025-10-27T00:27:01.379Z,1761524821.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:01.382Z,1761524821.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 351.008820 m,
      bearing: 213.925335 deg,
      approach rate: -0.681840 m/s,
      LOS rate: -0.002861 deg/s,
      cmd heading: 206.292285 deg,
      new cmd heading: 206.288771 deg.

2025-10-27T00:27:01.383Z,1761524821.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600418 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:01.429Z,1761524821.429 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:01.680Z,1761524821.680 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:01.718Z,1761524821.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881950,0.446586,0.150748],[-0.464422,-0.877964,-0.116155],[0.080478,-0.172453,0.981725]]
2025-10-27T00:27:01.735Z,1761524821.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:01.737Z,1761524821.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:01.740Z,1761524821.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 350.756805 m,
      bearing: 213.924377 deg,
      approach rate: -0.696247 m/s,
      LOS rate: -0.002649 deg/s,
      cmd heading: 206.288775 deg,
      new cmd heading: 206.285898 deg.

2025-10-27T00:27:01.741Z,1761524821.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600368 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:01.935Z,1761524821.935 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:02.114Z,1761524822.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882959,0.444738,0.150306],[-0.462724,-0.878497,-0.118863],[0.079180,-0.174501,0.981468]]
2025-10-27T00:27:02.157Z,1761524822.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:02.160Z,1761524822.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 350.473389 m,
      bearing: 213.922226 deg,
      approach rate: -0.674611 m/s,
      LOS rate: -0.005125 deg/s,
      cmd heading: 206.285892 deg,
      new cmd heading: 206.279433 deg.

2025-10-27T00:27:02.161Z,1761524822.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600255 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:02.184Z,1761524822.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:02.436Z,1761524822.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:02.555Z,1761524822.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:02.557Z,1761524822.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 350.205109 m,
      bearing: 213.920186 deg,
      approach rate: -0.674740 m/s,
      LOS rate: -0.005133 deg/s,
      cmd heading: 206.279431 deg,
      new cmd heading: 206.273308 deg.

2025-10-27T00:27:02.558Z,1761524822.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600148 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:02.688Z,1761524822.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:02.942Z,1761524822.942 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:02.976Z,1761524822.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885090,0.441611,0.146955],[-0.459204,-0.880028,-0.121170],[0.075814,-0.174729,0.981693]]
2025-10-27T00:27:03.019Z,1761524823.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:03.022Z,1761524823.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 349.895111 m,
      bearing: 213.917554 deg,
      approach rate: -0.667766 m/s,
      LOS rate: -0.005674 deg/s,
      cmd heading: 206.273311 deg,
      new cmd heading: 206.265409 deg.

2025-10-27T00:27:03.023Z,1761524823.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600010 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:03.192Z,1761524823.192 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:03.344Z,1761524823.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886600,0.439320,0.144699],[-0.456568,-0.881327,-0.121694],[0.074064,-0.173958,0.981964]]
2025-10-27T00:27:03.374Z,1761524823.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:03.380Z,1761524823.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 349.662720 m,
      bearing: 213.915691 deg,
      approach rate: -0.655007 m/s,
      LOS rate: -0.005254 deg/s,
      cmd heading: 206.265402 deg,
      new cmd heading: 206.259810 deg.

2025-10-27T00:27:03.384Z,1761524823.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599913 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:03.445Z,1761524823.445 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:03.696Z,1761524823.696 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:03.747Z,1761524823.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888091,0.437178,0.142022],[-0.453966,-0.882676,-0.121646],[0.072179,-0.172505,0.982360]]
2025-10-27T00:27:03.774Z,1761524823.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:03.776Z,1761524823.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:03.778Z,1761524823.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 349.388702 m,
      bearing: 213.913620 deg,
      approach rate: -0.681396 m/s,
      LOS rate: -0.005154 deg/s,
      cmd heading: 206.259815 deg,
      new cmd heading: 206.253597 deg.

2025-10-27T00:27:03.780Z,1761524823.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599804 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:03.950Z,1761524823.950 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:04.200Z,1761524824.200 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:04.204Z,1761524824.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889776,0.434647,0.139214],[-0.450968,-0.884201,-0.121720],[0.070187,-0.171085,0.982753]]
2025-10-27T00:27:04.257Z,1761524824.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:04.260Z,1761524824.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 349.072876 m,
      bearing: 213.912086 deg,
      approach rate: -0.655775 m/s,
      LOS rate: -0.003188 deg/s,
      cmd heading: 206.253599 deg,
      new cmd heading: 206.248993 deg.

2025-10-27T00:27:04.261Z,1761524824.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599724 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:04.452Z,1761524824.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:04.606Z,1761524824.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891002,0.432653,0.137571],[-0.448859,-0.884965,-0.123948],[0.068120,-0.172188,0.982706]]
2025-10-27T00:27:04.624Z,1761524824.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:04.626Z,1761524824.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 348.832764 m,
      bearing: 213.911018 deg,
      approach rate: -0.655344 m/s,
      LOS rate: -0.002919 deg/s,
      cmd heading: 206.248996 deg,
      new cmd heading: 206.245788 deg.

2025-10-27T00:27:04.628Z,1761524824.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599668 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:04.705Z,1761524824.705 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:04.961Z,1761524824.961 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:05.042Z,1761524825.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892244,0.430614,0.135914],[-0.446708,-0.885714,-0.126343],[0.065976,-0.173442,0.982632]]
2025-10-27T00:27:05.109Z,1761524825.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:05.112Z,1761524825.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 348.529846 m,
      bearing: 213.910734 deg,
      approach rate: -0.624682 m/s,
      LOS rate: -0.000586 deg/s,
      cmd heading: 206.245786 deg,
      new cmd heading: 206.244933 deg.

2025-10-27T00:27:05.113Z,1761524825.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599653 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:05.208Z,1761524825.208 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:27:05.209Z,1761524825.209 [DAT](INFO): response not received
2025-10-27T00:27:05.209Z,1761524825.209 [DAT](ERROR): No response from remote modem.
2025-10-27T00:27:05.209Z,1761524825.209 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:05.209Z,1761524825.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:27:05.442Z,1761524825.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893428,0.428808,0.133830],[-0.444762,-0.886225,-0.129582],[0.063038,-0.175295,0.982496]]
2025-10-27T00:27:05.460Z,1761524825.460 [DAT](INFO): DAT read: user:105>Tx time:00:27:06.7983

2025-10-27T00:27:05.461Z,1761524825.461 [DAT](INFO): DAT read: 

2025-10-27T00:27:05.461Z,1761524825.461 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:05.506Z,1761524825.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:05.509Z,1761524825.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 348.266541 m,
      bearing: 213.910590 deg,
      approach rate: -0.667849 m/s,
      LOS rate: -0.000365 deg/s,
      cmd heading: 206.244939 deg,
      new cmd heading: 206.244507 deg.

2025-10-27T00:27:05.510Z,1761524825.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599646 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:05.712Z,1761524825.712 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:05.846Z,1761524825.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894372,0.427466,0.131800],[-0.443277,-0.886481,-0.132882],[0.060036,-0.177270,0.982329]]
2025-10-27T00:27:05.862Z,1761524825.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:05.864Z,1761524825.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:05.887Z,1761524825.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 348.026917 m,
      bearing: 213.910533 deg,
      approach rate: -0.663433 m/s,
      LOS rate: -0.000158 deg/s,
      cmd heading: 206.244501 deg,
      new cmd heading: 206.244331 deg.

2025-10-27T00:27:05.888Z,1761524825.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599643 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:05.965Z,1761524825.965 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:06.216Z,1761524826.216 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:06.283Z,1761524826.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895515,0.426290,0.127787],[-0.441401,-0.887408,-0.132939],[0.056729,-0.175454,0.982852]]
2025-10-27T00:27:06.318Z,1761524826.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:06.321Z,1761524826.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 347.733337 m,
      bearing: 213.912146 deg,
      approach rate: -0.646488 m/s,
      LOS rate: 0.003554 deg/s,
      cmd heading: 206.244324 deg,
      new cmd heading: 206.249165 deg.

2025-10-27T00:27:06.322Z,1761524826.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599727 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:06.468Z,1761524826.468 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:06.699Z,1761524826.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:06.704Z,1761524826.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 347.489716 m,
      bearing: 213.913486 deg,
      approach rate: -0.639925 m/s,
      LOS rate: 0.003523 deg/s,
      cmd heading: 206.249160 deg,
      new cmd heading: 206.253183 deg.

2025-10-27T00:27:06.705Z,1761524826.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599797 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:06.720Z,1761524826.720 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:06.974Z,1761524826.974 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:07.119Z,1761524827.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:07.122Z,1761524827.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 347.223267 m,
      bearing: 213.916543 deg,
      approach rate: -0.633758 m/s,
      LOS rate: 0.007277 deg/s,
      cmd heading: 206.253189 deg,
      new cmd heading: 206.262368 deg.

2025-10-27T00:27:07.123Z,1761524827.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599957 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:07.224Z,1761524827.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:07.462Z,1761524827.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897791,0.424531,0.117238],[-0.438013,-0.888465,-0.137019],[0.045993,-0.174366,0.983606]]
2025-10-27T00:27:07.476Z,1761524827.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:07.501Z,1761524827.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:07.503Z,1761524827.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 346.984192 m,
      bearing: 213.919449 deg,
      approach rate: -0.627173 m/s,
      LOS rate: 0.007628 deg/s,
      cmd heading: 206.262369 deg,
      new cmd heading: 206.271092 deg.

2025-10-27T00:27:07.504Z,1761524827.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600110 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:07.728Z,1761524827.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:07.865Z,1761524827.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898190,0.424728,0.113402],[-0.437576,-0.888549,-0.137870],[0.042206,-0.173456,0.983937]]
2025-10-27T00:27:07.918Z,1761524827.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:07.925Z,1761524827.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:07.934Z,1761524827.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 346.740540 m,
      bearing: 213.922435 deg,
      approach rate: -0.574208 m/s,
      LOS rate: 0.007043 deg/s,
      cmd heading: 206.271098 deg,
      new cmd heading: 206.280064 deg.

2025-10-27T00:27:07.943Z,1761524827.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600266 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:07.980Z,1761524827.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:08.232Z,1761524828.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:08.278Z,1761524828.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899178,0.424634,0.105665],[-0.436163,-0.889180,-0.138278],[0.035238,-0.170423,0.984741]]
2025-10-27T00:27:08.328Z,1761524828.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:08.330Z,1761524828.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 346.459930 m,
      bearing: 213.926657 deg,
      approach rate: -0.696876 m/s,
      LOS rate: 0.010493 deg/s,
      cmd heading: 206.280059 deg,
      new cmd heading: 206.292735 deg.

2025-10-27T00:27:08.332Z,1761524828.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600487 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:08.484Z,1761524828.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:08.684Z,1761524828.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899685,0.424464,0.101969],[-0.435391,-0.889431,-0.139095],[0.031653,-0.169538,0.985015]]
2025-10-27T00:27:08.710Z,1761524828.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:08.714Z,1761524828.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 346.218445 m,
      bearing: 213.930331 deg,
      approach rate: -0.631104 m/s,
      LOS rate: 0.009608 deg/s,
      cmd heading: 206.292736 deg,
      new cmd heading: 206.303765 deg.

2025-10-27T00:27:08.716Z,1761524828.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600680 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:08.736Z,1761524828.736 [DAT](INFO): DAT read: Rx Time:00:27:09.6703

2025-10-27T00:27:08.736Z,1761524828.736 [DAT](INFO): Rx dataTimestamp_ set to:1761524828.736045
2025-10-27T00:27:08.737Z,1761524828.737 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:08.988Z,1761524828.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:09.084Z,1761524829.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899985,0.424729,0.098139],[-0.435019,-0.889537,-0.139579],[0.028015,-0.168311,0.985336]]
2025-10-27T00:27:09.127Z,1761524829.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.14 m.
2025-10-27T00:27:09.130Z,1761524829.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.143219 m,
      nav range: 345.948578 m,
      bearing: 213.934692 deg,
      approach rate: -0.647593 m/s,
      LOS rate: 0.010473 deg/s,
      cmd heading: 206.303760 deg,
      new cmd heading: 206.316854 deg.

2025-10-27T00:27:09.131Z,1761524829.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600909 target range: 367.143219 and range: 368.70 m.
2025-10-27T00:27:09.246Z,1761524829.246 [DAT](INFO): DAT read: 00:27:09.6703 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 227, 0.00, 2.221, 0.782, 2.192, 1.706, PHS= 0.617,-0.879, 0.442, RAW= 143.9,  -2.6, CAL= 143.6,  -3.0, ROT=   6.4,   3.0

2025-10-27T00:27:09.247Z,1761524829.247 [DAT](INFO): got valid direction response:
 00:27:09.6703 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 227, 0.00, 2.221, 0.782, 2.192, 1.706, PHS= 0.617,-0.879, 0.442, RAW= 143.9,  -2.6, CAL= 143.6,  -3.0, ROT=   6.4,   3.0

2025-10-27T00:27:09.248Z,1761524829.248 [DAT](INFO): DAT read: Bearing 346.2,   8.8 (Local)

2025-10-27T00:27:09.249Z,1761524829.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.2,   8.8 (Local)

2025-10-27T00:27:09.250Z,1761524829.250 [DAT](INFO): DAT read: Range 11 to 50 : 350.8 m  (Round-trip  467.8 ms) speed  0.1 m/s

2025-10-27T00:27:09.252Z,1761524829.252 [DAT](INFO): DAT read: user:106>Tx time:00:27:10.7483

2025-10-27T00:27:09.252Z,1761524829.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:27:09.253Z,1761524829.253 [DAT](INFO): direction in FSK: [0.992406,0.111316,-0.052336]
2025-10-27T00:27:09.253Z,1761524829.253 [DAT](INFO): publishing direction and range info
2025-10-27T00:27:09.261Z,1761524829.261 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:09.261Z,1761524829.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:27:09.487Z,1761524829.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900410,0.424795,0.093870],[-0.434357,-0.889926,-0.139161],[0.024423,-0.166075,0.985811]]
2025-10-27T00:27:09.492Z,1761524829.492 [DAT](INFO): DAT read: 

2025-10-27T00:27:09.492Z,1761524829.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:09.527Z,1761524829.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 350.799988 m,
      deltaT: 28.980148 s,
      deltaX: -17.900024 m,
      approachRate: -0.617665 m/s,
      rangeRepo size: 4

2025-10-27T00:27:09.529Z,1761524829.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 349.302582 m,
      bearing: 211.559846 deg,
      lat: 36.779334 deg,
      lon: -121.860055 deg,
      deltaT: 28.980148 s,
      deltaX: -17.840637 m,
      approachRate: -0.615616 m/s,
      posRepo size: 4

2025-10-27T00:27:09.530Z,1761524829.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:09.537Z,1761524829.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 346.417725 m,
      bearing: 213.859382 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010473 deg/s,
      cmd heading: 206.316860 deg,
      new cmd heading: 206.328906 deg.

2025-10-27T00:27:09.538Z,1761524829.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601119 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:09.551Z,1761524829.551 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:27:09.746Z,1761524829.746 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:09.897Z,1761524829.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900846,0.424845,0.089353],[-0.433648,-0.890354,-0.138637],[0.020656,-0.163638,0.986304]]
2025-10-27T00:27:09.925Z,1761524829.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:09.930Z,1761524829.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:09.933Z,1761524829.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 346.148743 m,
      bearing: 213.863730 deg,
      approach rate: -0.640708 m/s,
      LOS rate: 0.010363 deg/s,
      cmd heading: 206.328909 deg,
      new cmd heading: 206.341961 deg.

2025-10-27T00:27:09.934Z,1761524829.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601346 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:09.996Z,1761524829.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:10.248Z,1761524830.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:10.296Z,1761524830.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901276,0.424827,0.084990],[-0.432913,-0.890769,-0.138261],[0.016970,-0.161405,0.986742]]
2025-10-27T00:27:10.348Z,1761524830.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:10.350Z,1761524830.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 345.876190 m,
      bearing: 213.867609 deg,
      approach rate: -0.652880 m/s,
      LOS rate: 0.009301 deg/s,
      cmd heading: 206.341955 deg,
      new cmd heading: 206.353602 deg.

2025-10-27T00:27:10.351Z,1761524830.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601550 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:10.500Z,1761524830.500 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:10.556Z,1761524830.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:27:10.699Z,1761524830.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901590,0.424811,0.081677],[-0.432389,-0.890744,-0.140055],[0.013256,-0.161589,0.986769]]
2025-10-27T00:27:10.731Z,1761524830.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:10.734Z,1761524830.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 345.628815 m,
      bearing: 213.871161 deg,
      approach rate: -0.645331 m/s,
      LOS rate: 0.009271 deg/s,
      cmd heading: 206.353607 deg,
      new cmd heading: 206.364268 deg.

2025-10-27T00:27:10.735Z,1761524830.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601736 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:10.753Z,1761524830.753 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:11.004Z,1761524831.004 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:11.105Z,1761524831.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901466,0.425699,0.078348],[-0.432745,-0.890323,-0.141624],[0.009466,-0.161574,0.986815]]
2025-10-27T00:27:11.156Z,1761524831.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:11.159Z,1761524831.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 345.345825 m,
      bearing: 213.874912 deg,
      approach rate: -0.665472 m/s,
      LOS rate: 0.008830 deg/s,
      cmd heading: 206.364262 deg,
      new cmd heading: 206.375527 deg.

2025-10-27T00:27:11.160Z,1761524831.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601933 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:11.257Z,1761524831.257 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:11.502Z,1761524831.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901457,0.426435,0.074357],[-0.432830,-0.890306,-0.141469],[0.005873,-0.159712,0.987146]]
2025-10-27T00:27:11.508Z,1761524831.508 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:11.521Z,1761524831.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:11.536Z,1761524831.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 345.103363 m,
      bearing: 213.878123 deg,
      approach rate: -0.664584 m/s,
      LOS rate: 0.008807 deg/s,
      cmd heading: 206.375532 deg,
      new cmd heading: 206.385171 deg.

2025-10-27T00:27:11.537Z,1761524831.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602101 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:11.760Z,1761524831.760 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:11.919Z,1761524831.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901207,0.427541,0.070956],[-0.433382,-0.890004,-0.141681],[0.002577,-0.158435,0.987366]]
2025-10-27T00:27:11.938Z,1761524831.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:11.940Z,1761524831.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:11.959Z,1761524831.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 344.824921 m,
      bearing: 213.881783 deg,
      approach rate: -0.663781 m/s,
      LOS rate: 0.008732 deg/s,
      cmd heading: 206.385176 deg,
      new cmd heading: 206.396165 deg.

2025-10-27T00:27:11.960Z,1761524831.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602293 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:12.013Z,1761524832.013 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:12.264Z,1761524832.264 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:12.311Z,1761524832.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900693,0.429265,0.066960],[-0.434455,-0.889656,-0.140570],[-0.000770,-0.155701,0.987804]]
2025-10-27T00:27:12.350Z,1761524832.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:12.352Z,1761524832.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 344.559448 m,
      bearing: 213.884636 deg,
      approach rate: -0.648920 m/s,
      LOS rate: 0.006978 deg/s,
      cmd heading: 206.396159 deg,
      new cmd heading: 206.404723 deg.

2025-10-27T00:27:12.353Z,1761524832.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602442 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:12.516Z,1761524832.516 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:12.720Z,1761524832.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899933,0.431476,0.062842],[-0.436002,-0.888922,-0.140426],[-0.004729,-0.153774,0.988095]]
2025-10-27T00:27:12.746Z,1761524832.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:12.748Z,1761524832.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 344.302490 m,
      bearing: 213.887320 deg,
      approach rate: -0.648669 m/s,
      LOS rate: 0.006780 deg/s,
      cmd heading: 206.404724 deg,
      new cmd heading: 206.412782 deg.

2025-10-27T00:27:12.749Z,1761524832.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602583 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:12.768Z,1761524832.768 [DAT](INFO): DAT read: Rx Time:00:27:13.6166

2025-10-27T00:27:12.769Z,1761524832.769 [DAT](INFO): Rx dataTimestamp_ set to:1761524832.768533
2025-10-27T00:27:12.769Z,1761524832.769 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:13.020Z,1761524833.020 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:13.162Z,1761524833.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899262,0.433449,0.058741],[-0.437332,-0.888403,-0.139576],[-0.008313,-0.151205,0.988468]]
2025-10-27T00:27:13.198Z,1761524833.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.30 m.
2025-10-27T00:27:13.201Z,1761524833.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.302582 m,
      nav range: 344.010132 m,
      bearing: 213.889230 deg,
      approach rate: -0.646164 m/s,
      LOS rate: 0.004226 deg/s,
      cmd heading: 206.412784 deg,
      new cmd heading: 206.418520 deg.

2025-10-27T00:27:13.202Z,1761524833.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602683 target range: 349.302582 and range: 350.80 m.
2025-10-27T00:27:13.280Z,1761524833.280 [DAT](INFO): DAT read: 00:27:13.6166 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 398,-0.23, 1.702, 0.070, 1.592, 1.167, PHS= 0.636,-1.052, 0.380, RAW= 141.9,   0.5, CAL= 141.7,   0.8, ROT=   8.3,  -0.8

2025-10-27T00:27:13.282Z,1761524833.282 [DAT](INFO): got valid direction response:
 00:27:13.6166 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 398,-0.23, 1.702, 0.070, 1.592, 1.167, PHS= 0.636,-1.052, 0.380, RAW= 141.9,   0.5, CAL= 141.7,   0.8, ROT=   8.3,  -0.8

2025-10-27T00:27:13.284Z,1761524833.284 [DAT](INFO): DAT read: Bearing 349.9,   7.9 (Local)

2025-10-27T00:27:13.285Z,1761524833.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,   7.9 (Local)

2025-10-27T00:27:13.286Z,1761524833.286 [DAT](INFO): DAT read: Range 11 to 50 : 348.1 m  (Round-trip  464.2 ms) speed  0.4 m/s

2025-10-27T00:27:13.287Z,1761524833.287 [DAT](INFO): DAT read: user:107>Tx time:00:27:14.6983

2025-10-27T00:27:13.288Z,1761524833.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:27:13.289Z,1761524833.289 [DAT](INFO): direction in FSK: [0.989429,0.144342,0.013962]
2025-10-27T00:27:13.289Z,1761524833.289 [DAT](INFO): publishing direction and range info
2025-10-27T00:27:13.309Z,1761524833.309 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:13.309Z,1761524833.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:27:13.524Z,1761524833.524 [DAT](INFO): DAT read: 

2025-10-27T00:27:13.524Z,1761524833.524 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:13.527Z,1761524833.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898244,0.435917,0.055976],[-0.439346,-0.887287,-0.140348],[-0.011513,-0.150659,0.988519]]
2025-10-27T00:27:13.551Z,1761524833.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 348.100006 m,
      deltaT: 4.032351 s,
      deltaX: -2.699982 m,
      approachRate: -0.669580 m/s,
      rangeRepo size: 4

2025-10-27T00:27:13.553Z,1761524833.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 346.561035 m,
      bearing: 214.391147 deg,
      lat: 36.779334 deg,
      lon: -121.860101 deg,
      deltaT: 4.032351 s,
      deltaX: -2.741547 m,
      approachRate: -0.679888 m/s,
      posRepo size: 4

2025-10-27T00:27:13.554Z,1761524833.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:13.557Z,1761524833.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 346.037567 m,
      bearing: 214.441831 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004226 deg/s,
      cmd heading: 206.418521 deg,
      new cmd heading: 206.422986 deg.

2025-10-27T00:27:13.558Z,1761524833.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602761 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:13.776Z,1761524833.776 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:13.928Z,1761524833.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897413,0.437908,0.053733],[-0.440963,-0.886347,-0.141209],[-0.014211,-0.150417,0.988521]]
2025-10-27T00:27:13.948Z,1761524833.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:13.950Z,1761524833.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:13.953Z,1761524833.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 345.779449 m,
      bearing: 214.443745 deg,
      approach rate: -0.645908 m/s,
      LOS rate: 0.004792 deg/s,
      cmd heading: 206.422988 deg,
      new cmd heading: 206.428733 deg.

2025-10-27T00:27:13.954Z,1761524833.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602861 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:14.028Z,1761524834.028 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:14.281Z,1761524834.281 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:14.330Z,1761524834.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896460,0.440189,0.050915],[-0.442792,-0.885408,-0.141378],[-0.017152,-0.149285,0.988646]]
2025-10-27T00:27:14.400Z,1761524834.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:14.408Z,1761524834.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 345.501831 m,
      bearing: 214.445254 deg,
      approach rate: -0.623782 m/s,
      LOS rate: 0.003393 deg/s,
      cmd heading: 206.428739 deg,
      new cmd heading: 206.433269 deg.

2025-10-27T00:27:14.410Z,1761524834.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602940 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:14.532Z,1761524834.532 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:14.737Z,1761524834.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895859,0.441865,0.046822],[-0.443866,-0.885063,-0.140166],[-0.020494,-0.146351,0.989020]]
2025-10-27T00:27:14.755Z,1761524834.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:14.758Z,1761524834.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 345.259094 m,
      bearing: 214.446515 deg,
      approach rate: -0.673945 m/s,
      LOS rate: 0.003504 deg/s,
      cmd heading: 206.433274 deg,
      new cmd heading: 206.437060 deg.

2025-10-27T00:27:14.759Z,1761524834.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603006 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:14.784Z,1761524834.784 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:15.036Z,1761524835.036 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:15.162Z,1761524835.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895580,0.442935,0.041767],[-0.444232,-0.885143,-0.138493],[-0.024373,-0.142586,0.989482]]
2025-10-27T00:27:15.199Z,1761524835.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:15.201Z,1761524835.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 344.970795 m,
      bearing: 214.447216 deg,
      approach rate: -0.650050 m/s,
      LOS rate: 0.001581 deg/s,
      cmd heading: 206.437058 deg,
      new cmd heading: 206.439162 deg.

2025-10-27T00:27:15.202Z,1761524835.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603043 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:15.290Z,1761524835.290 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:15.542Z,1761524835.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895690,0.443087,0.037582],[-0.443758,-0.885203,-0.139623],[-0.028597,-0.141736,0.989491]]
2025-10-27T00:27:15.544Z,1761524835.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:15.572Z,1761524835.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:15.576Z,1761524835.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 344.727753 m,
      bearing: 214.447821 deg,
      approach rate: -0.650340 m/s,
      LOS rate: 0.001621 deg/s,
      cmd heading: 206.439162 deg,
      new cmd heading: 206.440980 deg.

2025-10-27T00:27:15.577Z,1761524835.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603075 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:15.796Z,1761524835.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:15.945Z,1761524835.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895697,0.443195,0.036131],[-0.443482,-0.884435,-0.145254],[-0.032420,-0.146127,0.988735]]
2025-10-27T00:27:15.966Z,1761524835.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:15.968Z,1761524835.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:15.971Z,1761524835.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 344.472900 m,
      bearing: 214.448481 deg,
      approach rate: -0.644030 m/s,
      LOS rate: 0.001670 deg/s,
      cmd heading: 206.440979 deg,
      new cmd heading: 206.442961 deg.

2025-10-27T00:27:15.988Z,1761524835.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603109 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:16.049Z,1761524836.049 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:16.300Z,1761524836.300 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:16.351Z,1761524836.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895186,0.444356,0.034501],[-0.444211,-0.883224,-0.150307],[-0.036318,-0.149878,0.988037]]
2025-10-27T00:27:16.423Z,1761524836.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:16.426Z,1761524836.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 344.188965 m,
      bearing: 214.449066 deg,
      approach rate: -0.629380 m/s,
      LOS rate: 0.001298 deg/s,
      cmd heading: 206.442959 deg,
      new cmd heading: 206.444717 deg.

2025-10-27T00:27:16.431Z,1761524836.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603140 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:16.552Z,1761524836.552 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:16.753Z,1761524836.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894725,0.445508,0.031459],[-0.444746,-0.882319,-0.153993],[-0.040849,-0.151773,0.987571]]
2025-10-27T00:27:16.780Z,1761524836.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:16.782Z,1761524836.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 343.934784 m,
      bearing: 214.449566 deg,
      approach rate: -0.706562 m/s,
      LOS rate: 0.001390 deg/s,
      cmd heading: 206.444722 deg,
      new cmd heading: 206.446222 deg.

2025-10-27T00:27:16.783Z,1761524836.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603166 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:16.804Z,1761524836.804 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:17.056Z,1761524837.056 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:17.186Z,1761524837.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894290,0.446619,0.027877],[-0.445205,-0.881711,-0.156139],[-0.045155,-0.152045,0.987342]]
2025-10-27T00:27:17.225Z,1761524837.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:17.228Z,1761524837.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 343.640381 m,
      bearing: 214.449281 deg,
      approach rate: -0.659909 m/s,
      LOS rate: -0.000640 deg/s,
      cmd heading: 206.446224 deg,
      new cmd heading: 206.445368 deg.

2025-10-27T00:27:17.229Z,1761524837.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603151 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:17.308Z,1761524837.308 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:17.560Z,1761524837.560 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:17.609Z,1761524837.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:17.613Z,1761524837.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 343.395142 m,
      bearing: 214.449043 deg,
      approach rate: -0.638328 m/s,
      LOS rate: -0.000620 deg/s,
      cmd heading: 206.445364 deg,
      new cmd heading: 206.444649 deg.

2025-10-27T00:27:17.614Z,1761524837.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603139 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:17.813Z,1761524837.813 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:17.967Z,1761524837.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894580,0.446433,0.020581],[-0.443877,-0.882217,-0.157057],[-0.051958,-0.149635,0.987375]]
2025-10-27T00:27:17.986Z,1761524837.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:17.988Z,1761524837.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:17.991Z,1761524837.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 343.136139 m,
      bearing: 214.448834 deg,
      approach rate: -0.683082 m/s,
      LOS rate: -0.000551 deg/s,
      cmd heading: 206.444653 deg,
      new cmd heading: 206.444026 deg.

2025-10-27T00:27:17.992Z,1761524837.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603128 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:18.065Z,1761524838.065 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:18.316Z,1761524838.316 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:18.369Z,1761524838.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894513,0.446672,0.018164],[-0.443730,-0.882216,-0.157475],[-0.054315,-0.148923,0.987356]]
2025-10-27T00:27:18.427Z,1761524838.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:18.430Z,1761524838.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 342.849701 m,
      bearing: 214.448210 deg,
      approach rate: -0.653053 m/s,
      LOS rate: -0.001424 deg/s,
      cmd heading: 206.444025 deg,
      new cmd heading: 206.442151 deg.

2025-10-27T00:27:18.431Z,1761524838.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603095 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:18.568Z,1761524838.568 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:18.774Z,1761524838.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894815,0.446078,0.017926],[-0.442974,-0.882165,-0.159872],[-0.055501,-0.150997,0.986975]]
2025-10-27T00:27:18.797Z,1761524838.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:18.800Z,1761524838.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 342.607910 m,
      bearing: 214.447721 deg,
      approach rate: -0.652919 m/s,
      LOS rate: -0.001322 deg/s,
      cmd heading: 206.442153 deg,
      new cmd heading: 206.440685 deg.

2025-10-27T00:27:18.801Z,1761524838.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603070 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:18.820Z,1761524838.820 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:19.072Z,1761524839.072 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:19.216Z,1761524839.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894748,0.446171,0.018894],[-0.443020,-0.881516,-0.163290],[-0.056200,-0.154474,0.986397]]
2025-10-27T00:27:19.252Z,1761524839.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:19.255Z,1761524839.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 342.307495 m,
      bearing: 214.447823 deg,
      approach rate: -0.660272 m/s,
      LOS rate: 0.000224 deg/s,
      cmd heading: 206.440692 deg,
      new cmd heading: 206.440998 deg.

2025-10-27T00:27:19.256Z,1761524839.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603075 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:19.324Z,1761524839.324 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:19.576Z,1761524839.576 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:19.605Z,1761524839.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894970,0.445718,0.019089],[-0.442541,-0.881552,-0.164389],[-0.056443,-0.155571,0.986211]]
2025-10-27T00:27:19.622Z,1761524839.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:19.625Z,1761524839.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 342.063049 m,
      bearing: 214.447931 deg,
      approach rate: -0.660475 m/s,
      LOS rate: 0.000292 deg/s,
      cmd heading: 206.440992 deg,
      new cmd heading: 206.441317 deg.

2025-10-27T00:27:19.626Z,1761524839.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603081 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:19.828Z,1761524839.828 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:20.006Z,1761524840.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894985,0.445670,0.019523],[-0.442466,-0.881276,-0.166063],[-0.056804,-0.157262,0.985922]]
2025-10-27T00:27:20.033Z,1761524840.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:20.035Z,1761524840.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:20.038Z,1761524840.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 341.790924 m,
      bearing: 214.448061 deg,
      approach rate: -0.659587 m/s,
      LOS rate: 0.000315 deg/s,
      cmd heading: 206.441320 deg,
      new cmd heading: 206.441710 deg.

2025-10-27T00:27:20.039Z,1761524840.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603088 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:20.081Z,1761524840.081 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:20.332Z,1761524840.332 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:20.410Z,1761524840.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895163,0.445301,0.019760],[-0.442059,-0.881214,-0.167471],[-0.057162,-0.158649,0.985679]]
2025-10-27T00:27:20.454Z,1761524840.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:20.457Z,1761524840.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 341.511230 m,
      bearing: 214.449317 deg,
      approach rate: -0.667157 m/s,
      LOS rate: 0.002998 deg/s,
      cmd heading: 206.441716 deg,
      new cmd heading: 206.445487 deg.

2025-10-27T00:27:20.458Z,1761524840.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603153 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:20.584Z,1761524840.584 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:20.836Z,1761524840.836 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:20.915Z,1761524840.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895255,0.445110,0.019882],[-0.441844,-0.881172,-0.168252],[-0.057371,-0.159413,0.985544]]
2025-10-27T00:27:20.933Z,1761524840.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:20.936Z,1761524840.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 341.192169 m,
      bearing: 214.450767 deg,
      approach rate: -0.666406 m/s,
      LOS rate: 0.003032 deg/s,
      cmd heading: 206.445487 deg,
      new cmd heading: 206.449842 deg.

2025-10-27T00:27:20.937Z,1761524840.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603230 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:21.089Z,1761524841.089 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:21.314Z,1761524841.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895421,0.444769,0.020072],[-0.441509,-0.881241,-0.168775],[-0.057377,-0.159986,0.985450]]
2025-10-27T00:27:21.333Z,1761524841.333 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +111.22,      +542    13.00,  0.00
2025-10-27T00:27:21.340Z,1761524841.340 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:21.378Z,1761524841.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:21.384Z,1761524841.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 340.900360 m,
      bearing: 214.452116 deg,
      approach rate: -0.655522 m/s,
      LOS rate: 0.003033 deg/s,
      cmd heading: 206.449844 deg,
      new cmd heading: 206.453895 deg.

2025-10-27T00:27:21.385Z,1761524841.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603300 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:21.592Z,1761524841.592 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:21.844Z,1761524841.844 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:21.853Z,1761524841.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895752,0.444112,0.019819],[-0.440869,-0.881716,-0.167962],[-0.057119,-0.159190,0.985594]]
2025-10-27T00:27:21.898Z,1761524841.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:21.901Z,1761524841.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 340.555115 m,
      bearing: 214.453754 deg,
      approach rate: -0.663690 m/s,
      LOS rate: 0.003152 deg/s,
      cmd heading: 206.453888 deg,
      new cmd heading: 206.458807 deg.

2025-10-27T00:27:21.902Z,1761524841.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603386 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:22.096Z,1761524842.096 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:22.297Z,1761524842.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895902,0.443787,0.020304],[-0.440581,-0.881708,-0.168756],[-0.056990,-0.160134,0.985449]]
2025-10-27T00:27:22.348Z,1761524842.348 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:22.364Z,1761524842.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:22.381Z,1761524842.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:22.389Z,1761524842.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 340.265625 m,
      bearing: 214.456768 deg,
      approach rate: -0.600852 m/s,
      LOS rate: 0.006260 deg/s,
      cmd heading: 206.458805 deg,
      new cmd heading: 206.467854 deg.

2025-10-27T00:27:22.402Z,1761524842.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603544 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:22.603Z,1761524842.603 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:22.717Z,1761524842.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895513,0.444546,0.020844],[-0.441340,-0.881080,-0.170051],[-0.057231,-0.161482,0.985215]]
2025-10-27T00:27:22.752Z,1761524842.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:22.754Z,1761524842.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 340.004242 m,
      bearing: 214.459459 deg,
      approach rate: -0.736786 m/s,
      LOS rate: 0.007591 deg/s,
      cmd heading: 206.467849 deg,
      new cmd heading: 206.475928 deg.

2025-10-27T00:27:22.760Z,1761524842.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603685 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:22.852Z,1761524842.852 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:23.104Z,1761524843.104 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:23.115Z,1761524843.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895240,0.445150,0.019675],[-0.441758,-0.880912,-0.169836],[-0.058271,-0.160735,0.985276]]
2025-10-27T00:27:23.151Z,1761524843.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:23.153Z,1761524843.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 339.745300 m,
      bearing: 214.462105 deg,
      approach rate: -0.622898 m/s,
      LOS rate: 0.006371 deg/s,
      cmd heading: 206.475922 deg,
      new cmd heading: 206.483867 deg.

2025-10-27T00:27:23.154Z,1761524843.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603823 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:23.356Z,1761524843.356 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:23.519Z,1761524843.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894647,0.446385,0.018652],[-0.442713,-0.880125,-0.171422],[-0.060104,-0.161620,0.985021]]
2025-10-27T00:27:23.586Z,1761524843.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:23.593Z,1761524843.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 339.462769 m,
      bearing: 214.465224 deg,
      approach rate: -0.649261 m/s,
      LOS rate: 0.007174 deg/s,
      cmd heading: 206.483872 deg,
      new cmd heading: 206.493238 deg.

2025-10-27T00:27:23.594Z,1761524843.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603987 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:23.608Z,1761524843.608 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:23.860Z,1761524843.860 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:23.921Z,1761524843.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893953,0.447862,0.016380],[-0.443775,-0.879511,-0.171827],[-0.062548,-0.160875,0.984991]]
2025-10-27T00:27:23.955Z,1761524843.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:23.958Z,1761524843.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 339.219116 m,
      bearing: 214.467864 deg,
      approach rate: -0.659850 m/s,
      LOS rate: 0.007154 deg/s,
      cmd heading: 206.493243 deg,
      new cmd heading: 206.501168 deg.

2025-10-27T00:27:23.964Z,1761524843.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604125 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:24.112Z,1761524844.112 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:24.331Z,1761524844.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893137,0.449516,0.015570],[-0.445091,-0.878297,-0.174611],[-0.064815,-0.162881,0.984514]]
2025-10-27T00:27:24.372Z,1761524844.372 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:24.397Z,1761524844.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:24.399Z,1761524844.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:24.402Z,1761524844.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 338.944580 m,
      bearing: 214.470603 deg,
      approach rate: -0.618248 m/s,
      LOS rate: 0.006174 deg/s,
      cmd heading: 206.501166 deg,
      new cmd heading: 206.509391 deg.

2025-10-27T00:27:24.417Z,1761524844.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604269 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:24.632Z,1761524844.632 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:24.743Z,1761524844.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892082,0.451636,0.014622],[-0.446850,-0.876893,-0.177154],[-0.067187,-0.164570,0.984074]]
2025-10-27T00:27:24.761Z,1761524844.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:24.764Z,1761524844.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 338.691803 m,
      bearing: 214.473045 deg,
      approach rate: -0.697613 m/s,
      LOS rate: 0.006743 deg/s,
      cmd heading: 206.509390 deg,
      new cmd heading: 206.516720 deg.

2025-10-27T00:27:24.765Z,1761524844.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604397 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:24.876Z,1761524844.876 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:25.128Z,1761524845.128 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:25.143Z,1761524845.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891167,0.453510,0.012254],[-0.448192,-0.875889,-0.178722],[-0.070319,-0.164764,0.983823]]
2025-10-27T00:27:25.161Z,1761524845.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:25.163Z,1761524845.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 338.436127 m,
      bearing: 214.475447 deg,
      approach rate: -0.640582 m/s,
      LOS rate: 0.006024 deg/s,
      cmd heading: 206.516725 deg,
      new cmd heading: 206.523939 deg.

2025-10-27T00:27:25.164Z,1761524845.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604523 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:25.381Z,1761524845.381 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:25.620Z,1761524845.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:25.623Z,1761524845.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 338.142365 m,
      bearing: 214.477815 deg,
      approach rate: -0.639318 m/s,
      LOS rate: 0.005157 deg/s,
      cmd heading: 206.523938 deg,
      new cmd heading: 206.531046 deg.

2025-10-27T00:27:25.624Z,1761524845.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604647 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:25.632Z,1761524845.632 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:27:25.632Z,1761524845.632 [DAT](INFO): response not received
2025-10-27T00:27:25.633Z,1761524845.633 [DAT](INFO): DAT read: user:108>Tx time:00:27:27.1482

2025-10-27T00:27:25.634Z,1761524845.634 [DAT](ERROR): No response from remote modem.
2025-10-27T00:27:25.634Z,1761524845.634 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:25.634Z,1761524845.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:27:25.884Z,1761524845.884 [DAT](INFO): DAT read: 

2025-10-27T00:27:25.885Z,1761524845.885 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:25.950Z,1761524845.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889612,0.456713,0.001746],[-0.450034,-0.875938,-0.173789],[-0.077842,-0.155391,0.984781]]
2025-10-27T00:27:25.968Z,1761524845.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:25.987Z,1761524845.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 337.918274 m,
      bearing: 214.479506 deg,
      approach rate: -0.643260 m/s,
      LOS rate: 0.004859 deg/s,
      cmd heading: 206.531042 deg,
      new cmd heading: 206.536119 deg.

2025-10-27T00:27:25.988Z,1761524845.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604735 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:26.136Z,1761524846.136 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:26.377Z,1761524846.377 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050304154474,35.0, +11.1,   0.0,1494.0RA,  0.00, 145.50, 111.50, 129.86, 124.42
2025-10-27T00:27:26.389Z,1761524846.389 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:26.410Z,1761524846.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:26.416Z,1761524846.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:26.423Z,1761524846.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 337.642944 m,
      bearing: 214.481587 deg,
      approach rate: -0.615068 m/s,
      LOS rate: 0.004653 deg/s,
      cmd heading: 206.536123 deg,
      new cmd heading: 206.542372 deg.

2025-10-27T00:27:26.424Z,1761524846.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604844 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:26.640Z,1761524846.640 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:26.792Z,1761524846.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:26.795Z,1761524846.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 337.390808 m,
      bearing: 214.483496 deg,
      approach rate: -0.670766 m/s,
      LOS rate: 0.005082 deg/s,
      cmd heading: 206.542366 deg,
      new cmd heading: 206.548097 deg.

2025-10-27T00:27:26.796Z,1761524846.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604944 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:26.892Z,1761524846.892 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:27.144Z,1761524847.144 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:27.203Z,1761524847.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:27.206Z,1761524847.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 337.132782 m,
      bearing: 214.485453 deg,
      approach rate: -0.627695 m/s,
      LOS rate: 0.004763 deg/s,
      cmd heading: 206.548103 deg,
      new cmd heading: 206.553978 deg.

2025-10-27T00:27:27.207Z,1761524847.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605047 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:27.397Z,1761524847.397 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:27.569Z,1761524847.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889127,0.457542,-0.010436],[-0.447755,-0.874375,-0.187039],[-0.094703,-0.161629,0.982297]]
2025-10-27T00:27:27.626Z,1761524847.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:27.633Z,1761524847.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 336.870972 m,
      bearing: 214.485579 deg,
      approach rate: -0.618614 m/s,
      LOS rate: 0.000298 deg/s,
      cmd heading: 206.553977 deg,
      new cmd heading: 206.554356 deg.

2025-10-27T00:27:27.634Z,1761524847.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605054 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:27.652Z,1761524847.652 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:27.904Z,1761524847.904 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:27.971Z,1761524847.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888545,0.458578,-0.013909],[-0.447842,-0.873529,-0.190748],[-0.099623,-0.163259,0.981541]]
2025-10-27T00:27:28.037Z,1761524848.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:28.040Z,1761524848.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 336.609894 m,
      bearing: 214.485690 deg,
      approach rate: -0.664907 m/s,
      LOS rate: 0.000283 deg/s,
      cmd heading: 206.554360 deg,
      new cmd heading: 206.554693 deg.

2025-10-27T00:27:28.041Z,1761524848.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605059 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:28.156Z,1761524848.156 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:28.390Z,1761524848.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887905,0.459707,-0.017162],[-0.448040,-0.872626,-0.194384],[-0.104336,-0.164905,0.980775]]
2025-10-27T00:27:28.408Z,1761524848.408 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:28.426Z,1761524848.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:28.428Z,1761524848.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:28.431Z,1761524848.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 336.344940 m,
      bearing: 214.485026 deg,
      approach rate: -0.647171 m/s,
      LOS rate: -0.001625 deg/s,
      cmd heading: 206.554688 deg,
      new cmd heading: 206.552692 deg.

2025-10-27T00:27:28.432Z,1761524848.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605025 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:28.661Z,1761524848.661 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:28.777Z,1761524848.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887039,0.461284,-0.019468],[-0.448764,-0.871337,-0.198452],[-0.108506,-0.167298,0.979917]]
2025-10-27T00:27:28.802Z,1761524848.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:28.805Z,1761524848.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 336.104706 m,
      bearing: 214.484381 deg,
      approach rate: -0.642281 m/s,
      LOS rate: -0.001725 deg/s,
      cmd heading: 206.552693 deg,
      new cmd heading: 206.550757 deg.

2025-10-27T00:27:28.806Z,1761524848.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604991 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:28.912Z,1761524848.912 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:29.164Z,1761524849.164 [DAT](INFO): DAT read: Rx Time:00:27:29.9843

2025-10-27T00:27:29.164Z,1761524849.164 [DAT](INFO): Rx dataTimestamp_ set to:1761524849.164144
2025-10-27T00:27:29.165Z,1761524849.165 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:29.237Z,1761524849.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886079,0.463025,-0.021716],[-0.449714,-0.870072,-0.201819],[-0.112342,-0.169062,0.979182]]
2025-10-27T00:27:29.255Z,1761524849.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:29.257Z,1761524849.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 335.814392 m,
      bearing: 214.483536 deg,
      approach rate: -0.641570 m/s,
      LOS rate: -0.001867 deg/s,
      cmd heading: 206.550753 deg,
      new cmd heading: 206.548218 deg.

2025-10-27T00:27:29.258Z,1761524849.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604946 target range: 346.561035 and range: 348.10 m.
2025-10-27T00:27:29.416Z,1761524849.416 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:29.673Z,1761524849.673 [DAT](INFO): DAT read: 00:27:29.9843 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX=  82,-0.24,-0.843,-2.607,-0.660,-0.933, PHS= 0.192,-1.629, 0.229, RAW= 151.0,  1= 151.1,  14.5, ROT= 358.9, -14.5

2025-10-27T00:27:29.674Z,1761524849.674 [DAT](INFO): unknown deviceResponse_: 00:27:29.9843 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX=  82,-0.24,-0.843,-2.607,-0.660,-0.933, PHS= 0.192,-1.629, 0.229, RAW= 151.0,  1= 151.1,  14.5, ROT= 358.9, -14.5

2025-10-27T00:27:29.675Z,1761524849.675 [DAT](INFO): DAT read: Bearing   2.9,  -9.6 (Local)

2025-10-27T00:27:29.676Z,1761524849.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  -9.6 (Local)

2025-10-27T00:27:29.677Z,1761524849.677 [DAT](INFO): DAT read: Range 11 to 50 : 324.0 m  (Round-trip  432.0 ms) speed  0.1 m/s

2025-10-27T00:27:29.678Z,1761524849.678 [DAT](INFO): DAT read: Tx time:00:27:31.0482

2025-10-27T00:27:29.678Z,1761524849.678 [DAT](INFO): Ping request sent.
2025-10-27T00:27:29.679Z,1761524849.679 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:27:29.679Z,1761524849.679 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T00:27:29.679Z,1761524849.679 [DAT](INFO): publishing transmit ping time
2025-10-27T00:27:29.680Z,1761524849.680 [DAT](INFO): publishing transmit ping time
2025-10-27T00:27:29.820Z,1761524849.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884749,0.465493,-0.023142],[-0.451443,-0.868270,-0.205682],[-0.115838,-0.171530,0.978345]]
2025-10-27T00:27:29.906Z,1761524849.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 324.000000 m,
      deltaT: 16.395393 s,
      deltaX: -24.100006 m,
      approachRate: -1.469926 m/s,
      rangeRepo size: 4

2025-10-27T00:27:29.911Z,1761524849.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:29.913Z,1761524849.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 335.412964 m,
      bearing: 214.480647 deg,
      approach rate: -0.617124 m/s,
      LOS rate: -0.004448 deg/s,
      cmd heading: 206.548213 deg,
      new cmd heading: 206.539533 deg.

2025-10-27T00:27:29.914Z,1761524849.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604795 target range: 346.561035 and range: 324.00 m.
2025-10-27T00:27:30.407Z,1761524850.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883133,0.468231,-0.028916],[-0.454039,-0.868616,-0.198382],[-0.118005,-0.162069,0.979698]]
2025-10-27T00:27:30.445Z,1761524850.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:30.447Z,1761524850.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:30.450Z,1761524850.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 335.043762 m,
      bearing: 214.477787 deg,
      approach rate: -0.681468 m/s,
      LOS rate: -0.005283 deg/s,
      cmd heading: 206.539538 deg,
      new cmd heading: 206.530951 deg.

2025-10-27T00:27:30.451Z,1761524850.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604645 target range: 346.561035 and range: 324.00 m.
2025-10-27T00:27:30.677Z,1761524850.677 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:27:30.677Z,1761524850.677 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:27:30.677Z,1761524850.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:27:30.766Z,1761524850.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883488,0.467399,-0.031404],[-0.453621,-0.870326,-0.191730],[-0.116946,-0.155145,0.980945]]
2025-10-27T00:27:30.784Z,1761524850.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:30.786Z,1761524850.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 334.825134 m,
      bearing: 214.476103 deg,
      approach rate: -0.649644 m/s,
      LOS rate: -0.005009 deg/s,
      cmd heading: 206.530946 deg,
      new cmd heading: 206.525889 deg.

2025-10-27T00:27:30.788Z,1761524850.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604557 target range: 346.561035 and range: 324.00 m.
2025-10-27T00:27:30.928Z,1761524850.928 [DAT](INFO): DAT read: user:109>

2025-10-27T00:27:30.929Z,1761524850.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250001
2025-10-27T00:27:31.169Z,1761524851.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884608,0.465436,-0.028939],[-0.452231,-0.871348,-0.190369],[-0.113820,-0.155315,0.981286]]
2025-10-27T00:27:31.180Z,1761524851.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501419
2025-10-27T00:27:31.194Z,1761524851.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:31.197Z,1761524851.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 334.558685 m,
      bearing: 214.474131 deg,
      approach rate: -0.648684 m/s,
      LOS rate: -0.004803 deg/s,
      cmd heading: 206.525892 deg,
      new cmd heading: 206.519973 deg.

2025-10-27T00:27:31.198Z,1761524851.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604454 target range: 346.561035 and range: 324.00 m.
2025-10-27T00:27:31.432Z,1761524851.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753364
2025-10-27T00:27:31.574Z,1761524851.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885965,0.463029,-0.025869],[-0.450685,-0.872810,-0.187310],[-0.109308,-0.154291,0.981960]]
2025-10-27T00:27:31.624Z,1761524851.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:31.626Z,1761524851.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 334.275665 m,
      bearing: 214.473252 deg,
      approach rate: -0.659396 m/s,
      LOS rate: -0.002050 deg/s,
      cmd heading: 206.519977 deg,
      new cmd heading: 206.517337 deg.

2025-10-27T00:27:31.627Z,1761524851.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604408 target range: 346.561035 and range: 324.00 m.
2025-10-27T00:27:31.685Z,1761524851.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006361
2025-10-27T00:27:31.936Z,1761524851.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257397
2025-10-27T00:27:31.985Z,1761524851.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888044,0.459161,-0.023434],[-0.447907,-0.875526,-0.181201],[-0.103718,-0.150418,0.983167]]
2025-10-27T00:27:32.008Z,1761524852.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:32.011Z,1761524852.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 334.017853 m,
      bearing: 214.472600 deg,
      approach rate: -0.670372 m/s,
      LOS rate: -0.001696 deg/s,
      cmd heading: 206.517340 deg,
      new cmd heading: 206.515384 deg.

2025-10-27T00:27:32.012Z,1761524852.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604373 target range: 346.561035 and range: 324.00 m.
2025-10-27T00:27:32.188Z,1761524852.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509274
2025-10-27T00:27:32.426Z,1761524852.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890597,0.454396,-0.018993],[-0.444212,-0.878074,-0.177936],[-0.097531,-0.150032,0.983859]]
2025-10-27T00:27:32.440Z,1761524852.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761452
2025-10-27T00:27:32.478Z,1761524852.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:32.480Z,1761524852.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:32.482Z,1761524852.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 333.708496 m,
      bearing: 214.472824 deg,
      approach rate: -0.655868 m/s,
      LOS rate: 0.000474 deg/s,
      cmd heading: 206.515387 deg,
      new cmd heading: 206.516058 deg.

2025-10-27T00:27:32.484Z,1761524852.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604385 target range: 346.561035 and range: 324.00 m.
2025-10-27T00:27:32.692Z,1761524852.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013859
2025-10-27T00:27:32.785Z,1761524852.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892773,0.450425,-0.008588],[-0.441243,-0.878101,-0.185048],[-0.090891,-0.161417,0.982692]]
2025-10-27T00:27:32.804Z,1761524852.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:32.806Z,1761524852.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 333.495270 m,
      bearing: 214.473136 deg,
      approach rate: -0.658425 m/s,
      LOS rate: 0.000964 deg/s,
      cmd heading: 206.516056 deg,
      new cmd heading: 206.516993 deg.

2025-10-27T00:27:32.807Z,1761524852.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604402 target range: 346.561035 and range: 324.00 m.
2025-10-27T00:27:32.945Z,1761524852.945 [DAT](INFO): DAT read: Rx Time:00:27:33.9001

2025-10-27T00:27:32.945Z,1761524852.945 [DAT](INFO): Rx dataTimestamp_ set to:1761524852.944719
2025-10-27T00:27:32.946Z,1761524852.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266987
2025-10-27T00:27:33.190Z,1761524853.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894680,0.446687,0.004189],[-0.438650,-0.876731,-0.197304],[-0.084460,-0.178362,0.980333]]
2025-10-27T00:27:33.196Z,1761524853.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517411
2025-10-27T00:27:33.218Z,1761524853.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.56 m.
2025-10-27T00:27:33.225Z,1761524853.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.561035 m,
      nav range: 333.228424 m,
      bearing: 214.473717 deg,
      approach rate: -0.643627 m/s,
      LOS rate: 0.001403 deg/s,
      cmd heading: 206.516999 deg,
      new cmd heading: 206.518743 deg.

2025-10-27T00:27:33.226Z,1761524853.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604432 target range: 346.561035 and range: 324.00 m.
2025-10-27T00:27:33.456Z,1761524853.456 [DAT](INFO): DAT read: 00:27:33.9001 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=  86,-0.23,-0.791,-2.411,-0.832,-1.224, PHS= 0.535,-1.142, 0.348, RAW= 144.1,   3.3, CAL= 143.7,   3.6, ROT=   6.3,  -3.6

2025-10-27T00:27:33.457Z,1761524853.457 [DAT](INFO): got valid direction response:
 00:27:33.9001 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=  86,-0.23,-0.791,-2.411,-0.832,-1.224, PHS= 0.535,-1.142, 0.348, RAW= 144.1,   3.3, CAL= 143.7,   3.6, ROT=   6.3,  -3.6

2025-10-27T00:27:33.458Z,1761524853.458 [DAT](INFO): DAT read: Bearing 352.9,   0.3 (Local)

2025-10-27T00:27:33.459Z,1761524853.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.9,   0.3 (Local)

2025-10-27T00:27:33.460Z,1761524853.460 [DAT](INFO): DAT read: Range 11 to 50 : 335.8 m  (Round-trip  447.8 ms) speed  0.4 m/s

2025-10-27T00:27:33.461Z,1761524853.461 [DAT](INFO): DAT read: user:110>Tx time:00:27:34.9982

2025-10-27T00:27:33.462Z,1761524853.462 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:27:33.465Z,1761524853.465 [DAT](INFO): direction in FSK: [0.992000,0.109518,0.062791]
2025-10-27T00:27:33.466Z,1761524853.466 [DAT](INFO): publishing direction and range info
2025-10-27T00:27:33.473Z,1761524853.473 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:27:33.473Z,1761524853.473 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:27:33.473Z,1761524853.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:27:33.594Z,1761524853.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896343,0.443109,0.014986],[-0.436251,-0.875433,-0.208094],[-0.079089,-0.193061,0.977994]]
2025-10-27T00:27:33.670Z,1761524853.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 335.799988 m,
      deltaT: 3.780777 s,
      deltaX: 11.799988 m,
      approachRate: 3.121048 m/s,
      rangeRepo size: 4

2025-10-27T00:27:33.682Z,1761524853.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 334.258545 m,
      bearing: 212.826562 deg,
      lat: 36.779329 deg,
      lon: -121.860055 deg,
      deltaT: 20.176170 s,
      deltaX: -12.302490 m,
      approachRate: -0.609753 m/s,
      posRepo size: 4

2025-10-27T00:27:33.683Z,1761524853.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:33.690Z,1761524853.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 331.139893 m,
      bearing: 213.848750 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001403 deg/s,
      cmd heading: 206.518747 deg,
      new cmd heading: 206.520646 deg.

2025-10-27T00:27:33.696Z,1761524853.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604465 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:33.700Z,1761524853.700 [DAT](INFO): DAT read: 

2025-10-27T00:27:33.701Z,1761524853.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022770
2025-10-27T00:27:33.952Z,1761524853.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273373
2025-10-27T00:27:34.004Z,1761524854.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897716,0.440051,0.021466],[-0.434110,-0.875177,-0.213575],[-0.075197,-0.201048,0.976691]]
2025-10-27T00:27:34.022Z,1761524854.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:34.025Z,1761524854.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 330.895996 m,
      bearing: 213.849156 deg,
      approach rate: -0.691915 m/s,
      LOS rate: 0.001152 deg/s,
      cmd heading: 206.520646 deg,
      new cmd heading: 206.521864 deg.

2025-10-27T00:27:34.026Z,1761524854.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604486 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:34.204Z,1761524854.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525401
2025-10-27T00:27:34.442Z,1761524854.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898550,0.438217,0.023967],[-0.432796,-0.875732,-0.213964],[-0.072774,-0.202630,0.976548]]
2025-10-27T00:27:34.456Z,1761524854.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777433
2025-10-27T00:27:34.498Z,1761524854.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:34.500Z,1761524854.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:34.503Z,1761524854.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 330.579468 m,
      bearing: 213.850425 deg,
      approach rate: -0.662229 m/s,
      LOS rate: 0.002658 deg/s,
      cmd heading: 206.521862 deg,
      new cmd heading: 206.525673 deg.

2025-10-27T00:27:34.504Z,1761524854.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604553 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:34.709Z,1761524854.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030656
2025-10-27T00:27:34.806Z,1761524854.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899092,0.437127,0.023512],[-0.431939,-0.877130,-0.209930],[-0.071143,-0.198902,0.977434]]
2025-10-27T00:27:34.825Z,1761524854.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:34.827Z,1761524854.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 330.364014 m,
      bearing: 213.851321 deg,
      approach rate: -0.664127 m/s,
      LOS rate: 0.002762 deg/s,
      cmd heading: 206.525673 deg,
      new cmd heading: 206.528361 deg.

2025-10-27T00:27:34.828Z,1761524854.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604600 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:34.960Z,1761524854.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281322
2025-10-27T00:27:35.205Z,1761524855.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899108,0.437167,0.022116],[-0.432008,-0.878088,-0.205744],[-0.070524,-0.194540,0.978356]]
2025-10-27T00:27:35.212Z,1761524855.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533452
2025-10-27T00:27:35.238Z,1761524855.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:35.249Z,1761524855.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 330.097687 m,
      bearing: 213.852416 deg,
      approach rate: -0.643746 m/s,
      LOS rate: 0.002648 deg/s,
      cmd heading: 206.528364 deg,
      new cmd heading: 206.531651 deg.

2025-10-27T00:27:35.250Z,1761524855.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604657 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:35.466Z,1761524855.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786944
2025-10-27T00:27:35.609Z,1761524855.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898813,0.437867,0.020177],[-0.432656,-0.878851,-0.201072],[-0.070311,-0.189456,0.979369]]
2025-10-27T00:27:35.671Z,1761524855.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:35.673Z,1761524855.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 329.802765 m,
      bearing: 213.853314 deg,
      approach rate: -0.682055 m/s,
      LOS rate: 0.002079 deg/s,
      cmd heading: 206.531656 deg,
      new cmd heading: 206.534354 deg.

2025-10-27T00:27:35.674Z,1761524855.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604704 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:35.717Z,1761524855.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038204
2025-10-27T00:27:35.968Z,1761524855.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289422
2025-10-27T00:27:36.020Z,1761524856.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898119,0.439379,0.018122],[-0.434072,-0.879162,-0.196613],[-0.070456,-0.184448,0.980314]]
2025-10-27T00:27:36.038Z,1761524856.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:36.041Z,1761524856.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 329.558746 m,
      bearing: 213.853978 deg,
      approach rate: -0.665000 m/s,
      LOS rate: 0.001811 deg/s,
      cmd heading: 206.534347 deg,
      new cmd heading: 206.536341 deg.

2025-10-27T00:27:36.042Z,1761524856.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604739 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:36.223Z,1761524856.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544241
2025-10-27T00:27:36.430Z,1761524856.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897452,0.440858,0.014979],[-0.435374,-0.879807,-0.190760],[-0.070919,-0.177720,0.981522]]
2025-10-27T00:27:36.475Z,1761524856.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795582
2025-10-27T00:27:36.505Z,1761524856.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:36.507Z,1761524856.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:36.509Z,1761524856.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 329.247070 m,
      bearing: 213.854726 deg,
      approach rate: -0.664491 m/s,
      LOS rate: 0.001595 deg/s,
      cmd heading: 206.536342 deg,
      new cmd heading: 206.538587 deg.

2025-10-27T00:27:36.510Z,1761524856.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604778 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:36.725Z,1761524856.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045962
2025-10-27T00:27:36.824Z,1761524856.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896580,0.442693,0.012940],[-0.437030,-0.879620,-0.187813],[-0.071761,-0.174044,0.982120]]
2025-10-27T00:27:36.889Z,1761524856.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:36.892Z,1761524856.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 328.990509 m,
      bearing: 213.854281 deg,
      approach rate: -0.670738 m/s,
      LOS rate: -0.001163 deg/s,
      cmd heading: 206.538582 deg,
      new cmd heading: 206.537247 deg.

2025-10-27T00:27:36.893Z,1761524856.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604755 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:36.977Z,1761524856.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298521
2025-10-27T00:27:37.228Z,1761524857.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549415
2025-10-27T00:27:37.230Z,1761524857.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895540,0.444849,0.010845],[-0.439041,-0.879353,-0.184340],[-0.072467,-0.169845,0.982803]]
2025-10-27T00:27:37.255Z,1761524857.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:37.258Z,1761524857.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 328.745544 m,
      bearing: 213.853746 deg,
      approach rate: -0.670287 m/s,
      LOS rate: -0.001465 deg/s,
      cmd heading: 206.537243 deg,
      new cmd heading: 206.535637 deg.

2025-10-27T00:27:37.259Z,1761524857.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604727 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:37.484Z,1761524857.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805811
2025-10-27T00:27:37.631Z,1761524857.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895067,0.445853,0.008322],[-0.440000,-0.879976,-0.179005],[-0.072486,-0.163883,0.983813]]
2025-10-27T00:27:37.689Z,1761524857.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:37.698Z,1761524857.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 328.462616 m,
      bearing: 213.852419 deg,
      approach rate: -0.651010 m/s,
      LOS rate: -0.003057 deg/s,
      cmd heading: 206.535631 deg,
      new cmd heading: 206.531646 deg.

2025-10-27T00:27:37.704Z,1761524857.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604657 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:37.732Z,1761524857.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053470
2025-10-27T00:27:37.984Z,1761524857.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305736
2025-10-27T00:27:38.033Z,1761524858.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894466,0.447080,0.007053],[-0.441302,-0.880147,-0.174910],[-0.071991,-0.159564,0.984559]]
2025-10-27T00:27:38.060Z,1761524858.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:38.063Z,1761524858.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 328.198181 m,
      bearing: 213.851097 deg,
      approach rate: -0.712797 m/s,
      LOS rate: -0.003566 deg/s,
      cmd heading: 206.531643 deg,
      new cmd heading: 206.527674 deg.

2025-10-27T00:27:38.064Z,1761524858.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604588 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:38.236Z,1761524858.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557318
2025-10-27T00:27:38.442Z,1761524858.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893954,0.448128,0.005322],[-0.442411,-0.880529,-0.170122],[-0.071550,-0.154435,0.985409]]
2025-10-27T00:27:38.491Z,1761524858.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.811808
2025-10-27T00:27:38.517Z,1761524858.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:38.523Z,1761524858.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:38.525Z,1761524858.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 327.918152 m,
      bearing: 213.849619 deg,
      approach rate: -0.610756 m/s,
      LOS rate: -0.003227 deg/s,
      cmd heading: 206.527667 deg,
      new cmd heading: 206.523229 deg.

2025-10-27T00:27:38.526Z,1761524858.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604510 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:38.741Z,1761524858.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.062652
2025-10-27T00:27:38.858Z,1761524858.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893734,0.448584,0.003557],[-0.442901,-0.881098,-0.165846],[-0.071262,-0.149797,0.986145]]
2025-10-27T00:27:38.898Z,1761524858.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:38.917Z,1761524858.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 327.627899 m,
      bearing: 213.846983 deg,
      approach rate: -0.765420 m/s,
      LOS rate: -0.006958 deg/s,
      cmd heading: 206.523228 deg,
      new cmd heading: 206.515312 deg.

2025-10-27T00:27:38.918Z,1761524858.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604372 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:38.993Z,1761524858.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314609
2025-10-27T00:27:39.244Z,1761524859.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565465
2025-10-27T00:27:39.250Z,1761524859.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893811,0.448422,0.004427],[-0.442875,-0.881118,-0.165807],[-0.070451,-0.150160,0.986148]]
2025-10-27T00:27:39.268Z,1761524859.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:39.271Z,1761524859.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 327.375366 m,
      bearing: 213.844690 deg,
      approach rate: -0.681391 m/s,
      LOS rate: -0.006191 deg/s,
      cmd heading: 206.515318 deg,
      new cmd heading: 206.508435 deg.

2025-10-27T00:27:39.272Z,1761524859.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604252 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:39.500Z,1761524859.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819725
2025-10-27T00:27:39.650Z,1761524859.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893958,0.448084,0.007728],[-0.442834,-0.880571,-0.168799],[-0.068831,-0.154322,0.985620]]
2025-10-27T00:27:39.724Z,1761524859.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:39.726Z,1761524859.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 327.065308 m,
      bearing: 213.842523 deg,
      approach rate: -0.680870 m/s,
      LOS rate: -0.004763 deg/s,
      cmd heading: 206.508434 deg,
      new cmd heading: 206.501927 deg.

2025-10-27T00:27:39.732Z,1761524859.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604139 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:39.748Z,1761524859.748 [DAT](INFO): Reached modem response timeout
2025-10-27T00:27:39.748Z,1761524859.748 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:39.748Z,1761524859.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:27:39.000Z,1761524860.000 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:40.055Z,1761524860.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894360,0.447217,0.010824],[-0.442330,-0.880455,-0.170716],[-0.066817,-0.157470,0.985261]]
2025-10-27T00:27:40.073Z,1761524860.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:40.076Z,1761524860.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 326.808594 m,
      bearing: 213.840765 deg,
      approach rate: -0.735623 m/s,
      LOS rate: -0.005043 deg/s,
      cmd heading: 206.501931 deg,
      new cmd heading: 206.496652 deg.

2025-10-27T00:27:40.077Z,1761524860.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604047 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:40.252Z,1761524860.252 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:40.457Z,1761524860.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895606,0.444669,0.012618],[-0.440154,-0.881688,-0.169974],[-0.064457,-0.157783,0.985368]]
2025-10-27T00:27:40.506Z,1761524860.506 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:40.528Z,1761524860.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:40.544Z,1761524860.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 326.522034 m,
      bearing: 213.838929 deg,
      approach rate: -0.638255 m/s,
      LOS rate: -0.004093 deg/s,
      cmd heading: 206.496658 deg,
      new cmd heading: 206.491145 deg.

2025-10-27T00:27:40.545Z,1761524860.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603950 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:40.676Z,1761524860.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:27:40.756Z,1761524860.756 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:40.870Z,1761524860.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896482,0.442815,0.015366],[-0.438633,-0.882047,-0.172028],[-0.062623,-0.160960,0.984972]]
2025-10-27T00:27:40.905Z,1761524860.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:40.907Z,1761524860.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:40.909Z,1761524860.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 326.227142 m,
      bearing: 213.836788 deg,
      approach rate: -0.766386 m/s,
      LOS rate: -0.005568 deg/s,
      cmd heading: 206.491140 deg,
      new cmd heading: 206.484713 deg.

2025-10-27T00:27:40.910Z,1761524860.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603838 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:41.008Z,1761524861.008 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:41.260Z,1761524861.260 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:41.288Z,1761524861.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897727,0.440196,0.017743],[-0.436272,-0.882683,-0.174750],[-0.061263,-0.164619,0.984453]]
2025-10-27T00:27:41.306Z,1761524861.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:41.325Z,1761524861.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 325.950256 m,
      bearing: 213.834916 deg,
      approach rate: -0.692715 m/s,
      LOS rate: -0.004688 deg/s,
      cmd heading: 206.484719 deg,
      new cmd heading: 206.479097 deg.

2025-10-27T00:27:41.326Z,1761524861.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603740 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:41.514Z,1761524861.514 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:41.674Z,1761524861.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898724,0.438047,0.020230],[-0.434423,-0.883107,-0.177199],[-0.059756,-0.168041,0.983967]]
2025-10-27T00:27:41.680Z,1761524861.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:27:41.746Z,1761524861.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:41.748Z,1761524861.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 325.642334 m,
      bearing: 213.834625 deg,
      approach rate: -0.700926 m/s,
      LOS rate: -0.000662 deg/s,
      cmd heading: 206.479091 deg,
      new cmd heading: 206.478219 deg.

2025-10-27T00:27:41.749Z,1761524861.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603725 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:41.764Z,1761524861.764 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:42.016Z,1761524862.016 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:42.073Z,1761524862.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899715,0.435847,0.023448],[-0.432638,-0.883405,-0.180058],[-0.057763,-0.172146,0.983377]]
2025-10-27T00:27:42.092Z,1761524862.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:42.094Z,1761524862.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 325.398834 m,
      bearing: 213.834489 deg,
      approach rate: -0.703127 m/s,
      LOS rate: -0.000394 deg/s,
      cmd heading: 206.478217 deg,
      new cmd heading: 206.477808 deg.

2025-10-27T00:27:42.096Z,1761524862.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603718 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:42.268Z,1761524862.268 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:42.479Z,1761524862.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900285,0.434495,0.026479],[-0.431644,-0.883199,-0.183420],[-0.056309,-0.176560,0.982678]]
2025-10-27T00:27:42.502Z,1761524862.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:42.505Z,1761524862.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 325.114105 m,
      bearing: 213.834395 deg,
      approach rate: -0.693936 m/s,
      LOS rate: -0.000230 deg/s,
      cmd heading: 206.477807 deg,
      new cmd heading: 206.477523 deg.

2025-10-27T00:27:42.508Z,1761524862.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603713 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:42.522Z,1761524862.522 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:42.772Z,1761524862.772 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:42.882Z,1761524862.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900746,0.433412,0.028470],[-0.430807,-0.883136,-0.185679],[-0.055333,-0.179515,0.982198]]
2025-10-27T00:27:42.929Z,1761524862.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:42.932Z,1761524862.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:42.934Z,1761524862.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 324.812653 m,
      bearing: 213.836511 deg,
      approach rate: -0.702116 m/s,
      LOS rate: 0.004933 deg/s,
      cmd heading: 206.477520 deg,
      new cmd heading: 206.483874 deg.

2025-10-27T00:27:42.935Z,1761524862.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603823 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:43.024Z,1761524863.024 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:43.276Z,1761524863.276 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:43.289Z,1761524863.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900886,0.433132,0.028307],[-0.430599,-0.883592,-0.183985],[-0.054678,-0.177939,0.982521]]
2025-10-27T00:27:43.307Z,1761524863.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:43.309Z,1761524863.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 324.551086 m,
      bearing: 213.838360 deg,
      approach rate: -0.697341 m/s,
      LOS rate: 0.004935 deg/s,
      cmd heading: 206.483872 deg,
      new cmd heading: 206.489426 deg.

2025-10-27T00:27:43.310Z,1761524863.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603920 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:43.533Z,1761524863.533 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:43.714Z,1761524863.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900840,0.433239,0.028125],[-0.430787,-0.883933,-0.181892],[-0.053942,-0.175971,0.982916]]
2025-10-27T00:27:43.772Z,1761524863.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:43.780Z,1761524863.780 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:43.780Z,1761524863.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 324.238800 m,
      bearing: 213.843802 deg,
      approach rate: -0.670953 m/s,
      LOS rate: 0.011702 deg/s,
      cmd heading: 206.489432 deg,
      new cmd heading: 206.505772 deg.

2025-10-27T00:27:43.781Z,1761524863.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604206 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:44.032Z,1761524864.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:44.104Z,1761524864.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900536,0.433855,0.028367],[-0.431531,-0.883939,-0.180089],[-0.053058,-0.174418,0.983241]]
2025-10-27T00:27:44.122Z,1761524864.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:44.125Z,1761524864.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 323.994232 m,
      bearing: 213.848037 deg,
      approach rate: -0.699097 m/s,
      LOS rate: 0.012116 deg/s,
      cmd heading: 206.505770 deg,
      new cmd heading: 206.518485 deg.

2025-10-27T00:27:44.126Z,1761524864.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604428 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:44.284Z,1761524864.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:44.505Z,1761524864.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900082,0.434789,0.028483],[-0.432627,-0.884004,-0.177118],[-0.051830,-0.171743,0.983777]]
2025-10-27T00:27:44.536Z,1761524864.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:44.555Z,1761524864.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:44.579Z,1761524864.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 323.720215 m,
      bearing: 213.852734 deg,
      approach rate: -0.641267 m/s,
      LOS rate: 0.011002 deg/s,
      cmd heading: 206.518488 deg,
      new cmd heading: 206.532591 deg.

2025-10-27T00:27:44.583Z,1761524864.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604674 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:44.788Z,1761524864.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:44.909Z,1761524864.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899130,0.436742,0.028662],[-0.434724,-0.883539,-0.174279],[-0.050791,-0.169160,0.984279]]
2025-10-27T00:27:44.960Z,1761524864.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:44.962Z,1761524864.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:44.965Z,1761524864.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 323.424377 m,
      bearing: 213.859791 deg,
      approach rate: -0.716938 m/s,
      LOS rate: 0.017117 deg/s,
      cmd heading: 206.532585 deg,
      new cmd heading: 206.553775 deg.

2025-10-27T00:27:44.966Z,1761524864.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605043 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:45.040Z,1761524865.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:45.292Z,1761524865.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:45.317Z,1761524865.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898235,0.438580,0.028671],[-0.436715,-0.883256,-0.170702],[-0.049542,-0.165852,0.984905]]
2025-10-27T00:27:45.353Z,1761524865.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:45.356Z,1761524865.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 323.164948 m,
      bearing: 213.865891 deg,
      approach rate: -0.664953 m/s,
      LOS rate: 0.015648 deg/s,
      cmd heading: 206.553772 deg,
      new cmd heading: 206.572088 deg.

2025-10-27T00:27:45.357Z,1761524865.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605363 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:45.546Z,1761524865.546 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:45.724Z,1761524865.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897400,0.440218,0.029692],[-0.438587,-0.882689,-0.168826],[-0.048112,-0.164527,0.985198]]
2025-10-27T00:27:45.772Z,1761524865.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:45.775Z,1761524865.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 322.882904 m,
      bearing: 213.873667 deg,
      approach rate: -0.671578 m/s,
      LOS rate: 0.018532 deg/s,
      cmd heading: 206.572091 deg,
      new cmd heading: 206.595440 deg.

2025-10-27T00:27:45.776Z,1761524865.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605771 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:45.796Z,1761524865.796 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:27:46.048Z,1761524866.048 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:27:46.048Z,1761524866.048 [DAT](INFO): response not received
2025-10-27T00:27:46.049Z,1761524866.049 [DAT](INFO): DAT read: user:111>

2025-10-27T00:27:46.049Z,1761524866.049 [DAT](INFO): DAT read: Tx time:00:27:47.4481

2025-10-27T00:27:46.050Z,1761524866.050 [DAT](INFO): Ping request sent.
2025-10-27T00:27:46.050Z,1761524866.050 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:27:46.050Z,1761524866.050 [DAT](INFO): publishing transmit ping time
2025-10-27T00:27:46.051Z,1761524866.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-27T00:27:46.130Z,1761524866.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896538,0.441893,0.030830],[-0.440492,-0.882017,-0.167370],[-0.046767,-0.163634,0.985412]]
2025-10-27T00:27:46.158Z,1761524866.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:46.161Z,1761524866.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 322.626953 m,
      bearing: 213.880638 deg,
      approach rate: -0.662262 m/s,
      LOS rate: 0.018052 deg/s,
      cmd heading: 206.595437 deg,
      new cmd heading: 206.616367 deg.

2025-10-27T00:27:46.162Z,1761524866.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606136 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:46.300Z,1761524866.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250228
2025-10-27T00:27:46.526Z,1761524866.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895647,0.443652,0.031463],[-0.442440,-0.881505,-0.164914],[-0.045430,-0.161625,0.985806]]
2025-10-27T00:27:46.544Z,1761524866.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:46.546Z,1761524866.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 322.371948 m,
      bearing: 213.887497 deg,
      approach rate: -0.662178 m/s,
      LOS rate: 0.017826 deg/s,
      cmd heading: 206.616364 deg,
      new cmd heading: 206.636958 deg.

2025-10-27T00:27:46.555Z,1761524866.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504643
2025-10-27T00:27:46.569Z,1761524866.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606495 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:46.804Z,1761524866.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754137
2025-10-27T00:27:46.953Z,1761524866.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894476,0.445945,0.032335],[-0.444890,-0.880487,-0.163757],[-0.044556,-0.160862,0.985971]]
2025-10-27T00:27:47.007Z,1761524867.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:47.009Z,1761524867.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:47.016Z,1761524867.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 322.081879 m,
      bearing: 213.895154 deg,
      approach rate: -0.623186 m/s,
      LOS rate: 0.016464 deg/s,
      cmd heading: 206.636964 deg,
      new cmd heading: 206.659954 deg.

2025-10-27T00:27:47.017Z,1761524867.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606897 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:47.059Z,1761524867.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009446
2025-10-27T00:27:47.308Z,1761524867.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258379
2025-10-27T00:27:47.360Z,1761524867.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893420,0.448051,0.032426],[-0.447100,-0.879870,-0.161026],[-0.043617,-0.158362,0.986417]]
2025-10-27T00:27:47.378Z,1761524867.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:47.394Z,1761524867.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 321.827698 m,
      bearing: 213.901760 deg,
      approach rate: -0.688501 m/s,
      LOS rate: 0.017908 deg/s,
      cmd heading: 206.659955 deg,
      new cmd heading: 206.679788 deg.

2025-10-27T00:27:47.400Z,1761524867.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607243 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:47.562Z,1761524867.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512118
2025-10-27T00:27:47.812Z,1761524867.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762120
2025-10-27T00:27:47.864Z,1761524867.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892514,0.449806,0.033074],[-0.448985,-0.879135,-0.159792],[-0.042799,-0.157466,0.986596]]
2025-10-27T00:27:47.906Z,1761524867.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:47.909Z,1761524867.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 321.483887 m,
      bearing: 213.908451 deg,
      approach rate: -0.651292 m/s,
      LOS rate: 0.012688 deg/s,
      cmd heading: 206.679789 deg,
      new cmd heading: 206.699884 deg.

2025-10-27T00:27:47.910Z,1761524867.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607594 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:48.064Z,1761524868.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014348
2025-10-27T00:27:48.254Z,1761524868.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891920,0.450861,0.034701],[-0.450261,-0.878402,-0.160234],[-0.041762,-0.158541,0.986469]]
2025-10-27T00:27:48.286Z,1761524868.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:48.289Z,1761524868.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 321.235992 m,
      bearing: 213.913222 deg,
      approach rate: -0.651854 m/s,
      LOS rate: 0.012557 deg/s,
      cmd heading: 206.699884 deg,
      new cmd heading: 206.714210 deg.

2025-10-27T00:27:48.290Z,1761524868.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607844 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:48.319Z,1761524868.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268876
2025-10-27T00:27:48.568Z,1761524868.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517995
2025-10-27T00:27:48.718Z,1761524868.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891387,0.451798,0.036167],[-0.451442,-0.877905,-0.159634],[-0.040371,-0.158623,0.986514]]
2025-10-27T00:27:48.774Z,1761524868.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:48.776Z,1761524868.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 320.911011 m,
      bearing: 213.914715 deg,
      approach rate: -0.667197 m/s,
      LOS rate: 0.003068 deg/s,
      cmd heading: 206.714214 deg,
      new cmd heading: 206.718696 deg.

2025-10-27T00:27:48.777Z,1761524868.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607922 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:48.822Z,1761524868.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771916
2025-10-27T00:27:49.072Z,1761524869.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022138
2025-10-27T00:27:49.109Z,1761524869.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891040,0.452359,0.037669],[-0.452268,-0.877643,-0.158734],[-0.038745,-0.158475,0.986602]]
2025-10-27T00:27:49.147Z,1761524869.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:49.149Z,1761524869.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:49.160Z,1761524869.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 320.671295 m,
      bearing: 213.915780 deg,
      approach rate: -0.638530 m/s,
      LOS rate: 0.002839 deg/s,
      cmd heading: 206.718694 deg,
      new cmd heading: 206.721892 deg.

2025-10-27T00:27:49.161Z,1761524869.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607978 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:49.325Z,1761524869.325 [DAT](INFO): DAT read: Rx Time:00:27:50.2853

2025-10-27T00:27:49.326Z,1761524869.326 [DAT](INFO): Rx dataTimestamp_ set to:1761524869.325439
2025-10-27T00:27:49.326Z,1761524869.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276467
2025-10-27T00:27:49.555Z,1761524869.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.26 m.
2025-10-27T00:27:49.557Z,1761524869.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.258545 m,
      nav range: 320.389496 m,
      bearing: 213.917034 deg,
      approach rate: -0.694665 m/s,
      LOS rate: 0.003094 deg/s,
      cmd heading: 206.721891 deg,
      new cmd heading: 206.725656 deg.

2025-10-27T00:27:49.558Z,1761524869.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608043 target range: 334.258545 and range: 335.80 m.
2025-10-27T00:27:49.576Z,1761524869.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526196
2025-10-27T00:27:49.844Z,1761524869.844 [DAT](INFO): DAT read: 00:27:50.2853 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 254,-0.15,-0.125,-1.803,-0.106,-0.688, PHS= 0.665,-1.070, 0.538, RAW= 146.2,  -1.6, CAL= 145.7,  -2.0, ROT=   4.3,   2.0

2025-10-27T00:27:49.846Z,1761524869.846 [DAT](INFO): got valid direction response:
 00:27:50.2853 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 254,-0.15,-0.125,-1.803,-0.106,-0.688, PHS= 0.665,-1.070, 0.538, RAW= 146.2,  -1.6, CAL= 145.7,  -2.0, ROT=   4.3,   2.0

2025-10-27T00:27:49.848Z,1761524869.848 [DAT](INFO): DAT read: Bearing 346.4,   2.3 (Local)

2025-10-27T00:27:49.849Z,1761524869.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.4,   2.3 (Local)

2025-10-27T00:27:49.851Z,1761524869.851 [DAT](INFO): DAT read: Range 11 to 50 : 324.8 m  (Round-trip  433.1 ms) speed  0.4 m/s

2025-10-27T00:27:49.852Z,1761524869.852 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:27:49.853Z,1761524869.853 [DAT](INFO): direction in FSK: [0.996578,0.074933,-0.034899]
2025-10-27T00:27:49.854Z,1761524869.854 [DAT](INFO): publishing direction and range info
2025-10-27T00:27:49.857Z,1761524869.857 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:27:49.857Z,1761524869.857 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:27:49.857Z,1761524869.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:27:49.953Z,1761524869.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891253,0.451529,0.042312],[-0.452371,-0.878544,-0.153361],[-0.032074,-0.155825,0.987264]]
2025-10-27T00:27:50.036Z,1761524870.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 324.799988 m,
      deltaT: 16.381389 s,
      deltaX: -11.000000 m,
      approachRate: -0.671494 m/s,
      rangeRepo size: 4

2025-10-27T00:27:50.038Z,1761524870.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 323.354828 m,
      bearing: 210.855152 deg,
      lat: 36.779279 deg,
      lon: -121.860018 deg,
      deltaT: 16.381389 s,
      deltaX: -10.903717 m,
      approachRate: -0.665616 m/s,
      posRepo size: 4

2025-10-27T00:27:50.043Z,1761524870.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:50.045Z,1761524870.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 322.946075 m,
      bearing: 212.859184 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003094 deg/s,
      cmd heading: 206.725661 deg,
      new cmd heading: 206.730085 deg.

2025-10-27T00:27:50.046Z,1761524870.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608121 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:50.080Z,1761524870.080 [DAT](INFO): DAT read: user:112>

2025-10-27T00:27:50.081Z,1761524870.081 [DAT](INFO): DAT read: Tx time:00:27:51.4981

2025-10-27T00:27:50.081Z,1761524870.081 [DAT](INFO): Ping request sent.
2025-10-27T00:27:50.081Z,1761524870.081 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:27:50.082Z,1761524870.082 [DAT](INFO): publishing transmit ping time
2025-10-27T00:27:50.082Z,1761524870.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-27T00:27:50.333Z,1761524870.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251312
2025-10-27T00:27:50.424Z,1761524870.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891904,0.450033,0.044478],[-0.451264,-0.879283,-0.152391],[-0.029472,-0.155989,0.987319]]
2025-10-27T00:27:50.443Z,1761524870.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:50.446Z,1761524870.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 322.652649 m,
      bearing: 212.857270 deg,
      approach rate: -0.712854 m/s,
      LOS rate: -0.004654 deg/s,
      cmd heading: 206.730087 deg,
      new cmd heading: 206.724339 deg.

2025-10-27T00:27:50.447Z,1761524870.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608020 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:50.584Z,1761524870.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502477
2025-10-27T00:27:50.842Z,1761524870.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760254
2025-10-27T00:27:50.852Z,1761524870.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892854,0.447949,0.046410],[-0.449552,-0.880412,-0.150925],[-0.026746,-0.155617,0.987455]]
2025-10-27T00:27:50.920Z,1761524870.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:50.924Z,1761524870.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 322.335999 m,
      bearing: 212.851829 deg,
      approach rate: -0.663460 m/s,
      LOS rate: -0.011411 deg/s,
      cmd heading: 206.724336 deg,
      new cmd heading: 206.707998 deg.

2025-10-27T00:27:50.925Z,1761524870.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607735 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:51.092Z,1761524871.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011019
2025-10-27T00:27:51.302Z,1761524871.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893792,0.445748,0.049449],[-0.447832,-0.881119,-0.151907],[-0.024142,-0.157918,0.987157]]
2025-10-27T00:27:51.344Z,1761524871.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262642
2025-10-27T00:27:51.382Z,1761524871.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:51.394Z,1761524871.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:51.413Z,1761524871.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 321.989075 m,
      bearing: 212.845995 deg,
      approach rate: -0.732305 m/s,
      LOS rate: -0.012328 deg/s,
      cmd heading: 206.707998 deg,
      new cmd heading: 206.690478 deg.

2025-10-27T00:27:51.413Z,1761524871.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607429 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:51.596Z,1761524871.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514401
2025-10-27T00:27:51.738Z,1761524871.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894892,0.443205,0.052316],[-0.445763,-0.882036,-0.152667],[-0.021518,-0.159941,0.986892]]
2025-10-27T00:27:51.784Z,1761524871.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:51.787Z,1761524871.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 321.690948 m,
      bearing: 212.840692 deg,
      approach rate: -0.764083 m/s,
      LOS rate: -0.013605 deg/s,
      cmd heading: 206.690472 deg,
      new cmd heading: 206.674547 deg.

2025-10-27T00:27:51.788Z,1761524871.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607151 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:51.849Z,1761524871.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767175
2025-10-27T00:27:52.100Z,1761524872.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018466
2025-10-27T00:27:52.138Z,1761524872.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895899,0.440841,0.054991],[-0.443852,-0.882913,-0.153166],[-0.018970,-0.161629,0.986669]]
2025-10-27T00:27:52.156Z,1761524872.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:52.171Z,1761524872.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 321.418823 m,
      bearing: 212.835958 deg,
      approach rate: -0.730877 m/s,
      LOS rate: -0.012727 deg/s,
      cmd heading: 206.674544 deg,
      new cmd heading: 206.660328 deg.

2025-10-27T00:27:52.172Z,1761524872.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606903 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:52.352Z,1761524872.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270468
2025-10-27T00:27:52.546Z,1761524872.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896756,0.438745,0.057724],[-0.442225,-0.883683,-0.153432],[-0.016308,-0.163118,0.986472]]
2025-10-27T00:27:52.564Z,1761524872.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:52.567Z,1761524872.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 321.120331 m,
      bearing: 212.830863 deg,
      approach rate: -0.731734 m/s,
      LOS rate: -0.012501 deg/s,
      cmd heading: 206.660323 deg,
      new cmd heading: 206.645025 deg.

2025-10-27T00:27:52.568Z,1761524872.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606636 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:52.605Z,1761524872.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523241
2025-10-27T00:27:52.856Z,1761524872.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774527
2025-10-27T00:27:52.947Z,1761524872.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897546,0.436860,0.059706],[-0.440709,-0.884646,-0.152240],[-0.013688,-0.162955,0.986538]]
2025-10-27T00:27:52.980Z,1761524872.980 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +113.81,      +563    +1.32,  12.20,  0.00
2025-10-27T00:27:52.995Z,1761524872.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:52.997Z,1761524872.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 320.805023 m,
      bearing: 212.825571 deg,
      approach rate: -0.732692 m/s,
      LOS rate: -0.012310 deg/s,
      cmd heading: 206.645024 deg,
      new cmd heading: 206.629131 deg.

2025-10-27T00:27:52.998Z,1761524872.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606359 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:53.108Z,1761524873.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026507
2025-10-27T00:27:53.354Z,1761524873.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898192,0.435320,0.061226],[-0.439460,-0.885584,-0.150386],[-0.011245,-0.161982,0.986730]]
2025-10-27T00:27:53.360Z,1761524873.360 [DAT](INFO): DAT read: Rx Time:00:27:54.3324

2025-10-27T00:27:53.361Z,1761524873.361 [DAT](INFO): Rx dataTimestamp_ set to:1761524873.360363
2025-10-27T00:27:53.361Z,1761524873.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279790
2025-10-27T00:27:53.375Z,1761524873.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:53.377Z,1761524873.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 320.526733 m,
      bearing: 212.820960 deg,
      approach rate: -0.732415 m/s,
      LOS rate: -0.012146 deg/s,
      cmd heading: 206.629137 deg,
      new cmd heading: 206.615292 deg.

2025-10-27T00:27:53.378Z,1761524873.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606117 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:53.612Z,1761524873.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530525
2025-10-27T00:27:53.754Z,1761524873.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898557,0.434272,0.063274],[-0.438776,-0.886232,-0.148555],[-0.008438,-0.161248,0.986878]]
2025-10-27T00:27:53.830Z,1761524873.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:53.838Z,1761524873.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:53.845Z,1761524873.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 320.220520 m,
      bearing: 212.818114 deg,
      approach rate: -0.660747 m/s,
      LOS rate: -0.006146 deg/s,
      cmd heading: 206.615285 deg,
      new cmd heading: 206.606740 deg.

2025-10-27T00:27:53.846Z,1761524873.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605968 target range: 323.354828 and range: 324.80 m.
2025-10-27T00:27:53.865Z,1761524873.865 [DAT](INFO): DAT read: Range 11 to 50 : 322.5 m  (Round-trip  430.1 ms) speed  0.6 m/s

2025-10-27T00:27:53.866Z,1761524873.866 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T00:27:53.866Z,1761524873.866 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:27:53.866Z,1761524873.866 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:27:53.867Z,1761524873.867 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:27:54.116Z,1761524874.116 [DAT](INFO): DAT read: user:113>

2025-10-27T00:27:54.117Z,1761524874.117 [DAT](INFO): DAT read: Tx time:00:27:55.4981

2025-10-27T00:27:54.118Z,1761524874.118 [DAT](INFO): Ping request sent.
2025-10-27T00:27:54.118Z,1761524874.118 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:27:54.118Z,1761524874.118 [DAT](INFO): publishing transmit ping time
2025-10-27T00:27:54.119Z,1761524874.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001175
2025-10-27T00:27:54.184Z,1761524874.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898576,0.434008,0.064791],[-0.438779,-0.886704,-0.145703],[-0.005786,-0.159354,0.987205]]
2025-10-27T00:27:54.219Z,1761524874.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 322.500000 m,
      deltaT: 4.033961 s,
      deltaX: -2.299988 m,
      approachRate: -0.570156 m/s,
      rangeRepo size: 4

2025-10-27T00:27:54.220Z,1761524874.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:54.222Z,1761524874.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 319.941956 m,
      bearing: 212.815519 deg,
      approach rate: -0.740300 m/s,
      LOS rate: -0.006902 deg/s,
      cmd heading: 206.606734 deg,
      new cmd heading: 206.598942 deg.

2025-10-27T00:27:54.244Z,1761524874.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605832 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:54.368Z,1761524874.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250328
2025-10-27T00:27:54.573Z,1761524874.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898554,0.433890,0.065881],[-0.438851,-0.887270,-0.141991],[-0.003155,-0.156499,0.987673]]
2025-10-27T00:27:54.591Z,1761524874.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:54.593Z,1761524874.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 319.671692 m,
      bearing: 212.812991 deg,
      approach rate: -0.718288 m/s,
      LOS rate: -0.006725 deg/s,
      cmd heading: 206.598947 deg,
      new cmd heading: 206.591356 deg.

2025-10-27T00:27:54.594Z,1761524874.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605699 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:54.620Z,1761524874.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501998
2025-10-27T00:27:54.872Z,1761524874.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753915
2025-10-27T00:27:55.052Z,1761524875.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:55.055Z,1761524875.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 319.344940 m,
      bearing: 212.813534 deg,
      approach rate: -0.708079 m/s,
      LOS rate: 0.001179 deg/s,
      cmd heading: 206.591352 deg,
      new cmd heading: 206.592985 deg.

2025-10-27T00:27:55.056Z,1761524875.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605728 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:55.125Z,1761524875.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007405
2025-10-27T00:27:55.376Z,1761524875.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257763
2025-10-27T00:27:55.380Z,1761524875.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898344,0.433692,0.069926],[-0.439286,-0.887776,-0.137412],[0.002484,-0.154160,0.988043]]
2025-10-27T00:27:55.398Z,1761524875.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:55.417Z,1761524875.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 319.100067 m,
      bearing: 212.813922 deg,
      approach rate: -0.707186 m/s,
      LOS rate: 0.001119 deg/s,
      cmd heading: 206.592991 deg,
      new cmd heading: 206.594153 deg.

2025-10-27T00:27:55.418Z,1761524875.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605748 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:55.628Z,1761524875.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509978
2025-10-27T00:27:55.786Z,1761524875.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898009,0.433945,0.072612],[-0.439944,-0.887670,-0.135981],[0.005447,-0.154057,0.988047]]
2025-10-27T00:27:55.859Z,1761524875.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:55.861Z,1761524875.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:55.864Z,1761524875.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 318.782043 m,
      bearing: 212.817988 deg,
      approach rate: -0.687131 m/s,
      LOS rate: 0.008796 deg/s,
      cmd heading: 206.594153 deg,
      new cmd heading: 206.606365 deg.

2025-10-27T00:27:55.865Z,1761524875.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605961 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:55.883Z,1761524875.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765399
2025-10-27T00:27:56.132Z,1761524876.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013813
2025-10-27T00:27:56.235Z,1761524876.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:56.238Z,1761524876.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 318.532349 m,
      bearing: 212.821187 deg,
      approach rate: -0.667799 m/s,
      LOS rate: 0.008561 deg/s,
      cmd heading: 206.606365 deg,
      new cmd heading: 206.615968 deg.

2025-10-27T00:27:56.239Z,1761524876.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606129 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:56.384Z,1761524876.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265872
2025-10-27T00:27:56.625Z,1761524876.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:56.627Z,1761524876.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 318.257294 m,
      bearing: 212.824716 deg,
      approach rate: -0.706131 m/s,
      LOS rate: 0.009068 deg/s,
      cmd heading: 206.615968 deg,
      new cmd heading: 206.626565 deg.

2025-10-27T00:27:56.628Z,1761524876.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606314 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:56.636Z,1761524876.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518050
2025-10-27T00:27:56.889Z,1761524876.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770583
2025-10-27T00:27:56.996Z,1761524876.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897306,0.433904,0.081049],[-0.441190,-0.887385,-0.133787],[0.013871,-0.155806,0.987690]]
2025-10-27T00:27:57.032Z,1761524877.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:57.034Z,1761524877.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 317.986115 m,
      bearing: 212.830572 deg,
      approach rate: -0.665621 m/s,
      LOS rate: 0.014385 deg/s,
      cmd heading: 206.626569 deg,
      new cmd heading: 206.644151 deg.

2025-10-27T00:27:57.036Z,1761524877.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606621 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:57.140Z,1761524877.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021949
2025-10-27T00:27:57.393Z,1761524877.393 [DAT](INFO): DAT read: Rx Time:00:27:58.3298

2025-10-27T00:27:57.393Z,1761524877.393 [DAT](INFO): Rx dataTimestamp_ set to:1761524877.392751
2025-10-27T00:27:57.394Z,1761524877.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275582
2025-10-27T00:27:57.401Z,1761524877.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896872,0.434229,0.084059],[-0.441991,-0.886922,-0.134218],[0.016272,-0.157530,0.987380]]
2025-10-27T00:27:57.448Z,1761524877.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:57.451Z,1761524877.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 317.728455 m,
      bearing: 212.836100 deg,
      approach rate: -0.618643 m/s,
      LOS rate: 0.013284 deg/s,
      cmd heading: 206.644149 deg,
      new cmd heading: 206.660747 deg.

2025-10-27T00:27:57.452Z,1761524877.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606910 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:57.644Z,1761524877.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525810
2025-10-27T00:27:57.831Z,1761524877.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896381,0.434874,0.085943],[-0.442903,-0.886670,-0.132867],[0.018423,-0.157164,0.987401]]
2025-10-27T00:27:57.896Z,1761524877.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777787
2025-10-27T00:27:57.940Z,1761524877.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:27:57.942Z,1761524877.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:57.944Z,1761524877.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 317.387604 m,
      bearing: 212.846115 deg,
      approach rate: -0.691248 m/s,
      LOS rate: 0.020333 deg/s,
      cmd heading: 206.660747 deg,
      new cmd heading: 206.690824 deg.

2025-10-27T00:27:57.945Z,1761524877.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607435 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:58.149Z,1761524878.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031113
2025-10-27T00:27:58.267Z,1761524878.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:58.269Z,1761524878.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 317.174347 m,
      bearing: 212.852392 deg,
      approach rate: -0.656183 m/s,
      LOS rate: 0.019327 deg/s,
      cmd heading: 206.690827 deg,
      new cmd heading: 206.709670 deg.

2025-10-27T00:27:58.270Z,1761524878.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607764 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:58.400Z,1761524878.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282309
2025-10-27T00:27:58.657Z,1761524878.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538920
2025-10-27T00:27:58.717Z,1761524878.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895246,0.436184,0.090980],[-0.445055,-0.885202,-0.135441],[0.021458,-0.161744,0.986600]]
2025-10-27T00:27:58.789Z,1761524878.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:58.810Z,1761524878.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 316.856476 m,
      bearing: 212.861617 deg,
      approach rate: -0.610072 m/s,
      LOS rate: 0.017723 deg/s,
      cmd heading: 206.709665 deg,
      new cmd heading: 206.737368 deg.

2025-10-27T00:27:58.817Z,1761524878.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608248 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:58.904Z,1761524878.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785932
2025-10-27T00:27:59.156Z,1761524879.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037797
2025-10-27T00:27:59.264Z,1761524879.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894218,0.437873,0.092961],[-0.447088,-0.883892,-0.137288],[0.022053,-0.164327,0.986159]]
2025-10-27T00:27:59.330Z,1761524879.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:59.337Z,1761524879.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 316.495728 m,
      bearing: 212.871256 deg,
      approach rate: -0.664792 m/s,
      LOS rate: 0.017783 deg/s,
      cmd heading: 206.737368 deg,
      new cmd heading: 206.766318 deg.

2025-10-27T00:27:59.338Z,1761524879.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608753 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:59.408Z,1761524879.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290265
2025-10-27T00:27:59.663Z,1761524879.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545083
2025-10-27T00:27:59.827Z,1761524879.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893552,0.439083,0.093652],[-0.448407,-0.883168,-0.137645],[0.022273,-0.164987,0.986044]]
2025-10-27T00:27:59.866Z,1761524879.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:27:59.869Z,1761524879.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 316.120636 m,
      bearing: 212.879718 deg,
      approach rate: -0.700374 m/s,
      LOS rate: 0.015820 deg/s,
      cmd heading: 206.766314 deg,
      new cmd heading: 206.791731 deg.

2025-10-27T00:27:59.869Z,1761524879.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609197 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:27:59.912Z,1761524879.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794006
2025-10-27T00:28:00.162Z,1761524880.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893024,0.440384,0.092572],[-0.449472,-0.882924,-0.135721],[0.021965,-0.162810,0.986413]]
2025-10-27T00:28:00.164Z,1761524880.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045964
2025-10-27T00:28:00.268Z,1761524880.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:00.270Z,1761524880.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:00.273Z,1761524880.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 315.852203 m,
      bearing: 212.885725 deg,
      approach rate: -0.663662 m/s,
      LOS rate: 0.014865 deg/s,
      cmd heading: 206.791736 deg,
      new cmd heading: 206.809773 deg.

2025-10-27T00:28:00.274Z,1761524880.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609511 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:00.416Z,1761524880.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297953
2025-10-27T00:28:00.565Z,1761524880.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892295,0.442042,0.091693],[-0.450941,-0.882371,-0.134440],[0.021479,-0.161308,0.986670]]
2025-10-27T00:28:00.583Z,1761524880.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:00.586Z,1761524880.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 315.644165 m,
      bearing: 212.890324 deg,
      approach rate: -0.665178 m/s,
      LOS rate: 0.014713 deg/s,
      cmd heading: 206.809768 deg,
      new cmd heading: 206.823573 deg.

2025-10-27T00:28:00.587Z,1761524880.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609752 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:00.669Z,1761524880.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550673
2025-10-27T00:28:00.920Z,1761524880.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801900
2025-10-27T00:28:01.018Z,1761524881.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891953,0.442639,0.092149],[-0.451608,-0.882005,-0.134599],[0.021697,-0.161672,0.986606]]
2025-10-27T00:28:01.055Z,1761524881.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:01.058Z,1761524881.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 315.330139 m,
      bearing: 212.894369 deg,
      approach rate: -0.665170 m/s,
      LOS rate: 0.008576 deg/s,
      cmd heading: 206.823579 deg,
      new cmd heading: 206.835725 deg.

2025-10-27T00:28:01.059Z,1761524881.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609964 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:01.173Z,1761524881.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054656
2025-10-27T00:28:01.376Z,1761524881.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891516,0.443696,0.091283],[-0.452481,-0.881788,-0.133081],[0.021444,-0.159948,0.986893]]
2025-10-27T00:28:01.395Z,1761524881.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:01.397Z,1761524881.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 315.103943 m,
      bearing: 212.897244 deg,
      approach rate: -0.666324 m/s,
      LOS rate: 0.008475 deg/s,
      cmd heading: 206.835723 deg,
      new cmd heading: 206.844354 deg.

2025-10-27T00:28:01.398Z,1761524881.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610115 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:01.424Z,1761524881.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305865
2025-10-27T00:28:01.676Z,1761524881.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558266
2025-10-27T00:28:01.813Z,1761524881.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891227,0.444269,0.091319],[-0.453044,-0.881565,-0.132641],[0.021575,-0.159584,0.986948]]
2025-10-27T00:28:01.911Z,1761524881.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:01.914Z,1761524881.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 314.764557 m,
      bearing: 212.899599 deg,
      approach rate: -0.678299 m/s,
      LOS rate: 0.004713 deg/s,
      cmd heading: 206.844356 deg,
      new cmd heading: 206.851430 deg.

2025-10-27T00:28:01.915Z,1761524881.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610239 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:01.932Z,1761524881.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813782
2025-10-27T00:28:02.180Z,1761524882.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061830
2025-10-27T00:28:02.244Z,1761524882.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891086,0.444694,0.090622],[-0.453319,-0.881658,-0.131077],[0.021609,-0.157881,0.987222]]
2025-10-27T00:28:02.262Z,1761524882.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:02.265Z,1761524882.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 314.515778 m,
      bearing: 212.901311 deg,
      approach rate: -0.677559 m/s,
      LOS rate: 0.004666 deg/s,
      cmd heading: 206.851432 deg,
      new cmd heading: 206.856572 deg.

2025-10-27T00:28:02.266Z,1761524882.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610328 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:02.432Z,1761524882.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314154
2025-10-27T00:28:02.642Z,1761524882.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891035,0.444813,0.090538],[-0.453411,-0.881695,-0.130508],[0.021775,-0.157338,0.987305]]
2025-10-27T00:28:02.658Z,1761524882.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:02.660Z,1761524882.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:02.663Z,1761524882.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 314.246429 m,
      bearing: 212.903162 deg,
      approach rate: -0.676846 m/s,
      LOS rate: 0.004654 deg/s,
      cmd heading: 206.856568 deg,
      new cmd heading: 206.862124 deg.

2025-10-27T00:28:02.664Z,1761524882.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610425 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:02.685Z,1761524882.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566679
2025-10-27T00:28:02.936Z,1761524882.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818227
2025-10-27T00:28:03.108Z,1761524883.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:03.110Z,1761524883.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 313.937347 m,
      bearing: 212.902649 deg,
      approach rate: -0.690643 m/s,
      LOS rate: -0.001147 deg/s,
      cmd heading: 206.862128 deg,
      new cmd heading: 206.860589 deg.

2025-10-27T00:28:03.111Z,1761524883.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610398 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:03.188Z,1761524883.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070061
2025-10-27T00:28:03.440Z,1761524883.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321959
2025-10-27T00:28:03.471Z,1761524883.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891037,0.444791,0.090629],[-0.453401,-0.881716,-0.130399],[0.021909,-0.157282,0.987311]]
2025-10-27T00:28:03.490Z,1761524883.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:03.492Z,1761524883.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 313.673767 m,
      bearing: 212.902211 deg,
      approach rate: -0.689855 m/s,
      LOS rate: -0.001146 deg/s,
      cmd heading: 206.860585 deg,
      new cmd heading: 206.859271 deg.

2025-10-27T00:28:03.493Z,1761524883.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610375 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:03.694Z,1761524883.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575652
2025-10-27T00:28:03.899Z,1761524883.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891156,0.444546,0.090663],[-0.453155,-0.881899,-0.130017],[0.022157,-0.156949,0.987358]]
2025-10-27T00:28:03.944Z,1761524883.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825951
2025-10-27T00:28:03.979Z,1761524883.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:03.982Z,1761524883.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 313.336456 m,
      bearing: 212.898785 deg,
      approach rate: -0.694927 m/s,
      LOS rate: -0.007067 deg/s,
      cmd heading: 206.859273 deg,
      new cmd heading: 206.848982 deg.

2025-10-27T00:28:04.007Z,1761524884.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610196 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:04.197Z,1761524884.197 [DAT](INFO): Reached modem response timeout
2025-10-27T00:28:04.197Z,1761524884.197 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:28:04.197Z,1761524884.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:04.334Z,1761524884.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891416,0.444026,0.090653],[-0.452630,-0.882228,-0.129611],[0.022425,-0.156570,0.987412]]
2025-10-27T00:28:04.355Z,1761524884.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:04.358Z,1761524884.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 313.069244 m,
      bearing: 212.896093 deg,
      approach rate: -0.703258 m/s,
      LOS rate: -0.007091 deg/s,
      cmd heading: 206.848987 deg,
      new cmd heading: 206.840904 deg.

2025-10-27T00:28:04.359Z,1761524884.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610055 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:04.453Z,1761524884.453 [DAT](INFO): DAT read: 00:27:58.3298 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 424, 0.31, 2.673, 1.172, 2.601, 2.053, PHS= 0.722,-0.836, 0.504, RAW= 142.6,  -54>

2025-10-27T00:28:04.454Z,1761524884.454 [DAT](INFO): unknown deviceResponse_: 00:27:58.3298 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 424, 0.31, 2.673, 1.172, 2.601, 2.053, PHS= 0.722,-0.836, 0.504, RAW= 142.6,  -54>

2025-10-27T00:28:04.454Z,1761524884.454 [DAT](INFO): DAT read: Tx time:00:28:05.8480

2025-10-27T00:28:04.459Z,1761524884.459 [DAT](INFO): Ping request sent.
2025-10-27T00:28:04.460Z,1761524884.460 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:04.460Z,1761524884.460 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:04.461Z,1761524884.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005923
2025-10-27T00:28:04.701Z,1761524884.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245942
2025-10-27T00:28:04.735Z,1761524884.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891976,0.442911,0.090607],[-0.451512,-0.882846,-0.129307],[0.022720,-0.156249,0.987456]]
2025-10-27T00:28:04.752Z,1761524884.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:04.754Z,1761524884.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:04.773Z,1761524884.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 312.788116 m,
      bearing: 212.893319 deg,
      approach rate: -0.704721 m/s,
      LOS rate: -0.006959 deg/s,
      cmd heading: 206.840900 deg,
      new cmd heading: 206.832572 deg.

2025-10-27T00:28:04.774Z,1761524884.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609909 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:04.953Z,1761524884.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497808
2025-10-27T00:28:05.157Z,1761524885.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892739,0.441147,0.091685],[-0.449929,-0.883698,-0.129003],[0.024113,-0.156418,0.987397]]
2025-10-27T00:28:05.204Z,1761524885.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749162
2025-10-27T00:28:05.208Z,1761524885.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:05.210Z,1761524885.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 312.472656 m,
      bearing: 212.889969 deg,
      approach rate: -0.694976 m/s,
      LOS rate: -0.007388 deg/s,
      cmd heading: 206.832567 deg,
      new cmd heading: 206.822507 deg.

2025-10-27T00:28:05.212Z,1761524885.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609734 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:05.456Z,1761524885.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001065
2025-10-27T00:28:05.557Z,1761524885.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893579,0.439309,0.092324],[-0.448213,-0.884547,-0.129157],[0.024925,-0.156793,0.987317]]
2025-10-27T00:28:05.587Z,1761524885.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:05.590Z,1761524885.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 312.207245 m,
      bearing: 212.887240 deg,
      approach rate: -0.700344 m/s,
      LOS rate: -0.007208 deg/s,
      cmd heading: 206.822513 deg,
      new cmd heading: 206.814319 deg.

2025-10-27T00:28:05.591Z,1761524885.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609591 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:05.709Z,1761524885.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253545
2025-10-27T00:28:05.960Z,1761524885.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505161
2025-10-27T00:28:05.964Z,1761524885.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894277,0.437757,0.092936],[-0.446775,-0.885259,-0.129263],[0.025687,-0.157119,0.987246]]
2025-10-27T00:28:06.020Z,1761524886.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:06.022Z,1761524886.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 311.897888 m,
      bearing: 212.883776 deg,
      approach rate: -0.714899 m/s,
      LOS rate: -0.008013 deg/s,
      cmd heading: 206.814317 deg,
      new cmd heading: 206.803915 deg.

2025-10-27T00:28:06.023Z,1761524886.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609409 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:06.212Z,1761524886.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757046
2025-10-27T00:28:06.365Z,1761524886.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895000,0.435900,0.094692],[-0.445259,-0.885787,-0.130867],[0.026832,-0.159288,0.986867]]
2025-10-27T00:28:06.394Z,1761524886.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:06.397Z,1761524886.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 311.632416 m,
      bearing: 212.880885 deg,
      approach rate: -0.708149 m/s,
      LOS rate: -0.007716 deg/s,
      cmd heading: 206.803921 deg,
      new cmd heading: 206.795243 deg.

2025-10-27T00:28:06.398Z,1761524886.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609258 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:06.466Z,1761524886.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010727
2025-10-27T00:28:06.716Z,1761524886.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261446
2025-10-27T00:28:06.772Z,1761524886.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895228,0.435293,0.095319],[-0.444764,-0.886005,-0.131071],[0.027399,-0.159734,0.986780]]
2025-10-27T00:28:06.798Z,1761524886.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:06.802Z,1761524886.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:06.821Z,1761524886.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 311.346558 m,
      bearing: 212.877798 deg,
      approach rate: -0.702855 m/s,
      LOS rate: -0.007599 deg/s,
      cmd heading: 206.795247 deg,
      new cmd heading: 206.785975 deg.

2025-10-27T00:28:06.822Z,1761524886.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609096 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:06.968Z,1761524886.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513141
2025-10-27T00:28:07.191Z,1761524887.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895674,0.434248,0.095902],[-0.443820,-0.886497,-0.130946],[0.028154,-0.159848,0.986740]]
2025-10-27T00:28:07.220Z,1761524887.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765254
2025-10-27T00:28:07.230Z,1761524887.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:07.232Z,1761524887.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 311.043732 m,
      bearing: 212.874904 deg,
      approach rate: -0.706730 m/s,
      LOS rate: -0.006761 deg/s,
      cmd heading: 206.785972 deg,
      new cmd heading: 206.777281 deg.

2025-10-27T00:28:07.233Z,1761524887.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608944 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:07.472Z,1761524887.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017171
2025-10-27T00:28:07.592Z,1761524887.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895945,0.433639,0.096119],[-0.443206,-0.887034,-0.129379],[0.029157,-0.158517,0.986926]]
2025-10-27T00:28:07.610Z,1761524887.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:07.613Z,1761524887.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 310.780975 m,
      bearing: 212.872418 deg,
      approach rate: -0.690381 m/s,
      LOS rate: -0.006536 deg/s,
      cmd heading: 206.777284 deg,
      new cmd heading: 206.769821 deg.

2025-10-27T00:28:07.614Z,1761524887.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608814 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:07.724Z,1761524887.724 [DAT](INFO): DAT read: Rx Time:00:28:08.6707

2025-10-27T00:28:07.725Z,1761524887.725 [DAT](INFO): Rx dataTimestamp_ set to:1761524887.724590
2025-10-27T00:28:07.725Z,1761524887.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270621
2025-10-27T00:28:07.976Z,1761524887.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521153
2025-10-27T00:28:07.994Z,1761524887.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896101,0.433378,0.095848],[-0.442809,-0.887688,-0.126211],[0.030386,-0.155540,0.987362]]
2025-10-27T00:28:08.040Z,1761524888.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.35 m.
2025-10-27T00:28:08.044Z,1761524888.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.354828 m,
      nav range: 310.487183 m,
      bearing: 212.871095 deg,
      approach rate: -0.683302 m/s,
      LOS rate: -0.003079 deg/s,
      cmd heading: 206.769825 deg,
      new cmd heading: 206.765854 deg.

2025-10-27T00:28:08.045Z,1761524888.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608745 target range: 323.354828 and range: 322.50 m.
2025-10-27T00:28:08.233Z,1761524888.233 [DAT](INFO): DAT read: 00:28:08.6707 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 352, 0.21,-1.331,-2.738,-1.307,-1.745, PHS= 0.517,-0.948, 0.395, RAW= 145.7,   0.5, CAL= 145.1,   0.5, ROT=   4.9,  -0.5

2025-10-27T00:28:08.234Z,1761524888.234 [DAT](INFO): got valid direction response:
 00:28:08.6707 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 352, 0.21,-1.331,-2.738,-1.307,-1.745, PHS= 0.517,-0.948, 0.395, RAW= 145.7,   0.5, CAL= 145.1,   0.5, ROT=   4.9,  -0.5

2025-10-27T00:28:08.235Z,1761524888.235 [DAT](INFO): DAT read: Bearing 350.3,   6.6 (Local)

2025-10-27T00:28:08.236Z,1761524888.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.3,   6.6 (Local)

2025-10-27T00:28:08.237Z,1761524888.237 [DAT](INFO): DAT read: Range 11 to 50 : 313.8 m  (Round-trip  418.5 ms) speed  0.5 m/s

2025-10-27T00:28:08.238Z,1761524888.238 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:08.239Z,1761524888.239 [DAT](INFO): direction in FSK: [0.996307,0.085414,0.008727]
2025-10-27T00:28:08.239Z,1761524888.239 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:08.242Z,1761524888.242 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:08.242Z,1761524888.242 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:08.242Z,1761524888.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:08.398Z,1761524888.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896007,0.433522,0.096071],[-0.442922,-0.887925,-0.124136],[0.031488,-0.153779,0.987603]]
2025-10-27T00:28:08.448Z,1761524888.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 313.799988 m,
      deltaT: 14.363880 s,
      deltaX: -8.700012 m,
      approachRate: -0.605687 m/s,
      rangeRepo size: 4

2025-10-27T00:28:08.450Z,1761524888.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 312.390747 m,
      bearing: 211.224807 deg,
      lat: 36.779248 deg,
      lon: -121.859945 deg,
      deltaT: 18.397841 s,
      deltaX: -10.964081 m,
      approachRate: -0.595944 m/s,
      posRepo size: 4

2025-10-27T00:28:08.455Z,1761524888.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:08.458Z,1761524888.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 309.682861 m,
      bearing: 211.517420 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003079 deg/s,
      cmd heading: 206.765850 deg,
      new cmd heading: 206.762087 deg.

2025-10-27T00:28:08.459Z,1761524888.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608679 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:08.480Z,1761524888.480 [DAT](INFO): DAT read: user:115>

2025-10-27T00:28:08.481Z,1761524888.481 [DAT](INFO): DAT read: Tx time:00:28:09.8980

2025-10-27T00:28:08.481Z,1761524888.481 [DAT](INFO): Ping request sent.
2025-10-27T00:28:08.481Z,1761524888.481 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:08.481Z,1761524888.481 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:08.482Z,1761524888.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-27T00:28:08.733Z,1761524888.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251452
2025-10-27T00:28:08.815Z,1761524888.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895964,0.433420,0.096932],[-0.442948,-0.887935,-0.123971],[0.032338,-0.154010,0.987540]]
2025-10-27T00:28:08.843Z,1761524888.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:08.845Z,1761524888.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:08.852Z,1761524888.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 309.411407 m,
      bearing: 211.514993 deg,
      approach rate: -0.682139 m/s,
      LOS rate: -0.006106 deg/s,
      cmd heading: 206.762093 deg,
      new cmd heading: 206.754804 deg.

2025-10-27T00:28:08.853Z,1761524888.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608552 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:08.985Z,1761524888.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503227
2025-10-27T00:28:09.236Z,1761524889.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754887
2025-10-27T00:28:09.236Z,1761524889.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895863,0.433647,0.096850],[-0.443060,-0.888297,-0.120941],[0.033586,-0.151257,0.987924]]
2025-10-27T00:28:09.294Z,1761524889.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:09.299Z,1761524889.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 309.096313 m,
      bearing: 211.514926 deg,
      approach rate: -0.703531 m/s,
      LOS rate: -0.000150 deg/s,
      cmd heading: 206.754799 deg,
      new cmd heading: 206.754596 deg.

2025-10-27T00:28:09.301Z,1761524889.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608548 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:09.488Z,1761524889.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006930
2025-10-27T00:28:09.645Z,1761524889.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895578,0.434041,0.097720],[-0.443581,-0.888041,-0.120909],[0.034300,-0.151630,0.987842]]
2025-10-27T00:28:09.663Z,1761524889.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:09.666Z,1761524889.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 308.832428 m,
      bearing: 211.514840 deg,
      approach rate: -0.714229 m/s,
      LOS rate: -0.000232 deg/s,
      cmd heading: 206.754594 deg,
      new cmd heading: 206.754337 deg.

2025-10-27T00:28:09.667Z,1761524889.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608544 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:09.741Z,1761524889.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259709
2025-10-27T00:28:09.992Z,1761524889.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510773
2025-10-27T00:28:10.099Z,1761524890.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:10.102Z,1761524890.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 308.525574 m,
      bearing: 211.516290 deg,
      approach rate: -0.703297 m/s,
      LOS rate: 0.003327 deg/s,
      cmd heading: 206.754334 deg,
      new cmd heading: 206.758689 deg.

2025-10-27T00:28:10.103Z,1761524890.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608620 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:10.244Z,1761524890.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762773
2025-10-27T00:28:10.450Z,1761524890.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894647,0.435360,0.100340],[-0.445311,-0.887095,-0.121489],[0.036120,-0.153373,0.987508]]
2025-10-27T00:28:10.478Z,1761524890.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:10.485Z,1761524890.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 308.259064 m,
      bearing: 211.517455 deg,
      approach rate: -0.702801 m/s,
      LOS rate: 0.003075 deg/s,
      cmd heading: 206.758692 deg,
      new cmd heading: 206.762190 deg.

2025-10-27T00:28:10.486Z,1761524890.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608681 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:10.496Z,1761524890.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862
2025-10-27T00:28:10.749Z,1761524890.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267440
2025-10-27T00:28:10.853Z,1761524890.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893987,0.436446,0.101500],[-0.446593,-0.886354,-0.122193],[0.036635,-0.154568,0.987303]]
2025-10-27T00:28:10.878Z,1761524890.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:10.896Z,1761524890.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:10.898Z,1761524890.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 307.977081 m,
      bearing: 211.518615 deg,
      approach rate: -0.675423 m/s,
      LOS rate: 0.002781 deg/s,
      cmd heading: 206.762189 deg,
      new cmd heading: 206.765672 deg.

2025-10-27T00:28:10.900Z,1761524890.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608742 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:11.000Z,1761524891.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518952
2025-10-27T00:28:11.252Z,1761524891.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770823
2025-10-27T00:28:11.332Z,1761524891.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893295,0.437603,0.102603],[-0.447944,-0.885554,-0.123046],[0.037015,-0.155877,0.987083]]
2025-10-27T00:28:11.368Z,1761524891.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:11.388Z,1761524891.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 307.642212 m,
      bearing: 211.521710 deg,
      approach rate: -0.708732 m/s,
      LOS rate: 0.006556 deg/s,
      cmd heading: 206.765672 deg,
      new cmd heading: 206.774965 deg.

2025-10-27T00:28:11.389Z,1761524891.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608904 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:11.508Z,1761524891.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026980
2025-10-27T00:28:11.730Z,1761524891.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892855,0.438319,0.103379],[-0.448794,-0.885054,-0.123545],[0.037344,-0.156703,0.986939]]
2025-10-27T00:28:11.748Z,1761524891.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:11.751Z,1761524891.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 307.381744 m,
      bearing: 211.524074 deg,
      approach rate: -0.685322 m/s,
      LOS rate: 0.006227 deg/s,
      cmd heading: 206.774961 deg,
      new cmd heading: 206.782062 deg.

2025-10-27T00:28:11.752Z,1761524891.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609028 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:11.760Z,1761524891.760 [DAT](INFO): DAT read: Rx Time:00:28:12.6962

2025-10-27T00:28:11.761Z,1761524891.761 [DAT](INFO): Rx dataTimestamp_ set to:1761524891.760297
2025-10-27T00:28:11.761Z,1761524891.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280007
2025-10-27T00:28:11.808Z,1761524891.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:28:12.012Z,1761524892.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530714
2025-10-27T00:28:12.134Z,1761524892.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892348,0.439165,0.104157],[-0.449797,-0.884390,-0.124649],[0.037374,-0.158080,0.986719]]
2025-10-27T00:28:12.236Z,1761524892.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.39 m.
2025-10-27T00:28:12.238Z,1761524892.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.390747 m,
      nav range: 307.070068 m,
      bearing: 211.527147 deg,
      approach rate: -0.639383 m/s,
      LOS rate: 0.006309 deg/s,
      cmd heading: 206.782065 deg,
      new cmd heading: 206.791292 deg.

2025-10-27T00:28:12.244Z,1761524892.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609189 target range: 312.390747 and range: 313.80 m.
2025-10-27T00:28:12.269Z,1761524892.269 [DAT](INFO): DAT read: 00:28:12.6962 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 192,-0.07,-1.017,-2.761,-0.966,-1.314, PHS= 0.398,-1.403, 0.304, RAW= 147.3,   8.0, CAL= 146.9,   8.7, ROT=   3.1,  -8.7

2025-10-27T00:28:12.272Z,1761524892.272 [DAT](INFO): got valid direction response:
 00:28:12.6962 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 192,-0.07,-1.017,-2.761,-0.966,-1.314, PHS= 0.398,-1.403, 0.304, RAW= 147.3,   8.0, CAL= 146.9,   8.7, ROT=   3.1,  -8.7

2025-10-27T00:28:12.273Z,1761524892.273 [DAT](INFO): DAT read: Bearing 358.4,   4.0 (Local)

2025-10-27T00:28:12.274Z,1761524892.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,   4.0 (Local)

2025-10-27T00:28:12.277Z,1761524892.277 [DAT](INFO): DAT read: Range 11 to 50 : 295.5 m  (Round-trip  394.1 ms) speed  0.5 m/s

2025-10-27T00:28:12.278Z,1761524892.278 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:12.288Z,1761524892.288 [DAT](INFO): direction in FSK: [0.987047,0.053457,0.151261]
2025-10-27T00:28:12.289Z,1761524892.289 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:12.299Z,1761524892.299 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:12.307Z,1761524892.307 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:12.308Z,1761524892.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:12.516Z,1761524892.516 [DAT](INFO): DAT read: user:116>

2025-10-27T00:28:12.517Z,1761524892.517 [DAT](INFO): DAT read: Tx time:00:28:13.9480

2025-10-27T00:28:12.517Z,1761524892.517 [DAT](INFO): Ping request sent.
2025-10-27T00:28:12.517Z,1761524892.517 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:12.517Z,1761524892.517 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:12.518Z,1761524892.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-27T00:28:12.550Z,1761524892.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891907,0.439891,0.104874],[-0.450658,-0.883851,-0.125356],[0.037550,-0.159068,0.986553]]
2025-10-27T00:28:12.596Z,1761524892.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.500000 m,
      deltaT: 4.036114 s,
      deltaX: -18.299988 m,
      approachRate: -4.534061 m/s,
      rangeRepo size: 4

2025-10-27T00:28:12.598Z,1761524892.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 294.185059 m,
      bearing: 211.285484 deg,
      lat: 36.779279 deg,
      lon: -121.859945 deg,
      deltaT: 4.036114 s,
      deltaX: -18.205688 m,
      approachRate: -4.510697 m/s,
      posRepo size: 4

2025-10-27T00:28:12.598Z,1761524892.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:12.605Z,1761524892.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 303.861420 m,
      bearing: 211.869610 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006309 deg/s,
      cmd heading: 206.791285 deg,
      new cmd heading: 206.798080 deg.

2025-10-27T00:28:12.606Z,1761524892.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609307 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:12.768Z,1761524892.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250995
2025-10-27T00:28:12.812Z,1761524892.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:28:12.950Z,1761524892.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891666,0.440316,0.105134],[-0.451114,-0.883643,-0.125188],[0.037779,-0.159053,0.986547]]
2025-10-27T00:28:13.023Z,1761524893.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505263
2025-10-27T00:28:13.025Z,1761524893.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:13.031Z,1761524893.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:13.034Z,1761524893.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 303.579010 m,
      bearing: 211.872670 deg,
      approach rate: -0.653387 m/s,
      LOS rate: 0.007086 deg/s,
      cmd heading: 206.798075 deg,
      new cmd heading: 206.807263 deg.

2025-10-27T00:28:13.039Z,1761524893.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609468 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:13.274Z,1761524893.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756338
2025-10-27T00:28:13.346Z,1761524893.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891607,0.440593,0.104476],[-0.451207,-0.883880,-0.123160],[0.038081,-0.156951,0.986872]]
2025-10-27T00:28:13.389Z,1761524893.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:13.392Z,1761524893.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 303.290314 m,
      bearing: 211.874836 deg,
      approach rate: -0.798399 m/s,
      LOS rate: 0.005995 deg/s,
      cmd heading: 206.807268 deg,
      new cmd heading: 206.813772 deg.

2025-10-27T00:28:13.393Z,1761524893.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609581 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:13.524Z,1761524893.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006928
2025-10-27T00:28:13.750Z,1761524893.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891495,0.440712,0.104930],[-0.451391,-0.883806,-0.123020],[0.038521,-0.157037,0.986841]]
2025-10-27T00:28:13.769Z,1761524893.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:13.781Z,1761524893.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264006
2025-10-27T00:28:13.794Z,1761524893.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 303.022552 m,
      bearing: 211.876838 deg,
      approach rate: -0.706062 m/s,
      LOS rate: 0.005283 deg/s,
      cmd heading: 206.813770 deg,
      new cmd heading: 206.819781 deg.

2025-10-27T00:28:13.796Z,1761524893.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609686 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:14.032Z,1761524894.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514944
2025-10-27T00:28:14.155Z,1761524894.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891383,0.440789,0.105555],[-0.451559,-0.883745,-0.122842],[0.039136,-0.157164,0.986797]]
2025-10-27T00:28:14.207Z,1761524894.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:14.209Z,1761524894.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 302.724396 m,
      bearing: 211.878771 deg,
      approach rate: -0.705259 m/s,
      LOS rate: 0.004578 deg/s,
      cmd heading: 206.819781 deg,
      new cmd heading: 206.825587 deg.

2025-10-27T00:28:14.210Z,1761524894.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609787 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:14.285Z,1761524894.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767779
2025-10-27T00:28:14.536Z,1761524894.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018786
2025-10-27T00:28:14.562Z,1761524894.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891130,0.441283,0.105629],[-0.451978,-0.883810,-0.120815],[0.040042,-0.155404,0.987039]]
2025-10-27T00:28:14.598Z,1761524894.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:14.601Z,1761524894.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 302.444977 m,
      bearing: 211.880557 deg,
      approach rate: -0.705297 m/s,
      LOS rate: 0.004513 deg/s,
      cmd heading: 206.825587 deg,
      new cmd heading: 206.830951 deg.

2025-10-27T00:28:14.602Z,1761524894.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609881 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:14.789Z,1761524894.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271903
2025-10-27T00:28:14.967Z,1761524894.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891051,0.441649,0.104756],[-0.452031,-0.884360,-0.116513],[0.041184,-0.151172,0.987649]]
2025-10-27T00:28:14.999Z,1761524894.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:15.029Z,1761524895.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 302.161438 m,
      bearing: 211.882361 deg,
      approach rate: -0.690758 m/s,
      LOS rate: 0.004398 deg/s,
      cmd heading: 206.830955 deg,
      new cmd heading: 206.836371 deg.

2025-10-27T00:28:15.038Z,1761524895.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609976 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:15.043Z,1761524895.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525353
2025-10-27T00:28:15.293Z,1761524895.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775516
2025-10-27T00:28:15.419Z,1761524895.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:15.421Z,1761524895.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:15.424Z,1761524895.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 301.857758 m,
      bearing: 211.882628 deg,
      approach rate: -0.716782 m/s,
      LOS rate: 0.000632 deg/s,
      cmd heading: 206.836365 deg,
      new cmd heading: 206.837167 deg.

2025-10-27T00:28:15.425Z,1761524895.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609990 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:15.547Z,1761524895.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029780
2025-10-27T00:28:15.783Z,1761524895.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890669,0.442227,0.105565],[-0.452639,-0.884319,-0.114443],[0.042743,-0.149714,0.987805]]
2025-10-27T00:28:15.797Z,1761524895.797 [DAT](INFO): DAT read: Rx Time:00:28:16.7430

2025-10-27T00:28:15.797Z,1761524895.797 [DAT](INFO): Rx dataTimestamp_ set to:1761524895.797147
2025-10-27T00:28:15.798Z,1761524895.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281089
2025-10-27T00:28:15.810Z,1761524895.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:15.813Z,1761524895.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 301.583588 m,
      bearing: 211.882830 deg,
      approach rate: -0.704655 m/s,
      LOS rate: 0.000519 deg/s,
      cmd heading: 206.837171 deg,
      new cmd heading: 206.837776 deg.

2025-10-27T00:28:15.814Z,1761524895.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610000 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:16.052Z,1761524896.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534530
2025-10-27T00:28:16.177Z,1761524896.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890604,0.442252,0.106005],[-0.452713,-0.884331,-0.114063],[0.043299,-0.149574,0.987802]]
2025-10-27T00:28:16.212Z,1761524896.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.19 m.
2025-10-27T00:28:16.233Z,1761524896.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.185059 m,
      nav range: 301.295929 m,
      bearing: 211.882682 deg,
      approach rate: -0.714909 m/s,
      LOS rate: -0.000368 deg/s,
      cmd heading: 206.837772 deg,
      new cmd heading: 206.837328 deg.

2025-10-27T00:28:16.241Z,1761524896.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609993 target range: 294.185059 and range: 295.50 m.
2025-10-27T00:28:16.305Z,1761524896.305 [DAT](INFO): DAT read: 00:28:16.7430 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 425, 0.05, 2.985, 1.674, 2.907, 2.380, PHS= 0.706,-0.662, 0.483, RAW= 141.2,  -8.3, CAL= 141.3,  -9.9, ROT=   8.7,   9.9

2025-10-27T00:28:16.307Z,1761524896.307 [DAT](INFO): got valid direction response:
 00:28:16.7430 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 425, 0.05, 2.985, 1.674, 2.907, 2.380, PHS= 0.706,-0.662, 0.483, RAW= 141.2,  -8.3, CAL= 141.3,  -9.9, ROT=   8.7,   9.9

2025-10-27T00:28:16.308Z,1761524896.308 [DAT](INFO): DAT read: Bearing 341.1,  12.5 (Local)

2025-10-27T00:28:16.308Z,1761524896.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.1,  12.5 (Local)

2025-10-27T00:28:16.309Z,1761524896.309 [DAT](INFO): DAT read: Range 11 to 50 : 293.1 m  (Round-trip  390.9 ms) speed  0.8 m/s

2025-10-27T00:28:16.310Z,1761524896.310 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:16.311Z,1761524896.311 [DAT](INFO): direction in FSK: [0.973775,0.149008,-0.171929]
2025-10-27T00:28:16.311Z,1761524896.311 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:16.315Z,1761524896.315 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:16.315Z,1761524896.315 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:16.315Z,1761524896.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:16.552Z,1761524896.552 [DAT](INFO): DAT read: user:117>

2025-10-27T00:28:16.553Z,1761524896.553 [DAT](INFO): DAT read: Tx time:00:28:17.9480

2025-10-27T00:28:16.553Z,1761524896.553 [DAT](INFO): Ping request sent.
2025-10-27T00:28:16.553Z,1761524896.553 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:16.553Z,1761524896.553 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:16.554Z,1761524896.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-10-27T00:28:16.613Z,1761524896.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890818,0.441869,0.105808],[-0.452280,-0.884619,-0.113540],[0.043430,-0.148998,0.987883]]
2025-10-27T00:28:16.641Z,1761524896.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.100006 m,
      deltaT: 4.036048 s,
      deltaX: -2.399994 m,
      approachRate: -0.594640 m/s,
      rangeRepo size: 4

2025-10-27T00:28:16.643Z,1761524896.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 291.790863 m,
      bearing: 213.987895 deg,
      lat: 36.779279 deg,
      lon: -121.859945 deg,
      deltaT: 4.036048 s,
      deltaX: -2.394196 m,
      approachRate: -0.593203 m/s,
      posRepo size: 4

2025-10-27T00:28:16.644Z,1761524896.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.79 m.
2025-10-27T00:28:16.647Z,1761524896.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.790863 m,
      nav range: 300.992523 m,
      bearing: 211.882553 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000368 deg/s,
      cmd heading: 206.837335 deg,
      new cmd heading: 206.836862 deg.

2025-10-27T00:28:16.648Z,1761524896.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609984 target range: 291.790863 and range: 293.10 m.
2025-10-27T00:28:16.804Z,1761524896.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251197
2025-10-27T00:28:16.994Z,1761524896.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890982,0.441531,0.105838],[-0.451941,-0.884816,-0.113357],[0.043597,-0.148832,0.987901]]
2025-10-27T00:28:17.059Z,1761524897.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505173
2025-10-27T00:28:17.084Z,1761524897.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.79 m.
2025-10-27T00:28:17.091Z,1761524897.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.790863 m,
      nav range: 300.716797 m,
      bearing: 211.882455 deg,
      approach rate: -0.621404 m/s,
      LOS rate: -0.000221 deg/s,
      cmd heading: 206.836856 deg,
      new cmd heading: 206.836562 deg.

2025-10-27T00:28:17.092Z,1761524897.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609979 target range: 291.790863 and range: 293.10 m.
2025-10-27T00:28:17.308Z,1761524897.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754985
2025-10-27T00:28:17.400Z,1761524897.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891216,0.440926,0.106385],[-0.451469,-0.884922,-0.114406],[0.043698,-0.149990,0.987721]]
2025-10-27T00:28:17.434Z,1761524897.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:17.437Z,1761524897.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.79 m.
2025-10-27T00:28:17.455Z,1761524897.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.790863 m,
      nav range: 300.424652 m,
      bearing: 211.881475 deg,
      approach rate: -0.829295 m/s,
      LOS rate: -0.002785 deg/s,
      cmd heading: 206.836556 deg,
      new cmd heading: 206.833613 deg.

2025-10-27T00:28:17.456Z,1761524897.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609928 target range: 291.790863 and range: 293.10 m.
2025-10-27T00:28:17.561Z,1761524897.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007393
2025-10-27T00:28:17.805Z,1761524897.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891455,0.439983,0.108271],[-0.450999,-0.884632,-0.118432],[0.043672,-0.154406,0.987042]]
2025-10-27T00:28:17.812Z,1761524897.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259120
2025-10-27T00:28:17.825Z,1761524897.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.79 m.
2025-10-27T00:28:17.828Z,1761524897.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.790863 m,
      nav range: 300.150024 m,
      bearing: 211.880586 deg,
      approach rate: -0.706807 m/s,
      LOS rate: -0.002291 deg/s,
      cmd heading: 206.833619 deg,
      new cmd heading: 206.830949 deg.

2025-10-27T00:28:17.829Z,1761524897.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609881 target range: 291.790863 and range: 293.10 m.
2025-10-27T00:28:18.067Z,1761524898.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513665
2025-10-27T00:28:18.206Z,1761524898.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891602,0.439208,0.110191],[-0.450688,-0.884314,-0.121939],[0.043887,-0.158383,0.986402]]
2025-10-27T00:28:18.269Z,1761524898.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.79 m.
2025-10-27T00:28:18.278Z,1761524898.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.790863 m,
      nav range: 299.857422 m,
      bearing: 211.879753 deg,
      approach rate: -0.659156 m/s,
      LOS rate: -0.001876 deg/s,
      cmd heading: 206.830955 deg,
      new cmd heading: 206.828456 deg.

2025-10-27T00:28:18.284Z,1761524898.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609838 target range: 291.790863 and range: 293.10 m.
2025-10-27T00:28:18.316Z,1761524898.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763072
2025-10-27T00:28:18.568Z,1761524898.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015296
2025-10-27T00:28:18.622Z,1761524898.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891732,0.438844,0.110593],[-0.450412,-0.884388,-0.122418],[0.044085,-0.158976,0.986298]]
2025-10-27T00:28:18.640Z,1761524898.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.79 m.
2025-10-27T00:28:18.642Z,1761524898.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.790863 m,
      nav range: 299.577332 m,
      bearing: 211.878973 deg,
      approach rate: -0.755400 m/s,
      LOS rate: -0.002107 deg/s,
      cmd heading: 206.828455 deg,
      new cmd heading: 206.826111 deg.

2025-10-27T00:28:18.644Z,1761524898.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609797 target range: 291.790863 and range: 293.10 m.
2025-10-27T00:28:18.820Z,1761524898.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266881
2025-10-27T00:28:19.017Z,1761524899.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891821,0.438747,0.110252],[-0.450216,-0.884629,-0.121394],[0.044271,-0.157899,0.986462]]
2025-10-27T00:28:19.075Z,1761524899.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521414
2025-10-27T00:28:19.112Z,1761524899.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.79 m.
2025-10-27T00:28:19.119Z,1761524899.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.790863 m,
      nav range: 299.287933 m,
      bearing: 211.878175 deg,
      approach rate: -0.621122 m/s,
      LOS rate: -0.001715 deg/s,
      cmd heading: 206.826106 deg,
      new cmd heading: 206.823709 deg.

2025-10-27T00:28:19.120Z,1761524899.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609755 target range: 291.790863 and range: 293.10 m.
2025-10-27T00:28:19.324Z,1761524899.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770944
2025-10-27T00:28:19.463Z,1761524899.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892285,0.438305,0.108238],[-0.449243,-0.885779,-0.116520],[0.044803,-0.152594,0.987273]]
2025-10-27T00:28:19.500Z,1761524899.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:19.502Z,1761524899.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.79 m.
2025-10-27T00:28:19.529Z,1761524899.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.790863 m,
      nav range: 298.973022 m,
      bearing: 211.877041 deg,
      approach rate: -0.794802 m/s,
      LOS rate: -0.002863 deg/s,
      cmd heading: 206.823715 deg,
      new cmd heading: 206.820312 deg.

2025-10-27T00:28:19.530Z,1761524899.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609695 target range: 291.790863 and range: 293.10 m.
2025-10-27T00:28:19.577Z,1761524899.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023755
2025-10-27T00:28:19.828Z,1761524899.828 [DAT](INFO): DAT read: Rx Time:00:28:20.7607

2025-10-27T00:28:19.829Z,1761524899.829 [DAT](INFO): Rx dataTimestamp_ set to:1761524899.828380
2025-10-27T00:28:19.829Z,1761524899.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276261
2025-10-27T00:28:19.973Z,1761524899.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892516,0.437440,0.109821],[-0.448732,-0.885742,-0.118745],[0.045329,-0.155262,0.986833]]
2025-10-27T00:28:20.035Z,1761524900.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.79 m.
2025-10-27T00:28:20.038Z,1761524900.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.790863 m,
      nav range: 298.626312 m,
      bearing: 211.875836 deg,
      approach rate: -0.660483 m/s,
      LOS rate: -0.002299 deg/s,
      cmd heading: 206.820314 deg,
      new cmd heading: 206.816693 deg.

2025-10-27T00:28:20.049Z,1761524900.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609632 target range: 291.790863 and range: 293.10 m.
2025-10-27T00:28:20.083Z,1761524900.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529171
2025-10-27T00:28:20.341Z,1761524900.341 [DAT](INFO): DAT read: 00:28:20.7606 LVL= 32752, 32753, 32754, 29731, AGC= 70, IDX= 116, 0.28,-1.120,-2.599,-1.100,-1.868, PHS= 0.850,-0.686, 0.724, RAW= 145.7, -12.0, CAL= 146.4, -14.2, ROT=   3.6,  14.2

2025-10-27T00:28:20.342Z,1761524900.342 [DAT](INFO): got valid direction response:
 00:28:20.7606 LVL= 32752, 32753, 32754, 29731, AGC= 70, IDX= 116, 0.28,-1.120,-2.599,-1.100,-1.868, PHS= 0.850,-0.686, 0.724, RAW= 145.7, -12.0, CAL= 146.4, -14.2, ROT=   3.6,  14.2

2025-10-27T00:28:20.344Z,1761524900.344 [DAT](INFO): DAT read: Bearing 336.2,   8.1 (Local)

2025-10-27T00:28:20.345Z,1761524900.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.2,   8.1 (Local)

2025-10-27T00:28:20.350Z,1761524900.350 [DAT](INFO): DAT read: Range 11 to 50 : 306.3 m  (Round-trip  408.5 ms) speed  0.4 m/s

2025-10-27T00:28:20.352Z,1761524900.352 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:20.353Z,1761524900.353 [DAT](INFO): direction in FSK: [0.967532,0.060872,-0.245307]
2025-10-27T00:28:20.353Z,1761524900.353 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:20.362Z,1761524900.362 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:20.362Z,1761524900.362 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:20.362Z,1761524900.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:20.485Z,1761524900.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892582,0.437274,0.109948],[-0.448564,-0.885891,-0.118265],[0.045688,-0.154880,0.986876]]
2025-10-27T00:28:20.565Z,1761524900.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.299988 m,
      deltaT: 4.034066 s,
      deltaX: 13.199982 m,
      approachRate: 3.272128 m/s,
      rangeRepo size: 4

2025-10-27T00:28:20.572Z,1761524900.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.941528 m,
      bearing: 207.976305 deg,
      lat: 36.779229 deg,
      lon: -121.859907 deg,
      deltaT: 4.034066 s,
      deltaX: 13.150665 m,
      approachRate: 3.259903 m/s,
      posRepo size: 4

2025-10-27T00:28:20.572Z,1761524900.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:20.579Z,1761524900.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 301.123322 m,
      bearing: 210.775494 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002299 deg/s,
      cmd heading: 206.816694 deg,
      new cmd heading: 206.812983 deg.

2025-10-27T00:28:20.580Z,1761524900.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609567 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:20.584Z,1761524900.584 [DAT](INFO): DAT read: user:118>

2025-10-27T00:28:20.585Z,1761524900.585 [DAT](INFO): DAT read: Tx time:00:28:21.9979

2025-10-27T00:28:20.585Z,1761524900.585 [DAT](INFO): Ping request sent.
2025-10-27T00:28:20.585Z,1761524900.585 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:20.585Z,1761524900.585 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:20.586Z,1761524900.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001015
2025-10-27T00:28:20.836Z,1761524900.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813
2025-10-27T00:28:20.000Z,1761524901.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893025,0.436602,0.109017],[-0.447688,-0.886521,-0.116861],[0.045624,-0.153165,0.987147]]
2025-10-27T00:28:21.022Z,1761524901.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:21.024Z,1761524901.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 300.788757 m,
      bearing: 210.773931 deg,
      approach rate: -0.732500 m/s,
      LOS rate: -0.003425 deg/s,
      cmd heading: 206.812978 deg,
      new cmd heading: 206.808285 deg.

2025-10-27T00:28:21.025Z,1761524901.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609485 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:21.092Z,1761524901.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505489
2025-10-27T00:28:21.340Z,1761524901.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754985
2025-10-27T00:28:21.402Z,1761524901.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893485,0.435815,0.108393],[-0.446837,-0.886873,-0.117443],[0.044947,-0.153368,0.987146]]
2025-10-27T00:28:21.445Z,1761524901.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:21.448Z,1761524901.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 300.485138 m,
      bearing: 210.772142 deg,
      approach rate: -0.717174 m/s,
      LOS rate: -0.004231 deg/s,
      cmd heading: 206.808279 deg,
      new cmd heading: 206.802906 deg.

2025-10-27T00:28:21.449Z,1761524901.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609392 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:21.592Z,1761524901.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007124
2025-10-27T00:28:21.808Z,1761524901.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893866,0.435304,0.107298],[-0.446224,-0.886996,-0.118839],[0.043442,-0.154105,0.987099]]
2025-10-27T00:28:21.824Z,1761524901.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:21.826Z,1761524901.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:21.829Z,1761524901.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 300.211639 m,
      bearing: 210.770566 deg,
      approach rate: -0.716828 m/s,
      LOS rate: -0.004133 deg/s,
      cmd heading: 206.802910 deg,
      new cmd heading: 206.798180 deg.

2025-10-27T00:28:21.830Z,1761524901.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609309 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:21.844Z,1761524901.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258806
2025-10-27T00:28:22.100Z,1761524902.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514603
2025-10-27T00:28:22.210Z,1761524902.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894155,0.434991,0.106159],[-0.445859,-0.886788,-0.121727],[0.041190,-0.156174,0.986870]]
2025-10-27T00:28:22.256Z,1761524902.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:22.261Z,1761524902.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 299.907440 m,
      bearing: 210.767698 deg,
      approach rate: -0.709546 m/s,
      LOS rate: -0.006697 deg/s,
      cmd heading: 206.798184 deg,
      new cmd heading: 206.789571 deg.

2025-10-27T00:28:22.264Z,1761524902.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609159 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:22.351Z,1761524902.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764664
2025-10-27T00:28:22.600Z,1761524902.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014668
2025-10-27T00:28:22.620Z,1761524902.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894231,0.435184,0.104721],[-0.445912,-0.886458,-0.123914],[0.038906,-0.157504,0.986752]]
2025-10-27T00:28:22.639Z,1761524902.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:22.642Z,1761524902.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 299.633148 m,
      bearing: 210.765109 deg,
      approach rate: -0.715105 m/s,
      LOS rate: -0.006755 deg/s,
      cmd heading: 206.789564 deg,
      new cmd heading: 206.781791 deg.

2025-10-27T00:28:22.642Z,1761524902.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609023 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:22.852Z,1761524902.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266724
2025-10-27T00:28:23.018Z,1761524903.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894450,0.435453,0.101684],[-0.445665,-0.886715,-0.122962],[0.036621,-0.155300,0.987188]]
2025-10-27T00:28:23.060Z,1761524903.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:23.065Z,1761524903.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 299.347382 m,
      bearing: 210.762419 deg,
      approach rate: -0.678352 m/s,
      LOS rate: -0.006393 deg/s,
      cmd heading: 206.781791 deg,
      new cmd heading: 206.773712 deg.

2025-10-27T00:28:23.066Z,1761524903.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608882 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:23.104Z,1761524903.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519061
2025-10-27T00:28:23.356Z,1761524903.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770719
2025-10-27T00:28:23.421Z,1761524903.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894558,0.436095,0.097914],[-0.445638,-0.887049,-0.120629],[0.034249,-0.151544,0.987857]]
2025-10-27T00:28:23.470Z,1761524903.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:23.473Z,1761524903.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 299.032135 m,
      bearing: 210.759000 deg,
      approach rate: -0.768175 m/s,
      LOS rate: -0.008340 deg/s,
      cmd heading: 206.773718 deg,
      new cmd heading: 206.763450 deg.

2025-10-27T00:28:23.474Z,1761524903.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608703 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:23.608Z,1761524903.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023043
2025-10-27T00:28:23.857Z,1761524903.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:23.860Z,1761524903.860 [DAT](INFO): DAT read: Rx Time:00:28:24.8071

2025-10-27T00:28:23.861Z,1761524903.861 [DAT](INFO): Rx dataTimestamp_ set to:1761524903.860319
2025-10-27T00:28:23.861Z,1761524903.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276017
2025-10-27T00:28:23.862Z,1761524903.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:23.865Z,1761524903.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 298.747223 m,
      bearing: 210.755904 deg,
      approach rate: -0.733297 m/s,
      LOS rate: -0.007977 deg/s,
      cmd heading: 206.763446 deg,
      new cmd heading: 206.754148 deg.

2025-10-27T00:28:23.866Z,1761524903.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608541 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:24.115Z,1761524904.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529006
2025-10-27T00:28:24.349Z,1761524904.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.94 m.
2025-10-27T00:28:24.357Z,1761524904.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.941528 m,
      nav range: 298.415894 m,
      bearing: 210.753305 deg,
      approach rate: -0.675916 m/s,
      LOS rate: -0.005307 deg/s,
      cmd heading: 206.754143 deg,
      new cmd heading: 206.746339 deg.

2025-10-27T00:28:24.358Z,1761524904.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608404 target range: 304.941528 and range: 306.30 m.
2025-10-27T00:28:24.369Z,1761524904.369 [DAT](INFO): DAT read: 00:28:24.8071 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 402, 0.35, 2.087, 0.718, 1.989, 1.542, PHS= 0.647,-0.779, 0.403, RAW= 140.8,  -4.1, CAL= 140.8,  -4.7, ROT=   9.2,   4.7

2025-10-27T00:28:24.370Z,1761524904.370 [DAT](INFO): got valid direction response:
 00:28:24.8071 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 402, 0.35, 2.087, 0.718, 1.989, 1.542, PHS= 0.647,-0.779, 0.403, RAW= 140.8,  -4.1, CAL= 140.8,  -4.7, ROT=   9.2,   4.7

2025-10-27T00:28:24.372Z,1761524904.372 [DAT](INFO): DAT read: Bearing 346.5,  11.5 (Local)

2025-10-27T00:28:24.372Z,1761524904.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.5,  11.5 (Local)

2025-10-27T00:28:24.373Z,1761524904.373 [DAT](INFO): DAT read: Range 11 to 50 : 303.7 m  (Round-trip  405.0 ms) speed  0.1 m/s

2025-10-27T00:28:24.374Z,1761524904.374 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:24.375Z,1761524904.375 [DAT](INFO): direction in FSK: [0.983817,0.159344,-0.081939]
2025-10-27T00:28:24.375Z,1761524904.375 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:24.379Z,1761524904.379 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:24.379Z,1761524904.379 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:24.379Z,1761524904.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:24.616Z,1761524904.616 [DAT](INFO): DAT read: user:119>

2025-10-27T00:28:24.617Z,1761524904.617 [DAT](INFO): DAT read: Tx time:00:28:25.9979

2025-10-27T00:28:24.617Z,1761524904.617 [DAT](INFO): Ping request sent.
2025-10-27T00:28:24.617Z,1761524904.617 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:24.617Z,1761524904.617 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:24.618Z,1761524904.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-27T00:28:24.717Z,1761524904.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895474,0.435982,0.089706],[-0.444304,-0.887662,-0.121038],[0.026858,-0.148243,0.988586]]
2025-10-27T00:28:24.741Z,1761524904.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 303.700012 m,
      deltaT: 4.029903 s,
      deltaX: -2.599976 m,
      approachRate: -0.645171 m/s,
      rangeRepo size: 4

2025-10-27T00:28:24.743Z,1761524904.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 302.349487 m,
      bearing: 214.777139 deg,
      lat: 36.779307 deg,
      lon: -121.859945 deg,
      deltaT: 4.029903 s,
      deltaX: -2.592041 m,
      approachRate: -0.643202 m/s,
      posRepo size: 4

2025-10-27T00:28:24.744Z,1761524904.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:24.747Z,1761524904.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 292.542145 m,
      bearing: 212.187592 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005307 deg/s,
      cmd heading: 206.746343 deg,
      new cmd heading: 206.740114 deg.

2025-10-27T00:28:24.749Z,1761524904.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608296 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:24.869Z,1761524904.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251480
2025-10-27T00:28:25.121Z,1761524905.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503581
2025-10-27T00:28:25.129Z,1761524905.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:25.132Z,1761524905.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 292.261353 m,
      bearing: 212.186805 deg,
      approach rate: -0.723209 m/s,
      LOS rate: -0.002029 deg/s,
      cmd heading: 206.740114 deg,
      new cmd heading: 206.737751 deg.

2025-10-27T00:28:25.132Z,1761524905.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608254 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:25.372Z,1761524905.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754797
2025-10-27T00:28:25.495Z,1761524905.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896346,0.434745,0.086957],[-0.442790,-0.887718,-0.126066],[0.022387,-0.151502,0.988203]]
2025-10-27T00:28:25.531Z,1761524905.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:25.533Z,1761524905.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 291.963226 m,
      bearing: 212.187512 deg,
      approach rate: -0.741724 m/s,
      LOS rate: 0.001761 deg/s,
      cmd heading: 206.737750 deg,
      new cmd heading: 206.739873 deg.

2025-10-27T00:28:25.534Z,1761524905.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608291 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:25.625Z,1761524905.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007858
2025-10-27T00:28:25.876Z,1761524905.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259111
2025-10-27T00:28:25.894Z,1761524905.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896737,0.434366,0.084792],[-0.442114,-0.887871,-0.127361],[0.019963,-0.151697,0.988225]]
2025-10-27T00:28:25.922Z,1761524905.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:25.928Z,1761524905.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:25.935Z,1761524905.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 291.684570 m,
      bearing: 212.188217 deg,
      approach rate: -0.700634 m/s,
      LOS rate: 0.001774 deg/s,
      cmd heading: 206.739868 deg,
      new cmd heading: 206.741985 deg.

2025-10-27T00:28:25.936Z,1761524905.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608328 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:26.128Z,1761524906.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882
2025-10-27T00:28:26.324Z,1761524906.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897112,0.433943,0.082966],[-0.441452,-0.887936,-0.129190],[0.017607,-0.152523,0.988143]]
2025-10-27T00:28:26.373Z,1761524906.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:26.376Z,1761524906.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 291.356323 m,
      bearing: 212.190296 deg,
      approach rate: -0.737538 m/s,
      LOS rate: 0.004676 deg/s,
      cmd heading: 206.741985 deg,
      new cmd heading: 206.748229 deg.

2025-10-27T00:28:26.377Z,1761524906.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608437 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:26.380Z,1761524906.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762909
2025-10-27T00:28:26.632Z,1761524906.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015344
2025-10-27T00:28:26.715Z,1761524906.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897604,0.433088,0.082112],[-0.440525,-0.887956,-0.132180],[0.015666,-0.154818,0.987819]]
2025-10-27T00:28:26.734Z,1761524906.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:26.737Z,1761524906.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 291.099976 m,
      bearing: 212.191975 deg,
      approach rate: -0.711460 m/s,
      LOS rate: 0.004664 deg/s,
      cmd heading: 206.748228 deg,
      new cmd heading: 206.753270 deg.

2025-10-27T00:28:26.737Z,1761524906.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608525 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:26.884Z,1761524906.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266814
2025-10-27T00:28:27.108Z,1761524907.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897697,0.432859,0.082299],[-0.440386,-0.887443,-0.136031],[0.014154,-0.158358,0.987280]]
2025-10-27T00:28:27.127Z,1761524907.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:27.129Z,1761524907.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 290.820526 m,
      bearing: 212.193817 deg,
      approach rate: -0.711295 m/s,
      LOS rate: 0.004692 deg/s,
      cmd heading: 206.753269 deg,
      new cmd heading: 206.758799 deg.

2025-10-27T00:28:27.130Z,1761524907.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608622 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:27.136Z,1761524907.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518917
2025-10-27T00:28:27.388Z,1761524907.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771136
2025-10-27T00:28:27.577Z,1761524907.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:27.595Z,1761524907.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 290.509521 m,
      bearing: 212.197688 deg,
      approach rate: -0.691180 m/s,
      LOS rate: 0.008612 deg/s,
      cmd heading: 206.758801 deg,
      new cmd heading: 206.770426 deg.

2025-10-27T00:28:27.596Z,1761524907.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608825 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:27.641Z,1761524907.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023593
2025-10-27T00:28:27.892Z,1761524907.892 [DAT](INFO): DAT read: Rx Time:00:28:28.7608

2025-10-27T00:28:27.892Z,1761524907.892 [DAT](INFO): Rx dataTimestamp_ set to:1761524907.892055
2025-10-27T00:28:27.893Z,1761524907.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275798
2025-10-27T00:28:27.924Z,1761524907.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897422,0.433542,0.081694],[-0.440969,-0.887121,-0.136246],[0.013404,-0.158295,0.987301]]
2025-10-27T00:28:27.941Z,1761524907.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:27.943Z,1761524907.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:27.945Z,1761524907.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 290.252106 m,
      bearing: 212.200865 deg,
      approach rate: -0.703222 m/s,
      LOS rate: 0.008688 deg/s,
      cmd heading: 206.770426 deg,
      new cmd heading: 206.779967 deg.

2025-10-27T00:28:27.946Z,1761524907.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608991 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:28.144Z,1761524908.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526753
2025-10-27T00:28:28.374Z,1761524908.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:28.377Z,1761524908.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 289.957184 m,
      bearing: 212.206165 deg,
      approach rate: -0.682984 m/s,
      LOS rate: 0.012286 deg/s,
      cmd heading: 206.779961 deg,
      new cmd heading: 206.795877 deg.

2025-10-27T00:28:28.378Z,1761524908.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609269 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:28.401Z,1761524908.401 [DAT](INFO): DAT read: 00:28:28.7608 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 486,-0.22,-2.755, 1.696,-2.683,-2.997, PHS= 0.344,-1.545, 0.270, RAW= 148.0,  10.1, CAL= 147.7,  11.0, ROT=   2.3, -11.0

2025-10-27T00:28:28.402Z,1761524908.402 [DAT](INFO): got valid direction response:
 00:28:28.7608 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 486,-0.22,-2.755, 1.696,-2.683,-2.997, PHS= 0.344,-1.545, 0.270, RAW= 148.0,  10.1, CAL= 147.7,  11.0, ROT=   2.3, -11.0

2025-10-27T00:28:28.404Z,1761524908.404 [DAT](INFO): DAT read: Bearing   1.0,   1.1 (Local)

2025-10-27T00:28:28.404Z,1761524908.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,   1.1 (Local)

2025-10-27T00:28:28.405Z,1761524908.405 [DAT](INFO): DAT read: Range 11 to 50 : 269.0 m  (Round-trip  358.7 ms) speed  0.4 m/s

2025-10-27T00:28:28.406Z,1761524908.406 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:28.407Z,1761524908.407 [DAT](INFO): direction in FSK: [0.980836,0.039394,0.190809]
2025-10-27T00:28:28.407Z,1761524908.407 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:28.410Z,1761524908.410 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:28.410Z,1761524908.410 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:28.415Z,1761524908.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:28.648Z,1761524908.648 [DAT](INFO): DAT read: user:120>

2025-10-27T00:28:28.649Z,1761524908.649 [DAT](INFO): DAT read: Tx time:00:28:30.0479

2025-10-27T00:28:28.649Z,1761524908.649 [DAT](INFO): Ping request sent.
2025-10-27T00:28:28.649Z,1761524908.649 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:28.650Z,1761524908.650 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:28.650Z,1761524908.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-27T00:28:28.752Z,1761524908.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896708,0.435185,0.080799],[-0.442417,-0.886786,-0.133710],[0.013463,-0.155646,0.987721]]
2025-10-27T00:28:28.799Z,1761524908.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 269.000000 m,
 deltaT: 4.032073 s,
 deltaX: -34.700012 m,
 approachRate: -8.605998 m/s,
 rangeRepo size: 4
2025-10-27T00:28:28.800Z,1761524908.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:28.802Z,1761524908.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 289.672394 m,
      bearing: 212.211203 deg,
      approach rate: -0.676900 m/s,
      LOS rate: 0.011986 deg/s,
      cmd heading: 206.795875 deg,
      new cmd heading: 206.811004 deg.

2025-10-27T00:28:28.804Z,1761524908.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609533 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:28.900Z,1761524908.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250541
2025-10-27T00:28:29.126Z,1761524909.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896239,0.436306,0.079962],[-0.443361,-0.886700,-0.131125],[0.013692,-0.152971,0.988136]]
2025-10-27T00:28:29.152Z,1761524909.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502583
2025-10-27T00:28:29.176Z,1761524909.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:29.178Z,1761524909.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 289.419006 m,
      bearing: 212.215642 deg,
      approach rate: -0.665928 m/s,
      LOS rate: 0.011677 deg/s,
      cmd heading: 206.811011 deg,
      new cmd heading: 206.824340 deg.

2025-10-27T00:28:29.185Z,1761524909.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609766 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:29.404Z,1761524909.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754492
2025-10-27T00:28:29.613Z,1761524909.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894940,0.439067,0.079384],[-0.445955,-0.885930,-0.127486],[0.014354,-0.149494,0.988658]]
2025-10-27T00:28:29.656Z,1761524909.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006794
2025-10-27T00:28:29.670Z,1761524909.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:29.677Z,1761524909.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 289.087128 m,
      bearing: 212.221985 deg,
      approach rate: -0.671545 m/s,
      LOS rate: 0.012850 deg/s,
      cmd heading: 206.824344 deg,
      new cmd heading: 206.843395 deg.

2025-10-27T00:28:29.678Z,1761524909.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610098 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:29.908Z,1761524909.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258952
2025-10-27T00:28:30.011Z,1761524910.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894756,0.439485,0.079152],[-0.446326,-0.885824,-0.126924],[0.014334,-0.148893,0.988749]]
2025-10-27T00:28:30.026Z,1761524910.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:30.051Z,1761524910.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:30.054Z,1761524910.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 288.829559 m,
      bearing: 212.226897 deg,
      approach rate: -0.675580 m/s,
      LOS rate: 0.012894 deg/s,
      cmd heading: 206.843400 deg,
      new cmd heading: 206.858147 deg.

2025-10-27T00:28:30.055Z,1761524910.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610356 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:30.160Z,1761524910.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510534
2025-10-27T00:28:30.412Z,1761524910.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762701
2025-10-27T00:28:30.416Z,1761524910.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894320,0.440137,0.080439],[-0.447214,-0.884884,-0.130310],[0.013825,-0.152512,0.988205]]
2025-10-27T00:28:30.475Z,1761524910.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:30.478Z,1761524910.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 288.536377 m,
      bearing: 212.231280 deg,
      approach rate: -0.697899 m/s,
      LOS rate: 0.010446 deg/s,
      cmd heading: 206.858153 deg,
      new cmd heading: 206.871317 deg.

2025-10-27T00:28:30.483Z,1761524910.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610586 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:30.664Z,1761524910.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014465
2025-10-27T00:28:30.817Z,1761524910.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894597,0.439466,0.081029],[-0.446685,-0.884663,-0.133582],[0.012978,-0.155696,0.987720]]
2025-10-27T00:28:30.836Z,1761524910.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:30.838Z,1761524910.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 288.269714 m,
      bearing: 212.235313 deg,
      approach rate: -0.731828 m/s,
      LOS rate: 0.011078 deg/s,
      cmd heading: 206.871322 deg,
      new cmd heading: 206.883431 deg.

2025-10-27T00:28:30.839Z,1761524910.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610797 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:30.916Z,1761524910.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266847
2025-10-27T00:28:31.168Z,1761524911.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518396
2025-10-27T00:28:31.232Z,1761524911.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894997,0.438795,0.080249],[-0.445917,-0.884832,-0.135020],[0.011761,-0.156627,0.987588]]
2025-10-27T00:28:31.335Z,1761524911.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:31.338Z,1761524911.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 287.949402 m,
      bearing: 212.240225 deg,
      approach rate: -0.646969 m/s,
      LOS rate: 0.009932 deg/s,
      cmd heading: 206.883425 deg,
      new cmd heading: 206.898177 deg.

2025-10-27T00:28:31.343Z,1761524911.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611054 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:31.425Z,1761524911.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775239
2025-10-27T00:28:31.676Z,1761524911.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026528
2025-10-27T00:28:31.688Z,1761524911.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:31.692Z,1761524911.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 287.679596 m,
      bearing: 212.241820 deg,
      approach rate: -0.755996 m/s,
      LOS rate: 0.004472 deg/s,
      cmd heading: 206.898178 deg,
      new cmd heading: 206.902966 deg.

2025-10-27T00:28:31.693Z,1761524911.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611138 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:31.929Z,1761524911.929 [DAT](INFO): DAT read: Rx Time:00:28:32.8508

2025-10-27T00:28:31.929Z,1761524911.929 [DAT](INFO): Rx dataTimestamp_ set to:1761524911.928800
2025-10-27T00:28:31.930Z,1761524911.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280182
2025-10-27T00:28:32.044Z,1761524912.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895948,0.437378,0.077313],[-0.444062,-0.885699,-0.135446],[0.009235,-0.155685,0.987764]]
2025-10-27T00:28:32.060Z,1761524912.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:32.062Z,1761524912.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.35 m.
2025-10-27T00:28:32.065Z,1761524912.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.349487 m,
      nav range: 287.417023 m,
      bearing: 212.243480 deg,
      approach rate: -0.701093 m/s,
      LOS rate: 0.004438 deg/s,
      cmd heading: 206.902959 deg,
      new cmd heading: 206.907945 deg.

2025-10-27T00:28:32.066Z,1761524912.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611225 target range: 302.349487 and range: 303.70 m.
2025-10-27T00:28:32.180Z,1761524912.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530594
2025-10-27T00:28:32.441Z,1761524912.441 [DAT](INFO): DAT read: 00:28:32.8508 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 336,-0.47, 1.205,-0.307, 1.136, 0.625, PHS= 0.683,-0.887, 0.467, RAW= 142.7,  -3.6, CAL= 142.6,  -4.1, ROT=   7.4,   4.1

2025-10-27T00:28:32.442Z,1761524912.442 [DAT](INFO): got valid direction response:
 00:28:32.8508 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 336,-0.47, 1.205,-0.307, 1.136, 0.625, PHS= 0.683,-0.887, 0.467, RAW= 142.7,  -3.6, CAL= 142.6,  -4.1, ROT=   7.4,   4.1

2025-10-27T00:28:32.444Z,1761524912.444 [DAT](INFO): DAT read: Bearing 347.0,   8.4 (Local)

2025-10-27T00:28:32.444Z,1761524912.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,   8.4 (Local)

2025-10-27T00:28:32.446Z,1761524912.446 [DAT](INFO): DAT read: Range 11 to 50 : 299.1 m  (Round-trip  398.8 ms) speed  0.4 m/s

2025-10-27T00:28:32.446Z,1761524912.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:32.451Z,1761524912.451 [DAT](INFO): direction in FSK: [0.989133,0.128466,-0.071497]
2025-10-27T00:28:32.452Z,1761524912.452 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:32.459Z,1761524912.459 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:32.459Z,1761524912.459 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:32.460Z,1761524912.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:32.464Z,1761524912.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896721,0.435998,0.076133],[-0.442527,-0.886251,-0.136852],[0.007806,-0.156409,0.987662]]
2025-10-27T00:28:32.606Z,1761524912.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.100006 m,
      deltaT: 8.072026 s,
      deltaX: -4.600006 m,
      approachRate: -0.569870 m/s,
      rangeRepo size: 4

2025-10-27T00:28:32.628Z,1761524912.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.782471 m,
      bearing: 212.933271 deg,
      lat: 36.779307 deg,
      lon: -121.859971 deg,
      deltaT: 8.072026 s,
      deltaX: -4.567017 m,
      approachRate: -0.565783 m/s,
      posRepo size: 4

2025-10-27T00:28:32.629Z,1761524912.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:32.636Z,1761524912.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 288.292694 m,
      bearing: 212.630285 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004438 deg/s,
      cmd heading: 206.907945 deg,
      new cmd heading: 206.915177 deg.

2025-10-27T00:28:32.637Z,1761524912.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611351 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:32.688Z,1761524912.688 [DAT](INFO): DAT read: user:121>

2025-10-27T00:28:32.689Z,1761524912.689 [DAT](INFO): DAT read: Tx time:00:28:34.0979

2025-10-27T00:28:32.690Z,1761524912.690 [DAT](INFO): Ping request sent.
2025-10-27T00:28:32.690Z,1761524912.690 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:32.690Z,1761524912.690 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:32.691Z,1761524912.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001204
2025-10-27T00:28:32.940Z,1761524912.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249782
2025-10-27T00:28:32.956Z,1761524912.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897609,0.434252,0.075660],[-0.440744,-0.886760,-0.139288],[0.006606,-0.158373,0.987357]]
2025-10-27T00:28:32.976Z,1761524912.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:32.978Z,1761524912.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 288.009460 m,
      bearing: 212.630472 deg,
      approach rate: -0.764234 m/s,
      LOS rate: 0.000505 deg/s,
      cmd heading: 206.915171 deg,
      new cmd heading: 206.915733 deg.

2025-10-27T00:28:32.980Z,1761524912.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611361 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:33.193Z,1761524913.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501986
2025-10-27T00:28:33.358Z,1761524913.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898501,0.432311,0.076179],[-0.438938,-0.886940,-0.143773],[0.005411,-0.162618,0.986674]]
2025-10-27T00:28:33.402Z,1761524913.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:33.405Z,1761524913.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 287.703461 m,
      bearing: 212.628499 deg,
      approach rate: -0.718817 m/s,
      LOS rate: -0.004641 deg/s,
      cmd heading: 206.915731 deg,
      new cmd heading: 206.909805 deg.

2025-10-27T00:28:33.406Z,1761524913.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611257 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:33.444Z,1761524913.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753871
2025-10-27T00:28:33.697Z,1761524913.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006425
2025-10-27T00:28:33.773Z,1761524913.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899136,0.431026,0.075968],[-0.437648,-0.887169,-0.146273],[0.004349,-0.164767,0.986323]]
2025-10-27T00:28:33.797Z,1761524913.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:33.800Z,1761524913.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 287.419678 m,
      bearing: 212.626754 deg,
      approach rate: -0.717887 m/s,
      LOS rate: -0.004418 deg/s,
      cmd heading: 206.909803 deg,
      new cmd heading: 206.904564 deg.

2025-10-27T00:28:33.801Z,1761524913.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611166 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:33.948Z,1761524913.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257664
2025-10-27T00:28:34.169Z,1761524914.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899790,0.429751,0.075441],[-0.436299,-0.887968,-0.145452],[0.004481,-0.163791,0.986485]]
2025-10-27T00:28:34.200Z,1761524914.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510020
2025-10-27T00:28:34.216Z,1761524914.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:34.218Z,1761524914.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:34.225Z,1761524914.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 287.122894 m,
      bearing: 212.625011 deg,
      approach rate: -0.705415 m/s,
      LOS rate: -0.004148 deg/s,
      cmd heading: 206.904557 deg,
      new cmd heading: 206.899322 deg.

2025-10-27T00:28:34.225Z,1761524914.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611074 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:34.452Z,1761524914.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761685
2025-10-27T00:28:34.592Z,1761524914.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900330,0.428750,0.074700],[-0.435187,-0.888634,-0.144714],[0.004335,-0.162798,0.986650]]
2025-10-27T00:28:34.652Z,1761524914.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:34.659Z,1761524914.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 286.809052 m,
      bearing: 212.622615 deg,
      approach rate: -0.722408 m/s,
      LOS rate: -0.005520 deg/s,
      cmd heading: 206.899325 deg,
      new cmd heading: 206.892132 deg.

2025-10-27T00:28:34.660Z,1761524914.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610949 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:34.705Z,1761524914.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014656
2025-10-27T00:28:34.956Z,1761524914.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265613
2025-10-27T00:28:34.990Z,1761524914.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901045,0.427421,0.073691],[-0.433707,-0.889507,-0.143790],[0.004090,-0.161522,0.986861]]
2025-10-27T00:28:35.028Z,1761524915.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:35.035Z,1761524915.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 286.542816 m,
      bearing: 212.620663 deg,
      approach rate: -0.708073 m/s,
      LOS rate: -0.005196 deg/s,
      cmd heading: 206.892126 deg,
      new cmd heading: 206.886265 deg.

2025-10-27T00:28:35.036Z,1761524915.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610847 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:35.208Z,1761524915.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517696
2025-10-27T00:28:35.396Z,1761524915.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901532,0.426592,0.072516],[-0.432694,-0.890239,-0.142304],[0.003851,-0.159669,0.987163]]
2025-10-27T00:28:35.432Z,1761524915.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:35.435Z,1761524915.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 286.236725 m,
      bearing: 212.619207 deg,
      approach rate: -0.757479 m/s,
      LOS rate: -0.003608 deg/s,
      cmd heading: 206.886266 deg,
      new cmd heading: 206.881892 deg.

2025-10-27T00:28:35.436Z,1761524915.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610770 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:35.460Z,1761524915.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769537
2025-10-27T00:28:35.713Z,1761524915.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022554
2025-10-27T00:28:35.798Z,1761524915.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902318,0.425159,0.071154],[-0.431058,-0.891249,-0.140940],[0.003494,-0.157844,0.987458]]
2025-10-27T00:28:35.823Z,1761524915.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:35.826Z,1761524915.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 285.946564 m,
      bearing: 212.617926 deg,
      approach rate: -0.742826 m/s,
      LOS rate: -0.003283 deg/s,
      cmd heading: 206.881895 deg,
      new cmd heading: 206.878048 deg.

2025-10-27T00:28:35.826Z,1761524915.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610703 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:35.969Z,1761524915.969 [DAT](INFO): DAT read: Rx Time:00:28:36.8965

2025-10-27T00:28:35.969Z,1761524915.969 [DAT](INFO): Rx dataTimestamp_ set to:1761524915.968946
2025-10-27T00:28:35.970Z,1761524915.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279538
2025-10-27T00:28:36.202Z,1761524916.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902753,0.424634,0.068725],[-0.430153,-0.891999,-0.138950],[0.002299,-0.154999,0.987912]]
2025-10-27T00:28:36.216Z,1761524916.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525723
2025-10-27T00:28:36.227Z,1761524916.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:36.232Z,1761524916.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.78 m.
2025-10-27T00:28:36.237Z,1761524916.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.782471 m,
      nav range: 285.645996 m,
      bearing: 212.616652 deg,
      approach rate: -0.736779 m/s,
      LOS rate: -0.003127 deg/s,
      cmd heading: 206.878042 deg,
      new cmd heading: 206.874215 deg.

2025-10-27T00:28:36.238Z,1761524916.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610636 target range: 297.782471 and range: 299.10 m.
2025-10-27T00:28:36.477Z,1761524916.477 [DAT](INFO): DAT read: 00:28:36.8965 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.24, 1.417,-0.200, 1.369, 0.898, PHS= 0.621,-1.053, 0.427, RAW= 143.9,   0.1, CAL= 143.5,   0.2, ROT=   6.5,  -0.2

2025-10-27T00:28:36.478Z,1761524916.478 [DAT](INFO): got valid direction response:
 00:28:36.8965 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.24, 1.417,-0.200, 1.369, 0.898, PHS= 0.621,-1.053, 0.427, RAW= 143.9,   0.1, CAL= 143.5,   0.2, ROT=   6.5,  -0.2

2025-10-27T00:28:36.480Z,1761524916.480 [DAT](INFO): DAT read: Bearing 351.0,   6.5 (Local)

2025-10-27T00:28:36.480Z,1761524916.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.0,   6.5 (Local)

2025-10-27T00:28:36.482Z,1761524916.482 [DAT](INFO): DAT read: Range 11 to 50 : 295.8 m  (Round-trip  394.5 ms) speed  0.0 m/s

2025-10-27T00:28:36.487Z,1761524916.487 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:36.488Z,1761524916.488 [DAT](INFO): direction in FSK: [0.993566,0.113203,0.003491]
2025-10-27T00:28:36.488Z,1761524916.488 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:36.496Z,1761524916.496 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:36.496Z,1761524916.496 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:36.496Z,1761524916.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:36.609Z,1761524916.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903157,0.424260,0.065654],[-0.429310,-0.892647,-0.137387],[0.000318,-0.152268,0.988339]]
2025-10-27T00:28:36.631Z,1761524916.631 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 104.02,  94.34,  8WI,-32768,32768,-32768,V
2025-10-27T00:28:36.664Z,1761524916.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.799988 m,
      deltaT: 4.034323 s,
      deltaX: -3.300018 m,
      approachRate: -0.817986 m/s,
      rangeRepo size: 4

2025-10-27T00:28:36.666Z,1761524916.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 294.496368 m,
      bearing: 211.878842 deg,
      lat: 36.779250 deg,
      lon: -121.859990 deg,
      deltaT: 4.034323 s,
      deltaX: -3.286102 m,
      approachRate: -0.814536 m/s,
      posRepo size: 4

2025-10-27T00:28:36.667Z,1761524916.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:36.678Z,1761524916.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 291.557922 m,
      bearing: 212.236446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003127 deg/s,
      cmd heading: 206.874218 deg,
      new cmd heading: 206.870163 deg.

2025-10-27T00:28:36.683Z,1761524916.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610565 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:36.723Z,1761524916.723 [DAT](INFO): DAT read: user:122>

2025-10-27T00:28:36.724Z,1761524916.724 [DAT](INFO): DAT read: Tx time:00:28:38.1479

2025-10-27T00:28:36.724Z,1761524916.724 [DAT](INFO): Ping request sent.
2025-10-27T00:28:36.724Z,1761524916.724 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:36.725Z,1761524916.725 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:36.726Z,1761524916.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001584
2025-10-27T00:28:36.972Z,1761524916.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247661
2025-10-27T00:28:37.013Z,1761524917.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902960,0.424952,0.063864],[-0.429721,-0.892367,-0.137919],[-0.001619,-0.151979,0.988382]]
2025-10-27T00:28:37.032Z,1761524917.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:37.035Z,1761524917.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 291.272339 m,
      bearing: 212.234905 deg,
      approach rate: -0.773597 m/s,
      LOS rate: -0.004178 deg/s,
      cmd heading: 206.870160 deg,
      new cmd heading: 206.865533 deg.

2025-10-27T00:28:37.036Z,1761524917.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610485 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:37.225Z,1761524917.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500527
2025-10-27T00:28:37.413Z,1761524917.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903080,0.425039,0.061545],[-0.429460,-0.892681,-0.136690],[-0.003158,-0.149873,0.988700]]
2025-10-27T00:28:37.460Z,1761524917.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:37.463Z,1761524917.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 290.962463 m,
      bearing: 212.238952 deg,
      approach rate: -0.723484 m/s,
      LOS rate: 0.009461 deg/s,
      cmd heading: 206.865530 deg,
      new cmd heading: 206.877686 deg.

2025-10-27T00:28:37.464Z,1761524917.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610697 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:37.476Z,1761524917.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751732
2025-10-27T00:28:37.729Z,1761524917.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004888
2025-10-27T00:28:37.818Z,1761524917.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902860,0.425717,0.060078],[-0.429906,-0.892298,-0.137787],[-0.005051,-0.150230,0.988638]]
2025-10-27T00:28:37.843Z,1761524917.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:37.846Z,1761524917.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 290.685913 m,
      bearing: 212.242544 deg,
      approach rate: -0.722911 m/s,
      LOS rate: 0.009398 deg/s,
      cmd heading: 206.877687 deg,
      new cmd heading: 206.888473 deg.

2025-10-27T00:28:37.847Z,1761524917.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610885 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:37.980Z,1761524917.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255917
2025-10-27T00:28:38.223Z,1761524918.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902385,0.426793,0.059570],[-0.430870,-0.891284,-0.141294],[-0.007209,-0.153168,0.988174]]
2025-10-27T00:28:38.232Z,1761524918.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507934
2025-10-27T00:28:38.265Z,1761524918.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:38.267Z,1761524918.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:38.270Z,1761524918.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 290.379730 m,
      bearing: 212.246458 deg,
      approach rate: -0.721951 m/s,
      LOS rate: 0.009239 deg/s,
      cmd heading: 206.888479 deg,
      new cmd heading: 206.900234 deg.

2025-10-27T00:28:38.271Z,1761524918.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611090 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:38.484Z,1761524918.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759563
2025-10-27T00:28:38.626Z,1761524918.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901697,0.428365,0.058700],[-0.432271,-0.890282,-0.143314],[-0.009132,-0.154600,0.987935]]
2025-10-27T00:28:38.693Z,1761524918.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:38.701Z,1761524918.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 290.084351 m,
      bearing: 212.253199 deg,
      approach rate: -0.703337 m/s,
      LOS rate: 0.016067 deg/s,
      cmd heading: 206.900227 deg,
      new cmd heading: 206.920470 deg.

2025-10-27T00:28:38.702Z,1761524918.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611444 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:38.737Z,1761524918.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012652
2025-10-27T00:28:38.988Z,1761524918.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263672
2025-10-27T00:28:39.030Z,1761524919.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900829,0.430451,0.056740],[-0.434040,-0.889565,-0.142423],[-0.010832,-0.152926,0.988178]]
2025-10-27T00:28:39.064Z,1761524919.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:39.066Z,1761524919.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 289.823822 m,
      bearing: 212.259056 deg,
      approach rate: -0.691630 m/s,
      LOS rate: 0.015562 deg/s,
      cmd heading: 206.920472 deg,
      new cmd heading: 206.938058 deg.

2025-10-27T00:28:39.072Z,1761524919.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611750 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:39.240Z,1761524919.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515638
2025-10-27T00:28:39.435Z,1761524919.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899993,0.432214,0.056601],[-0.435753,-0.888640,-0.142965],[-0.011494,-0.153331,0.988108]]
2025-10-27T00:28:39.470Z,1761524919.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:39.489Z,1761524919.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 289.526459 m,
      bearing: 212.268129 deg,
      approach rate: -0.730956 m/s,
      LOS rate: 0.022325 deg/s,
      cmd heading: 206.938053 deg,
      new cmd heading: 206.965299 deg.

2025-10-27T00:28:39.490Z,1761524919.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612226 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:39.492Z,1761524919.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767999
2025-10-27T00:28:39.745Z,1761524919.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020815
2025-10-27T00:28:39.838Z,1761524919.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898502,0.435159,0.057720],[-0.438809,-0.886812,-0.144955],[-0.011892,-0.155570,0.987753]]
2025-10-27T00:28:39.863Z,1761524919.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:39.866Z,1761524919.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 289.250183 m,
      bearing: 212.276380 deg,
      approach rate: -0.703946 m/s,
      LOS rate: 0.021044 deg/s,
      cmd heading: 206.965305 deg,
      new cmd heading: 206.990082 deg.

2025-10-27T00:28:39.867Z,1761524919.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612659 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:39.997Z,1761524919.997 [DAT](INFO): DAT read: Rx Time:00:28:40.9217

2025-10-27T00:28:39.997Z,1761524919.997 [DAT](INFO): Rx dataTimestamp_ set to:1761524919.996704
2025-10-27T00:28:39.998Z,1761524919.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273245
2025-10-27T00:28:40.249Z,1761524920.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524245
2025-10-27T00:28:40.259Z,1761524920.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896841,0.438350,0.059379],[-0.442200,-0.884879,-0.146455],[-0.011656,-0.157604,0.987434]]
2025-10-27T00:28:40.275Z,1761524920.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:40.277Z,1761524920.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.50 m.
2025-10-27T00:28:40.280Z,1761524920.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.496368 m,
      nav range: 288.958618 m,
      bearing: 212.284877 deg,
      approach rate: -0.703706 m/s,
      LOS rate: 0.020528 deg/s,
      cmd heading: 206.990085 deg,
      new cmd heading: 207.015600 deg.

2025-10-27T00:28:40.281Z,1761524920.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613104 target range: 294.496368 and range: 295.80 m.
2025-10-27T00:28:40.507Z,1761524920.507 [DAT](INFO): DAT read: 00:28:40.9217 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 182,-0.48, 1.148,-0.566, 1.211, 0.996, PHS= 0.254,-1.517, 0.170, RAW= 147.6,  12.6, CAL= 147.4,  13.8, ROT=   2.6, -13.8

2025-10-27T00:28:40.508Z,1761524920.508 [DAT](INFO): got valid direction response:
 00:28:40.9217 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 182,-0.48, 1.148,-0.566, 1.211, 0.996, PHS= 0.254,-1.517, 0.170, RAW= 147.6,  12.6, CAL= 147.4,  13.8, ROT=   2.6, -13.8

2025-10-27T00:28:40.509Z,1761524920.509 [DAT](INFO): DAT read: Bearing   3.2,  -0.5 (Local)

2025-10-27T00:28:40.510Z,1761524920.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,  -0.5 (Local)

2025-10-27T00:28:40.511Z,1761524920.511 [DAT](INFO): DAT read: Range 11 to 50 : 277.2 m  (Round-trip  369.7 ms) speed  0.9 m/s

2025-10-27T00:28:40.512Z,1761524920.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:40.513Z,1761524920.513 [DAT](INFO): direction in FSK: [0.970135,0.044054,0.238533]
2025-10-27T00:28:40.513Z,1761524920.513 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:40.517Z,1761524920.517 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:40.517Z,1761524920.517 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:40.517Z,1761524920.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:40.648Z,1761524920.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895241,0.441351,0.061255],[-0.445453,-0.883186,-0.146810],[-0.010695,-0.158717,0.987266]]
2025-10-27T00:28:40.726Z,1761524920.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 277.200012 m,
      deltaT: 4.030232 s,
      deltaX: -18.599976 m,
      approachRate: -4.615113 m/s,
      rangeRepo size: 4

2025-10-27T00:28:40.734Z,1761524920.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 275.991150 m,
      bearing: 211.235925 deg,
      lat: 36.779307 deg,
      lon: -121.859990 deg,
      deltaT: 4.030232 s,
      deltaX: -18.505219 m,
      approachRate: -4.591601 m/s,
      posRepo size: 4

2025-10-27T00:28:40.739Z,1761524920.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:40.748Z,1761524920.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 283.381927 m,
      bearing: 212.970968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020528 deg/s,
      cmd heading: 207.015602 deg,
      new cmd heading: 207.043117 deg.

2025-10-27T00:28:40.752Z,1761524920.752 [DAT](INFO): DAT read: user:123>

2025-10-27T00:28:40.753Z,1761524920.753 [DAT](INFO): DAT read: Tx time:00:28:42.1479

2025-10-27T00:28:40.753Z,1761524920.753 [DAT](INFO): Ping request sent.
2025-10-27T00:28:40.753Z,1761524920.753 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:40.753Z,1761524920.753 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:40.754Z,1761524920.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-10-27T00:28:40.756Z,1761524920.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613584 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:41.004Z,1761524921.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250778
2025-10-27T00:28:41.059Z,1761524921.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893675,0.444355,0.062393],[-0.448618,-0.881932,-0.144695],[-0.009269,-0.157301,0.987507]]
2025-10-27T00:28:41.089Z,1761524921.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:41.096Z,1761524921.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 283.101257 m,
      bearing: 212.979506 deg,
      approach rate: -0.769309 m/s,
      LOS rate: 0.023425 deg/s,
      cmd heading: 207.043114 deg,
      new cmd heading: 207.068753 deg.

2025-10-27T00:28:41.097Z,1761524921.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614032 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:41.256Z,1761524921.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503194
2025-10-27T00:28:41.461Z,1761524921.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891866,0.447864,0.063188],[-0.452239,-0.880729,-0.140699],[-0.007363,-0.154061,0.988034]]
2025-10-27T00:28:41.508Z,1761524921.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754865
2025-10-27T00:28:41.511Z,1761524921.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:41.514Z,1761524921.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 282.797424 m,
      bearing: 212.985903 deg,
      approach rate: -0.719373 m/s,
      LOS rate: 0.015161 deg/s,
      cmd heading: 207.068755 deg,
      new cmd heading: 207.087965 deg.

2025-10-27T00:28:41.531Z,1761524921.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614367 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:41.761Z,1761524921.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007309
2025-10-27T00:28:41.867Z,1761524921.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890565,0.450376,0.063685],[-0.454828,-0.880161,-0.135828],[-0.005121,-0.149929,0.988684]]
2025-10-27T00:28:41.885Z,1761524921.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:41.888Z,1761524921.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 282.533752 m,
      bearing: 212.991304 deg,
      approach rate: -0.705363 m/s,
      LOS rate: 0.014462 deg/s,
      cmd heading: 207.087962 deg,
      new cmd heading: 207.104180 deg.

2025-10-27T00:28:41.889Z,1761524921.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614650 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:42.017Z,1761524922.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262880
2025-10-27T00:28:42.264Z,1761524922.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510844
2025-10-27T00:28:42.271Z,1761524922.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890416,0.450800,0.062757],[-0.455142,-0.881209,-0.127737],[-0.002281,-0.142303,0.989821]]
2025-10-27T00:28:42.288Z,1761524922.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:42.290Z,1761524922.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:42.292Z,1761524922.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 282.249847 m,
      bearing: 212.997102 deg,
      approach rate: -0.701749 m/s,
      LOS rate: 0.014346 deg/s,
      cmd heading: 207.104176 deg,
      new cmd heading: 207.121588 deg.

2025-10-27T00:28:42.293Z,1761524922.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614954 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:42.516Z,1761524922.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763339
2025-10-27T00:28:42.674Z,1761524922.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890367,0.450758,0.063752],[-0.455244,-0.881603,-0.124617],[0.000032,-0.139978,0.990155]]
2025-10-27T00:28:42.768Z,1761524922.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014894
2025-10-27T00:28:42.776Z,1761524922.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:42.783Z,1761524922.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 281.914764 m,
      bearing: 213.000250 deg,
      approach rate: -0.688529 m/s,
      LOS rate: 0.006477 deg/s,
      cmd heading: 207.121593 deg,
      new cmd heading: 207.131049 deg.

2025-10-27T00:28:42.784Z,1761524922.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615119 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:42.939Z,1761524922.939 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:28:43.020Z,1761524923.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267021
2025-10-27T00:28:43.082Z,1761524923.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890357,0.450382,0.066489],[-0.455259,-0.881406,-0.125946],[0.001880,-0.142406,0.989806]]
2025-10-27T00:28:43.123Z,1761524923.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:43.126Z,1761524923.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 281.662903 m,
      bearing: 213.002626 deg,
      approach rate: -0.726578 m/s,
      LOS rate: 0.006860 deg/s,
      cmd heading: 207.131046 deg,
      new cmd heading: 207.138181 deg.

2025-10-27T00:28:43.127Z,1761524923.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615243 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:43.272Z,1761524923.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518785
2025-10-27T00:28:43.498Z,1761524923.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890766,0.449162,0.069207],[-0.454453,-0.881325,-0.129376],[0.002883,-0.146695,0.989178]]
2025-10-27T00:28:43.524Z,1761524923.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770925
2025-10-27T00:28:43.555Z,1761524923.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:43.558Z,1761524923.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 281.362976 m,
      bearing: 213.001862 deg,
      approach rate: -0.694357 m/s,
      LOS rate: -0.001772 deg/s,
      cmd heading: 207.138177 deg,
      new cmd heading: 207.135881 deg.

2025-10-27T00:28:43.559Z,1761524923.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615203 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:43.777Z,1761524923.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023102
2025-10-27T00:28:43.889Z,1761524923.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891517,0.447346,0.071265],[-0.452973,-0.881599,-0.132658],[0.003483,-0.150548,0.988597]]
2025-10-27T00:28:43.916Z,1761524923.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:43.918Z,1761524923.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 281.113190 m,
      bearing: 213.001320 deg,
      approach rate: -0.692203 m/s,
      LOS rate: -0.001501 deg/s,
      cmd heading: 207.135882 deg,
      new cmd heading: 207.134257 deg.

2025-10-27T00:28:43.919Z,1761524923.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615175 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:43.956Z,1761524923.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:28:44.028Z,1761524924.028 [DAT](INFO): DAT read: Rx Time:00:28:44.9175

2025-10-27T00:28:44.028Z,1761524924.028 [DAT](INFO): Rx dataTimestamp_ set to:1761524924.028160
2025-10-27T00:28:44.029Z,1761524924.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275859
2025-10-27T00:28:44.280Z,1761524924.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526883
2025-10-27T00:28:44.291Z,1761524924.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891960,0.446368,0.071853],[-0.452101,-0.881795,-0.134321],[0.003403,-0.152294,0.988329]]
2025-10-27T00:28:44.313Z,1761524924.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:44.336Z,1761524924.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.99 m.
2025-10-27T00:28:44.347Z,1761524924.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.991150 m,
      nav range: 280.835663 m,
      bearing: 213.000779 deg,
      approach rate: -0.694724 m/s,
      LOS rate: -0.001356 deg/s,
      cmd heading: 207.134257 deg,
      new cmd heading: 207.132631 deg.

2025-10-27T00:28:44.348Z,1761524924.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615146 target range: 275.991150 and range: 277.20 m.
2025-10-27T00:28:44.544Z,1761524924.544 [DAT](INFO): DAT read: 00:28:44.9175 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 395,-0.11,-0.343,-1.907,-0.363,-1.033, PHS= 0.792,-0.829, 0.626, RAW= 144.7,  -7.7, CAL= 144.8,  -9.1, ROT=   5.2,   9.1

2025-10-27T00:28:44.545Z,1761524924.545 [DAT](INFO): got valid direction response:
 00:28:44.9175 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 395,-0.11,-0.343,-1.907,-0.363,-1.033, PHS= 0.792,-0.829, 0.626, RAW= 144.7,  -7.7, CAL= 144.8,  -9.1, ROT=   5.2,   9.1

2025-10-27T00:28:44.547Z,1761524924.547 [DAT](INFO): DAT read: Bearing 341.8,   6.7 (Local)

2025-10-27T00:28:44.547Z,1761524924.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.8,   6.7 (Local)

2025-10-27T00:28:44.549Z,1761524924.549 [DAT](INFO): DAT read: Range 11 to 50 : 274.1 m  (Round-trip  365.5 ms) speed  0.4 m/s

2025-10-27T00:28:44.550Z,1761524924.550 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:44.552Z,1761524924.552 [DAT](INFO): direction in FSK: [0.983350,0.089492,-0.158158]
2025-10-27T00:28:44.552Z,1761524924.552 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:44.556Z,1761524924.556 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:44.556Z,1761524924.556 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:44.556Z,1761524924.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:44.762Z,1761524924.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892391,0.445581,0.071388],[-0.451257,-0.882023,-0.135660],[0.002519,-0.153276,0.988180]]
2025-10-27T00:28:44.784Z,1761524924.784 [DAT](INFO): DAT read: user:124>

2025-10-27T00:28:44.785Z,1761524924.785 [DAT](INFO): DAT read: Tx time:00:28:46.1979

2025-10-27T00:28:44.785Z,1761524924.785 [DAT](INFO): Ping request sent.
2025-10-27T00:28:44.785Z,1761524924.785 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:44.785Z,1761524924.785 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:44.786Z,1761524924.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-10-27T00:28:44.860Z,1761524924.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 274.100006 m,
      deltaT: 4.033073 s,
      deltaX: -3.100006 m,
      approachRate: -0.768646 m/s,
      rangeRepo size: 4

2025-10-27T00:28:44.862Z,1761524924.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 272.899384 m,
      bearing: 210.557749 deg,
      lat: 36.779339 deg,
      lon: -121.859827 deg,
      deltaT: 4.033073 s,
      deltaX: -3.091766 m,
      approachRate: -0.766603 m/s,
      posRepo size: 4

2025-10-27T00:28:44.862Z,1761524924.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:44.869Z,1761524924.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 269.768860 m,
      bearing: 210.818496 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001356 deg/s,
      cmd heading: 207.132631 deg,
      new cmd heading: 207.130435 deg.

2025-10-27T00:28:44.870Z,1761524924.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615108 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:45.036Z,1761524925.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250837
2025-10-27T00:28:45.189Z,1761524925.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893934,0.442673,0.070160],[-0.448198,-0.882651,-0.141583],[-0.000748,-0.158011,0.987437]]
2025-10-27T00:28:45.224Z,1761524925.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:45.228Z,1761524925.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 269.482697 m,
      bearing: 210.812866 deg,
      approach rate: -0.778419 m/s,
      LOS rate: -0.015331 deg/s,
      cmd heading: 207.130432 deg,
      new cmd heading: 207.113524 deg.

2025-10-27T00:28:45.230Z,1761524925.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614813 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:45.288Z,1761524925.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502826
2025-10-27T00:28:45.540Z,1761524925.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754914
2025-10-27T00:28:45.591Z,1761524925.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894817,0.441123,0.068652],[-0.446428,-0.883408,-0.142453],[-0.002192,-0.158118,0.987418]]
2025-10-27T00:28:45.638Z,1761524925.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:45.641Z,1761524925.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 269.179565 m,
      bearing: 210.806615 deg,
      approach rate: -0.728759 m/s,
      LOS rate: -0.015047 deg/s,
      cmd heading: 207.113520 deg,
      new cmd heading: 207.094744 deg.

2025-10-27T00:28:45.642Z,1761524925.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614485 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:45.792Z,1761524925.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006902
2025-10-27T00:28:45.994Z,1761524925.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895329,0.440285,0.067348],[-0.445391,-0.883750,-0.143575],[-0.003695,-0.158543,0.987345]]
2025-10-27T00:28:46.023Z,1761524926.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:46.026Z,1761524926.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 268.904572 m,
      bearing: 210.801000 deg,
      approach rate: -0.715470 m/s,
      LOS rate: -0.014622 deg/s,
      cmd heading: 207.094737 deg,
      new cmd heading: 207.077877 deg.

2025-10-27T00:28:46.026Z,1761524926.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614191 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:46.045Z,1761524926.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259913
2025-10-27T00:28:46.296Z,1761524926.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510888
2025-10-27T00:28:46.395Z,1761524926.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895817,0.439580,0.065433],[-0.444392,-0.884254,-0.143562],[-0.005247,-0.157683,0.987476]]
2025-10-27T00:28:46.412Z,1761524926.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:46.414Z,1761524926.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:46.416Z,1761524926.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 268.625763 m,
      bearing: 210.795359 deg,
      approach rate: -0.713270 m/s,
      LOS rate: -0.014446 deg/s,
      cmd heading: 207.077880 deg,
      new cmd heading: 207.060940 deg.

2025-10-27T00:28:46.417Z,1761524926.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613895 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:46.549Z,1761524926.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764071
2025-10-27T00:28:46.800Z,1761524926.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014712
2025-10-27T00:28:46.804Z,1761524926.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895988,0.439481,0.063725],[-0.444021,-0.884327,-0.144262],[-0.007047,-0.157552,0.987485]]
2025-10-27T00:28:46.854Z,1761524926.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:46.856Z,1761524926.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 268.318115 m,
      bearing: 210.790399 deg,
      approach rate: -0.699109 m/s,
      LOS rate: -0.011284 deg/s,
      cmd heading: 207.060941 deg,
      new cmd heading: 207.046044 deg.

2025-10-27T00:28:46.857Z,1761524926.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613635 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:47.055Z,1761524927.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269675
2025-10-27T00:28:47.211Z,1761524927.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896054,0.439602,0.061947],[-0.443873,-0.884631,-0.142843],[-0.007994,-0.155492,0.987805]]
2025-10-27T00:28:47.243Z,1761524927.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:47.261Z,1761524927.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 268.050842 m,
      bearing: 210.786087 deg,
      approach rate: -0.687167 m/s,
      LOS rate: -0.011097 deg/s,
      cmd heading: 207.046038 deg,
      new cmd heading: 207.033089 deg.

2025-10-27T00:28:47.262Z,1761524927.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613409 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:47.306Z,1761524927.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521080
2025-10-27T00:28:47.560Z,1761524927.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775260
2025-10-27T00:28:47.610Z,1761524927.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896095,0.439749,0.060289],[-0.443782,-0.885034,-0.140618],[-0.008479,-0.152762,0.988227]]
2025-10-27T00:28:47.679Z,1761524927.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:47.688Z,1761524927.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 267.742676 m,
      bearing: 210.784305 deg,
      approach rate: -0.712614 m/s,
      LOS rate: -0.004125 deg/s,
      cmd heading: 207.033088 deg,
      new cmd heading: 207.027736 deg.

2025-10-27T00:28:47.689Z,1761524927.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613316 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:47.813Z,1761524927.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027783
2025-10-27T00:28:48.035Z,1761524928.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895569,0.440751,0.060792],[-0.444841,-0.884380,-0.141382],[-0.008551,-0.153660,0.988087]]
2025-10-27T00:28:48.053Z,1761524928.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:48.055Z,1761524928.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 267.466675 m,
      bearing: 210.782636 deg,
      approach rate: -0.731119 m/s,
      LOS rate: -0.004426 deg/s,
      cmd heading: 207.027733 deg,
      new cmd heading: 207.022720 deg.

2025-10-27T00:28:48.056Z,1761524928.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613228 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:48.064Z,1761524928.064 [DAT](INFO): DAT read: Rx Time:00:28:48.9865

2025-10-27T00:28:48.065Z,1761524928.065 [DAT](INFO): Rx dataTimestamp_ set to:1761524928.064293
2025-10-27T00:28:48.065Z,1761524928.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280081
2025-10-27T00:28:48.316Z,1761524928.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530839
2025-10-27T00:28:48.438Z,1761524928.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895013,0.441971,0.060103],[-0.445957,-0.884094,-0.139641],[-0.008581,-0.151784,0.988376]]
2025-10-27T00:28:48.458Z,1761524928.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:48.482Z,1761524928.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.90 m.
2025-10-27T00:28:48.529Z,1761524928.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.899384 m,
      nav range: 267.178345 m,
      bearing: 210.780811 deg,
      approach rate: -0.674388 m/s,
      LOS rate: -0.004273 deg/s,
      cmd heading: 207.022720 deg,
      new cmd heading: 207.017240 deg.

2025-10-27T00:28:48.536Z,1761524928.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613132 target range: 272.899384 and range: 274.10 m.
2025-10-27T00:28:48.575Z,1761524928.575 [DAT](INFO): DAT read: 00:28:48.9865 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 125, 0.20,-0.605,-2.253,-0.609,-1.261, PHS= 0.758,-0.947, 0.608, RAW= 145.5,  -5.2, CAL= 145.4,  -6.2, ROT=   4.6,   6.2

2025-10-27T00:28:48.577Z,1761524928.577 [DAT](INFO): got valid direction response:
 00:28:48.9865 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 125, 0.20,-0.605,-2.253,-0.609,-1.261, PHS= 0.758,-0.947, 0.608, RAW= 145.5,  -5.2, CAL= 145.4,  -6.2, ROT=   4.6,   6.2

2025-10-27T00:28:48.577Z,1761524928.577 [DAT](INFO): DAT read: Bearing 344.7,   5.1 (Local)

2025-10-27T00:28:48.578Z,1761524928.578 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.7,   5.1 (Local)

2025-10-27T00:28:48.579Z,1761524928.579 [DAT](INFO): DAT read: Range 11 to 50 : 288.3 m  (Round-trip  384.5 ms) speed  0.0 m/s

2025-10-27T00:28:48.580Z,1761524928.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:48.582Z,1761524928.582 [DAT](INFO): direction in FSK: [0.990949,0.079730,-0.107999]
2025-10-27T00:28:48.582Z,1761524928.582 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:48.593Z,1761524928.593 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:48.593Z,1761524928.593 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:48.593Z,1761524928.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:48.820Z,1761524928.820 [DAT](INFO): DAT read: user:125>

2025-10-27T00:28:48.821Z,1761524928.821 [DAT](INFO): DAT read: Tx time:00:28:50.2494

2025-10-27T00:28:48.821Z,1761524928.821 [DAT](INFO): Ping request sent.
2025-10-27T00:28:48.821Z,1761524928.821 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:48.821Z,1761524928.821 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:48.822Z,1761524928.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-10-27T00:28:48.851Z,1761524928.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894387,0.443354,0.059234],[-0.447212,-0.883816,-0.137372],[-0.008553,-0.149354,0.988747]]
2025-10-27T00:28:48.929Z,1761524928.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 288.299988 m,
      deltaT: 4.036170 s,
      deltaX: 14.199982 m,
      approachRate: 3.518182 m/s,
      rangeRepo size: 4

2025-10-27T00:28:48.935Z,1761524928.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 287.049774 m,
      bearing: 210.190545 deg,
      lat: 36.779250 deg,
      lon: -121.859901 deg,
      deltaT: 4.036170 s,
      deltaX: 14.150391 m,
      approachRate: 3.505896 m/s,
      posRepo size: 4

2025-10-27T00:28:48.936Z,1761524928.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:48.939Z,1761524928.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 278.701050 m,
      bearing: 210.913993 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004273 deg/s,
      cmd heading: 207.017242 deg,
      new cmd heading: 207.011496 deg.

2025-10-27T00:28:48.944Z,1761524928.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613032 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:49.072Z,1761524929.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811
2025-10-27T00:28:49.253Z,1761524929.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893857,0.444323,0.059982],[-0.448277,-0.883205,-0.137828],[-0.008264,-0.150087,0.988638]]
2025-10-27T00:28:49.271Z,1761524929.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:49.273Z,1761524929.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 278.449066 m,
      bearing: 210.915449 deg,
      approach rate: -0.736200 m/s,
      LOS rate: 0.004257 deg/s,
      cmd heading: 207.011491 deg,
      new cmd heading: 207.015861 deg.

2025-10-27T00:28:49.274Z,1761524929.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613108 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:49.326Z,1761524929.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504285
2025-10-27T00:28:49.576Z,1761524929.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754729
2025-10-27T00:28:49.653Z,1761524929.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892750,0.446190,0.062548],[-0.450493,-0.881722,-0.140082],[-0.007353,-0.153235,0.988162]]
2025-10-27T00:28:49.715Z,1761524929.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:49.740Z,1761524929.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 278.151642 m,
      bearing: 210.919456 deg,
      approach rate: -0.670917 m/s,
      LOS rate: 0.009049 deg/s,
      cmd heading: 207.015862 deg,
      new cmd heading: 207.027897 deg.

2025-10-27T00:28:49.740Z,1761524929.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613318 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:49.828Z,1761524929.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006774
2025-10-27T00:28:50.054Z,1761524930.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891687,0.448073,0.064230],[-0.452602,-0.880437,-0.141359],[-0.006789,-0.155119,0.987873]]
2025-10-27T00:28:50.073Z,1761524930.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:50.075Z,1761524930.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 277.900726 m,
      bearing: 210.922719 deg,
      approach rate: -0.699576 m/s,
      LOS rate: 0.009105 deg/s,
      cmd heading: 207.027897 deg,
      new cmd heading: 207.037693 deg.

2025-10-27T00:28:50.076Z,1761524930.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613489 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:50.080Z,1761524930.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259072
2025-10-27T00:28:50.333Z,1761524930.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511735
2025-10-27T00:28:50.458Z,1761524930.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890761,0.449960,0.063879],[-0.454420,-0.879690,-0.140170],[-0.006877,-0.153886,0.988065]]
2025-10-27T00:28:50.490Z,1761524930.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:50.493Z,1761524930.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:50.501Z,1761524930.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 277.624786 m,
      bearing: 210.926198 deg,
      approach rate: -0.656892 m/s,
      LOS rate: 0.008292 deg/s,
      cmd heading: 207.037691 deg,
      new cmd heading: 207.048141 deg.

2025-10-27T00:28:50.509Z,1761524930.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613672 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:50.584Z,1761524930.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762810
2025-10-27T00:28:50.836Z,1761524930.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014972
2025-10-27T00:28:50.864Z,1761524930.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889912,0.451601,0.064137],[-0.456077,-0.878769,-0.140568],[-0.007119,-0.154345,0.987991]]
2025-10-27T00:28:50.921Z,1761524930.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:50.928Z,1761524930.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 277.331573 m,
      bearing: 210.931411 deg,
      approach rate: -0.684392 m/s,
      LOS rate: 0.012181 deg/s,
      cmd heading: 207.048142 deg,
      new cmd heading: 207.063797 deg.

2025-10-27T00:28:50.929Z,1761524930.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613945 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:51.088Z,1761524931.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266679
2025-10-27T00:28:51.268Z,1761524931.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889135,0.453050,0.064688],[-0.457596,-0.878070,-0.139994],[-0.006624,-0.154075,0.988037]]
2025-10-27T00:28:51.299Z,1761524931.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:51.302Z,1761524931.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 277.056732 m,
      bearing: 210.936210 deg,
      approach rate: -0.726951 m/s,
      LOS rate: 0.012705 deg/s,
      cmd heading: 207.063796 deg,
      new cmd heading: 207.078207 deg.

2025-10-27T00:28:51.303Z,1761524931.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614197 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:51.340Z,1761524931.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518745
2025-10-27T00:28:51.594Z,1761524931.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772308
2025-10-27T00:28:51.742Z,1761524931.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:51.744Z,1761524931.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 276.752869 m,
      bearing: 210.942557 deg,
      approach rate: -0.686848 m/s,
      LOS rate: 0.014362 deg/s,
      cmd heading: 207.078208 deg,
      new cmd heading: 207.097270 deg.

2025-10-27T00:28:51.745Z,1761524931.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614529 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:51.844Z,1761524931.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022800
2025-10-27T00:28:52.073Z,1761524932.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888242,0.454715,0.065267],[-0.459348,-0.877653,-0.136838],[-0.004940,-0.151526,0.988441]]
2025-10-27T00:28:52.096Z,1761524932.096 [DAT](INFO): DAT read: Rx Time:00:28:53.0357

2025-10-27T00:28:52.097Z,1761524932.097 [DAT](INFO): Rx dataTimestamp_ set to:1761524932.096236
2025-10-27T00:28:52.097Z,1761524932.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275856
2025-10-27T00:28:52.108Z,1761524932.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:52.110Z,1761524932.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 276.501678 m,
      bearing: 210.947713 deg,
      approach rate: -0.686297 m/s,
      LOS rate: 0.014099 deg/s,
      cmd heading: 207.097264 deg,
      new cmd heading: 207.112746 deg.

2025-10-27T00:28:52.111Z,1761524932.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614799 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:52.348Z,1761524932.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526962
2025-10-27T00:28:52.479Z,1761524932.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888047,0.454994,0.065978],[-0.459732,-0.877465,-0.136751],[-0.004328,-0.151774,0.988406]]
2025-10-27T00:28:52.502Z,1761524932.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:52.504Z,1761524932.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.05 m.
2025-10-27T00:28:52.506Z,1761524932.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.049774 m,
      nav range: 276.230103 m,
      bearing: 210.953273 deg,
      approach rate: -0.685391 m/s,
      LOS rate: 0.014047 deg/s,
      cmd heading: 207.112741 deg,
      new cmd heading: 207.129439 deg.

2025-10-27T00:28:52.508Z,1761524932.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615091 target range: 287.049774 and range: 288.30 m.
2025-10-27T00:28:52.606Z,1761524932.606 [DAT](INFO): DAT read: 00:28:53.0357 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 185,-0.28,-1.201,-2.979,-1.104,-1.409, PHS= 0.310,-1.525, 0.262, RAW= 148.7,  10.5, CAL= 148.4,  11.5, ROT=   1.6, -11.5

2025-10-27T00:28:52.608Z,1761524932.608 [DAT](INFO): got valid direction response:
 00:28:53.0357 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 185,-0.28,-1.201,-2.979,-1.104,-1.409, PHS= 0.310,-1.525, 0.262, RAW= 148.7,  10.5, CAL= 148.4,  11.5, ROT=   1.6, -11.5

2025-10-27T00:28:52.609Z,1761524932.609 [DAT](INFO): DAT read: Bearing   1.4,  -0.3 (Local)

2025-10-27T00:28:52.609Z,1761524932.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  -0.3 (Local)

2025-10-27T00:28:52.610Z,1761524932.610 [DAT](INFO): DAT read: Range 11 to 50 : 286.6 m  (Round-trip  382.2 ms) speed  0.6 m/s

2025-10-27T00:28:52.611Z,1761524932.611 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:52.613Z,1761524932.613 [DAT](INFO): direction in FSK: [0.979543,0.027361,0.199368]
2025-10-27T00:28:52.613Z,1761524932.613 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:52.623Z,1761524932.623 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:52.627Z,1761524932.627 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:52.628Z,1761524932.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:52.852Z,1761524932.852 [DAT](INFO): DAT read: user:126>

2025-10-27T00:28:52.853Z,1761524932.853 [DAT](INFO): DAT read: Tx time:00:28:54.2494

2025-10-27T00:28:52.853Z,1761524932.853 [DAT](INFO): Ping request sent.
2025-10-27T00:28:52.853Z,1761524932.853 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:52.853Z,1761524932.853 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:52.854Z,1761524932.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-27T00:28:52.882Z,1761524932.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887762,0.455254,0.067996],[-0.460293,-0.877001,-0.137841],[-0.003121,-0.153668,0.988118]]
2025-10-27T00:28:52.975Z,1761524932.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 286.600006 m,
      deltaT: 4.031138 s,
      deltaX: -1.699982 m,
      approachRate: -0.421713 m/s,
      rangeRepo size: 4

2025-10-27T00:28:52.977Z,1761524932.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 285.363617 m,
      bearing: 210.773637 deg,
      lat: 36.779220 deg,
      lon: -121.859901 deg,
      deltaT: 4.031138 s,
      deltaX: -1.686157 m,
      approachRate: -0.418283 m/s,
      posRepo size: 4

2025-10-27T00:28:52.978Z,1761524932.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.36 m.
2025-10-27T00:28:52.985Z,1761524932.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.363617 m,
      nav range: 278.883057 m,
      bearing: 210.594598 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014047 deg/s,
      cmd heading: 207.129434 deg,
      new cmd heading: 207.149081 deg.

2025-10-27T00:28:52.986Z,1761524932.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615433 target range: 285.363617 and range: 286.60 m.
2025-10-27T00:28:53.105Z,1761524933.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251623
2025-10-27T00:28:53.311Z,1761524933.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887143,0.456115,0.070262],[-0.461491,-0.876115,-0.139459],[-0.002052,-0.156145,0.987732]]
2025-10-27T00:28:53.329Z,1761524933.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.36 m.
2025-10-27T00:28:53.331Z,1761524933.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.363617 m,
      nav range: 278.633301 m,
      bearing: 210.597954 deg,
      approach rate: -0.696780 m/s,
      LOS rate: 0.009372 deg/s,
      cmd heading: 207.149078 deg,
      new cmd heading: 207.159156 deg.

2025-10-27T00:28:53.332Z,1761524933.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615609 target range: 285.363617 and range: 286.60 m.
2025-10-27T00:28:53.356Z,1761524933.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503025
2025-10-27T00:28:53.611Z,1761524933.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757091
2025-10-27T00:28:53.727Z,1761524933.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886869,0.456428,0.071678],[-0.462020,-0.875673,-0.140483],[-0.001354,-0.157706,0.987485]]
2025-10-27T00:28:53.763Z,1761524933.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.36 m.
2025-10-27T00:28:53.766Z,1761524933.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.363617 m,
      nav range: 278.338165 m,
      bearing: 210.599121 deg,
      approach rate: -0.679202 m/s,
      LOS rate: 0.002688 deg/s,
      cmd heading: 207.159159 deg,
      new cmd heading: 207.162663 deg.

2025-10-27T00:28:53.786Z,1761524933.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615670 target range: 285.363617 and range: 286.60 m.
2025-10-27T00:28:53.861Z,1761524933.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007500
2025-10-27T00:28:54.112Z,1761524934.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259012
2025-10-27T00:28:54.120Z,1761524934.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886504,0.457083,0.072013],[-0.462720,-0.875338,-0.140263],[-0.001076,-0.157665,0.987492]]
2025-10-27T00:28:54.138Z,1761524934.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.36 m.
2025-10-27T00:28:54.141Z,1761524934.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.363617 m,
      nav range: 278.083496 m,
      bearing: 210.600088 deg,
      approach rate: -0.679484 m/s,
      LOS rate: 0.002583 deg/s,
      cmd heading: 207.162656 deg,
      new cmd heading: 207.165560 deg.

2025-10-27T00:28:54.142Z,1761524934.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615721 target range: 285.363617 and range: 286.60 m.
2025-10-27T00:28:54.364Z,1761524934.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510825
2025-10-27T00:28:54.521Z,1761524934.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886731,0.456723,0.071496],[-0.462284,-0.875777,-0.138952],[-0.000848,-0.156265,0.987715]]
2025-10-27T00:28:54.538Z,1761524934.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:54.542Z,1761524934.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.36 m.
2025-10-27T00:28:54.547Z,1761524934.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.363617 m,
      nav range: 277.810425 m,
      bearing: 210.601153 deg,
      approach rate: -0.677300 m/s,
      LOS rate: 0.002643 deg/s,
      cmd heading: 207.165566 deg,
      new cmd heading: 207.168763 deg.

2025-10-27T00:28:54.548Z,1761524934.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615777 target range: 285.363617 and range: 286.60 m.
2025-10-27T00:28:54.619Z,1761524934.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765129
2025-10-27T00:28:54.869Z,1761524934.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015353
2025-10-27T00:28:54.926Z,1761524934.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887049,0.456205,0.070858],[-0.461673,-0.876039,-0.139337],[-0.001492,-0.156312,0.987707]]
2025-10-27T00:28:54.972Z,1761524934.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.36 m.
2025-10-27T00:28:54.975Z,1761524934.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.363617 m,
      nav range: 277.509155 m,
      bearing: 210.599649 deg,
      approach rate: -0.698588 m/s,
      LOS rate: -0.003491 deg/s,
      cmd heading: 207.168763 deg,
      new cmd heading: 207.164246 deg.

2025-10-27T00:28:54.976Z,1761524934.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615698 target range: 285.363617 and range: 286.60 m.
2025-10-27T00:28:55.120Z,1761524935.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266840
2025-10-27T00:28:55.330Z,1761524935.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887777,0.454973,0.069649],[-0.460266,-0.876705,-0.139797],[-0.002542,-0.156166,0.987728]]
2025-10-27T00:28:55.348Z,1761524935.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.36 m.
2025-10-27T00:28:55.350Z,1761524935.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.363617 m,
      nav range: 277.247528 m,
      bearing: 210.598425 deg,
      approach rate: -0.697204 m/s,
      LOS rate: -0.003264 deg/s,
      cmd heading: 207.164241 deg,
      new cmd heading: 207.160566 deg.

2025-10-27T00:28:55.351Z,1761524935.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615634 target range: 285.363617 and range: 286.60 m.
2025-10-27T00:28:55.372Z,1761524935.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518962
2025-10-27T00:28:55.627Z,1761524935.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773341
2025-10-27T00:28:55.735Z,1761524935.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888759,0.453128,0.069153],[-0.458363,-0.877513,-0.140976],[-0.003197,-0.156991,0.987595]]
2025-10-27T00:28:55.778Z,1761524935.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.36 m.
2025-10-27T00:28:55.780Z,1761524935.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.363617 m,
      nav range: 276.947357 m,
      bearing: 210.595139 deg,
      approach rate: -0.697963 m/s,
      LOS rate: -0.007648 deg/s,
      cmd heading: 207.160566 deg,
      new cmd heading: 207.150699 deg.

2025-10-27T00:28:55.781Z,1761524935.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615462 target range: 285.363617 and range: 286.60 m.
2025-10-27T00:28:55.877Z,1761524935.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024205
2025-10-27T00:28:56.128Z,1761524936.128 [DAT](INFO): DAT read: Rx Time:00:28:57.0313

2025-10-27T00:28:56.128Z,1761524936.128 [DAT](INFO): Rx dataTimestamp_ set to:1761524936.128186
2025-10-27T00:28:56.129Z,1761524936.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276004
2025-10-27T00:28:56.140Z,1761524936.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889598,0.451497,0.069028],[-0.456727,-0.878062,-0.142857],[-0.003889,-0.158612,0.987333]]
2025-10-27T00:28:56.159Z,1761524936.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.36 m.
2025-10-27T00:28:56.161Z,1761524936.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.363617 m,
      nav range: 276.680389 m,
      bearing: 210.592317 deg,
      approach rate: -0.700537 m/s,
      LOS rate: -0.007412 deg/s,
      cmd heading: 207.150704 deg,
      new cmd heading: 207.142230 deg.

2025-10-27T00:28:56.162Z,1761524936.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615314 target range: 285.363617 and range: 286.60 m.
2025-10-27T00:28:56.380Z,1761524936.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527379
2025-10-27T00:28:56.584Z,1761524936.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890616,0.449449,0.069275],[-0.454735,-0.878702,-0.145256],[-0.004413,-0.160869,0.986966]]
2025-10-27T00:28:56.656Z,1761524936.656 [DAT](INFO): DAT read: 00:28:57.0313 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 393,-0.28, 2.799, 1.164, 2.760, 1.846, PHS= 1.055,-0.637, 0.869, RAW= 144.3, -15.8, CAL= 145.2, -18.7, ROT=   4.8,  18.7

2025-10-27T00:28:56.657Z,1761524936.657 [DAT](INFO): got valid direction response:
 00:28:57.0313 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 393,-0.28, 2.799, 1.164, 2.760, 1.846, PHS= 1.055,-0.637, 0.869, RAW= 144.3, -15.8, CAL= 145.2, -18.7, ROT=   4.8,  18.7

2025-10-27T00:28:56.658Z,1761524936.658 [DAT](INFO): DAT read: Bearing 331.5,   7.1 (Local)

2025-10-27T00:28:56.658Z,1761524936.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.5,   7.1 (Local)

2025-10-27T00:28:56.668Z,1761524936.668 [DAT](INFO): DAT read: Range 11 to 50 : 283.3 m  (Round-trip  377.8 ms) speed  0.4 m/s

2025-10-27T00:28:56.668Z,1761524936.668 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:28:56.669Z,1761524936.669 [DAT](INFO): direction in FSK: [0.943888,0.079261,-0.320613]
2025-10-27T00:28:56.670Z,1761524936.670 [DAT](INFO): publishing direction and range info
2025-10-27T00:28:56.674Z,1761524936.674 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:28:56.674Z,1761524936.674 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:28:56.674Z,1761524936.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:28:56.698Z,1761524936.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 283.299988 m,
      deltaT: 4.032643 s,
      deltaX: -3.300018 m,
      approachRate: -0.818326 m/s,
      rangeRepo size: 4

2025-10-27T00:28:56.702Z,1761524936.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 282.076813 m,
      bearing: 208.667991 deg,
      lat: 36.779260 deg,
      lon: -121.859827 deg,
      deltaT: 4.032643 s,
      deltaX: -3.286804 m,
      approachRate: -0.815050 m/s,
      posRepo size: 4

2025-10-27T00:28:56.732Z,1761524936.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:28:56.734Z,1761524936.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 269.081451 m,
      bearing: 209.867865 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007412 deg/s,
      cmd heading: 207.142234 deg,
      new cmd heading: 207.130265 deg.

2025-10-27T00:28:56.744Z,1761524936.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615105 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:28:56.884Z,1761524936.884 [DAT](INFO): DAT read: user:127>

2025-10-27T00:28:56.885Z,1761524936.885 [DAT](INFO): DAT read: Tx time:00:28:58.2978

2025-10-27T00:28:56.885Z,1761524936.885 [DAT](INFO): Ping request sent.
2025-10-27T00:28:56.885Z,1761524936.885 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:28:56.885Z,1761524936.885 [DAT](INFO): publishing transmit ping time
2025-10-27T00:28:56.886Z,1761524936.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-27T00:28:56.991Z,1761524936.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891737,0.447238,0.069165],[-0.452533,-0.879699,-0.146094],[-0.004495,-0.161577,0.986850]]
2025-10-27T00:28:57.066Z,1761524937.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:57.073Z,1761524937.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:28:57.080Z,1761524937.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 268.801331 m,
      bearing: 209.862889 deg,
      approach rate: -0.745571 m/s,
      LOS rate: -0.013258 deg/s,
      cmd heading: 207.130268 deg,
      new cmd heading: 207.115324 deg.

2025-10-27T00:28:57.081Z,1761524937.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614844 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:28:57.137Z,1761524937.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251861
2025-10-27T00:28:57.388Z,1761524937.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502701
2025-10-27T00:28:57.396Z,1761524937.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892744,0.445224,0.069171],[-0.450542,-0.880566,-0.147022],[-0.004548,-0.162417,0.986712]]
2025-10-27T00:28:57.440Z,1761524937.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:28:57.447Z,1761524937.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 268.547852 m,
      bearing: 209.858502 deg,
      approach rate: -0.689910 m/s,
      LOS rate: -0.011952 deg/s,
      cmd heading: 207.115323 deg,
      new cmd heading: 207.102149 deg.

2025-10-27T00:28:57.448Z,1761524937.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614614 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:28:57.644Z,1761524937.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757970
2025-10-27T00:28:57.892Z,1761524937.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006946
2025-10-27T00:28:57.932Z,1761524937.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893328,0.444052,0.069157],[-0.449384,-0.881147,-0.147083],[-0.004375,-0.162472,0.986703]]
2025-10-27T00:28:58.006Z,1761524938.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:28:58.017Z,1761524938.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 268.154114 m,
      bearing: 209.850952 deg,
      approach rate: -0.696377 m/s,
      LOS rate: -0.013373 deg/s,
      cmd heading: 207.102155 deg,
      new cmd heading: 207.079471 deg.

2025-10-27T00:28:58.018Z,1761524938.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614218 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:28:58.144Z,1761524938.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258772
2025-10-27T00:28:58.398Z,1761524938.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513173
2025-10-27T00:28:58.464Z,1761524938.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894233,0.442364,0.068270],[-0.447580,-0.882275,-0.145819],[-0.004272,-0.160953,0.986953]]
2025-10-27T00:28:58.482Z,1761524938.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:28:58.485Z,1761524938.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 267.808075 m,
      bearing: 209.844442 deg,
      approach rate: -0.725579 m/s,
      LOS rate: -0.013667 deg/s,
      cmd heading: 207.079465 deg,
      new cmd heading: 207.059910 deg.

2025-10-27T00:28:58.486Z,1761524938.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613877 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:28:58.655Z,1761524938.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769359
2025-10-27T00:28:58.904Z,1761524938.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018900
2025-10-27T00:28:58.921Z,1761524938.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894496,0.441898,0.067845],[-0.447053,-0.882592,-0.145513],[-0.004423,-0.160491,0.987027]]
2025-10-27T00:28:58.982Z,1761524938.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:28:58.989Z,1761524938.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 267.464539 m,
      bearing: 209.839772 deg,
      approach rate: -0.687357 m/s,
      LOS rate: -0.009355 deg/s,
      cmd heading: 207.059917 deg,
      new cmd heading: 207.045890 deg.

2025-10-27T00:28:58.990Z,1761524938.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613632 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:28:59.156Z,1761524939.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270808
2025-10-27T00:28:59.324Z,1761524939.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894254,0.442391,0.067827],[-0.447536,-0.882311,-0.145731],[-0.004626,-0.160675,0.986996]]
2025-10-27T00:28:59.359Z,1761524939.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:28:59.361Z,1761524939.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:28:59.364Z,1761524939.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 267.200745 m,
      bearing: 209.836148 deg,
      approach rate: -0.695621 m/s,
      LOS rate: -0.009567 deg/s,
      cmd heading: 207.045888 deg,
      new cmd heading: 207.035004 deg.

2025-10-27T00:28:59.365Z,1761524939.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613442 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:28:59.408Z,1761524939.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523023
2025-10-27T00:28:59.663Z,1761524939.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777362
2025-10-27T00:28:59.738Z,1761524939.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894087,0.442892,0.066745],[-0.447868,-0.882459,-0.143808],[-0.004792,-0.158470,0.987352]]
2025-10-27T00:28:59.790Z,1761524939.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:28:59.793Z,1761524939.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 266.896667 m,
      bearing: 209.834302 deg,
      approach rate: -0.709549 m/s,
      LOS rate: -0.004311 deg/s,
      cmd heading: 207.035000 deg,
      new cmd heading: 207.029457 deg.

2025-10-27T00:28:59.794Z,1761524939.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613346 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:28:59.912Z,1761524939.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026823
2025-10-27T00:29:00.131Z,1761524940.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893803,0.443746,0.064852],[-0.448433,-0.882770,-0.140086],[-0.004913,-0.154291,0.988013]]
2025-10-27T00:29:00.158Z,1761524940.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:00.161Z,1761524940.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 266.624084 m,
      bearing: 209.832601 deg,
      approach rate: -0.740431 m/s,
      LOS rate: -0.004625 deg/s,
      cmd heading: 207.029454 deg,
      new cmd heading: 207.024346 deg.

2025-10-27T00:29:00.162Z,1761524940.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613256 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:00.164Z,1761524940.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278985
2025-10-27T00:29:00.416Z,1761524940.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531074
2025-10-27T00:29:00.534Z,1761524940.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893283,0.444865,0.064353],[-0.449470,-0.882505,-0.138426],[-0.004790,-0.152578,0.988280]]
2025-10-27T00:29:00.576Z,1761524940.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:00.578Z,1761524940.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 266.339813 m,
      bearing: 209.830750 deg,
      approach rate: -0.680599 m/s,
      LOS rate: -0.004438 deg/s,
      cmd heading: 207.024345 deg,
      new cmd heading: 207.018785 deg.

2025-10-27T00:29:00.585Z,1761524940.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613159 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:00.672Z,1761524940.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785335
2025-10-27T00:29:00.920Z,1761524940.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034874
2025-10-27T00:29:00.987Z,1761524940.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893039,0.445348,0.064399],[-0.449956,-0.882315,-0.138060],[-0.004664,-0.152270,0.988328]]
2025-10-27T00:29:01.038Z,1761524941.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:01.041Z,1761524941.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 266.007629 m,
      bearing: 209.831724 deg,
      approach rate: -0.719288 m/s,
      LOS rate: 0.002112 deg/s,
      cmd heading: 207.018785 deg,
      new cmd heading: 207.021711 deg.

2025-10-27T00:29:01.041Z,1761524941.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613210 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:01.172Z,1761524941.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286780
2025-10-27T00:29:01.385Z,1761524941.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892442,0.446503,0.064678],[-0.451139,-0.881717,-0.138017],[-0.004597,-0.152351,0.988316]]
2025-10-27T00:29:01.421Z,1761524941.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:01.424Z,1761524941.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538924
2025-10-27T00:29:01.425Z,1761524941.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:01.428Z,1761524941.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 265.739929 m,
      bearing: 209.832434 deg,
      approach rate: -0.691018 m/s,
      LOS rate: 0.001835 deg/s,
      cmd heading: 207.021709 deg,
      new cmd heading: 207.023842 deg.

2025-10-27T00:29:01.429Z,1761524941.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613248 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:01.680Z,1761524941.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793927
2025-10-27T00:29:01.844Z,1761524941.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:01.850Z,1761524941.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 265.444458 m,
      bearing: 209.835218 deg,
      approach rate: -0.704956 m/s,
      LOS rate: 0.006649 deg/s,
      cmd heading: 207.023840 deg,
      new cmd heading: 207.032200 deg.

2025-10-27T00:29:01.852Z,1761524941.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613394 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:01.928Z,1761524941.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043070
2025-10-27T00:29:02.181Z,1761524942.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295778
2025-10-27T00:29:02.214Z,1761524942.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891242,0.448744,0.065700],[-0.453508,-0.880447,-0.138362],[-0.004243,-0.153110,0.988200]]
2025-10-27T00:29:02.233Z,1761524942.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:02.236Z,1761524942.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 265.171936 m,
      bearing: 209.837634 deg,
      approach rate: -0.700313 m/s,
      LOS rate: 0.006214 deg/s,
      cmd heading: 207.032200 deg,
      new cmd heading: 207.039455 deg.

2025-10-27T00:29:02.237Z,1761524942.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613520 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:02.432Z,1761524942.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546963
2025-10-27T00:29:02.598Z,1761524942.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890435,0.450252,0.066321],[-0.455091,-0.879578,-0.138691],[-0.004111,-0.153678,0.988113]]
2025-10-27T00:29:02.616Z,1761524942.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:02.619Z,1761524942.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 264.902985 m,
      bearing: 209.839919 deg,
      approach rate: -0.702775 m/s,
      LOS rate: 0.005978 deg/s,
      cmd heading: 207.039454 deg,
      new cmd heading: 207.046316 deg.

2025-10-27T00:29:02.620Z,1761524942.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613640 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:02.695Z,1761524942.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.809022
2025-10-27T00:29:02.936Z,1761524942.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050803
2025-10-27T00:29:03.002Z,1761524943.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889682,0.451661,0.066845],[-0.456564,-0.878784,-0.138885],[-0.003986,-0.154082,0.988050]]
2025-10-27T00:29:03.044Z,1761524943.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:03.047Z,1761524943.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 264.609100 m,
      bearing: 209.844485 deg,
      approach rate: -0.686532 m/s,
      LOS rate: 0.010678 deg/s,
      cmd heading: 207.046311 deg,
      new cmd heading: 207.060023 deg.

2025-10-27T00:29:03.048Z,1761524943.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613879 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:03.189Z,1761524943.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303250
2025-10-27T00:29:03.406Z,1761524943.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889343,0.452417,0.066241],[-0.457221,-0.878602,-0.137866],[-0.004174,-0.152896,0.988233]]
2025-10-27T00:29:03.423Z,1761524943.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:03.425Z,1761524943.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:03.440Z,1761524943.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554882
2025-10-27T00:29:03.444Z,1761524943.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 264.346069 m,
      bearing: 209.848539 deg,
      approach rate: -0.690086 m/s,
      LOS rate: 0.010646 deg/s,
      cmd heading: 207.060026 deg,
      new cmd heading: 207.072200 deg.

2025-10-27T00:29:03.445Z,1761524943.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614092 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:03.695Z,1761524943.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810244
2025-10-27T00:29:03.809Z,1761524943.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888765,0.453503,0.066570],[-0.458344,-0.877981,-0.138098],[-0.004180,-0.153248,0.988179]]
2025-10-27T00:29:03.867Z,1761524943.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:03.870Z,1761524943.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 264.042236 m,
      bearing: 209.854433 deg,
      approach rate: -0.693724 m/s,
      LOS rate: 0.013474 deg/s,
      cmd heading: 207.072197 deg,
      new cmd heading: 207.089902 deg.

2025-10-27T00:29:03.871Z,1761524943.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614401 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:03.946Z,1761524943.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060629
2025-10-27T00:29:04.197Z,1761524944.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311558
2025-10-27T00:29:04.222Z,1761524944.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888282,0.454432,0.066686],[-0.459278,-0.877443,-0.138410],[-0.004385,-0.153574,0.988127]]
2025-10-27T00:29:04.241Z,1761524944.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:04.243Z,1761524944.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 263.780762 m,
      bearing: 209.859457 deg,
      approach rate: -0.692927 m/s,
      LOS rate: 0.013326 deg/s,
      cmd heading: 207.089901 deg,
      new cmd heading: 207.104987 deg.

2025-10-27T00:29:04.244Z,1761524944.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614664 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:04.448Z,1761524944.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563033
2025-10-27T00:29:04.618Z,1761524944.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888063,0.454810,0.067023],[-0.459700,-0.877103,-0.139165],[-0.004507,-0.154398,0.987998]]
2025-10-27T00:29:04.655Z,1761524944.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:04.658Z,1761524944.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 263.506775 m,
      bearing: 209.864702 deg,
      approach rate: -0.661090 m/s,
      LOS rate: 0.012670 deg/s,
      cmd heading: 207.104982 deg,
      new cmd heading: 207.120735 deg.

2025-10-27T00:29:04.659Z,1761524944.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614939 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:04.701Z,1761524944.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816037
2025-10-27T00:29:04.952Z,1761524944.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066806
2025-10-27T00:29:05.077Z,1761524945.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:05.080Z,1761524945.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 263.207947 m,
      bearing: 209.868712 deg,
      approach rate: -0.708357 m/s,
      LOS rate: 0.009516 deg/s,
      cmd heading: 207.120733 deg,
      new cmd heading: 207.132776 deg.

2025-10-27T00:29:05.081Z,1761524945.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615149 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:05.205Z,1761524945.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319705
2025-10-27T00:29:05.432Z,1761524945.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887221,0.456330,0.067827],[-0.461316,-0.875919,-0.141254],[-0.005047,-0.156613,0.987647]]
2025-10-27T00:29:05.448Z,1761524945.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:05.450Z,1761524945.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:05.453Z,1761524945.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 262.955048 m,
      bearing: 209.872011 deg,
      approach rate: -0.677246 m/s,
      LOS rate: 0.008843 deg/s,
      cmd heading: 207.132781 deg,
      new cmd heading: 207.142687 deg.

2025-10-27T00:29:05.454Z,1761524945.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615322 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:05.456Z,1761524945.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571006
2025-10-27T00:29:05.709Z,1761524945.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823174
2025-10-27T00:29:05.830Z,1761524945.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886883,0.456880,0.068550],[-0.461961,-0.875251,-0.143277],[-0.005461,-0.158737,0.987306]]
2025-10-27T00:29:05.878Z,1761524945.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:05.886Z,1761524945.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 262.655853 m,
      bearing: 209.873878 deg,
      approach rate: -0.699274 m/s,
      LOS rate: 0.004369 deg/s,
      cmd heading: 207.142685 deg,
      new cmd heading: 207.148293 deg.

2025-10-27T00:29:05.887Z,1761524945.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615420 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:05.960Z,1761524945.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074962
2025-10-27T00:29:06.212Z,1761524946.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326889
2025-10-27T00:29:06.234Z,1761524946.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886428,0.457726,0.068787],[-0.462831,-0.874705,-0.143801],[-0.005653,-0.159306,0.987213]]
2025-10-27T00:29:06.252Z,1761524946.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:06.254Z,1761524946.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 262.394806 m,
      bearing: 209.875455 deg,
      approach rate: -0.698941 m/s,
      LOS rate: 0.004227 deg/s,
      cmd heading: 207.148299 deg,
      new cmd heading: 207.153036 deg.

2025-10-27T00:29:06.255Z,1761524946.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615503 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:06.464Z,1761524946.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578724
2025-10-27T00:29:06.639Z,1761524946.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886415,0.457572,0.069981],[-0.462860,-0.874373,-0.145712],[-0.005484,-0.161552,0.986849]]
2025-10-27T00:29:06.657Z,1761524946.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:06.660Z,1761524946.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 262.111694 m,
      bearing: 209.877169 deg,
      approach rate: -0.698668 m/s,
      LOS rate: 0.004233 deg/s,
      cmd heading: 207.153040 deg,
      new cmd heading: 207.158186 deg.

2025-10-27T00:29:06.661Z,1761524946.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615592 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:06.717Z,1761524946.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831657
2025-10-27T00:29:06.968Z,1761524946.968 [DAT](INFO): Reached modem response timeout
2025-10-27T00:29:06.968Z,1761524946.968 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:29:06.968Z,1761524946.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:07.042Z,1761524947.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886521,0.457352,0.070067],[-0.462657,-0.874483,-0.145697],[-0.005363,-0.161581,0.986845]]
2025-10-27T00:29:07.094Z,1761524947.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:07.098Z,1761524947.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 261.801758 m,
      bearing: 209.876302 deg,
      approach rate: -0.708595 m/s,
      LOS rate: -0.001985 deg/s,
      cmd heading: 207.158190 deg,
      new cmd heading: 207.155584 deg.

2025-10-27T00:29:07.098Z,1761524947.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615547 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:07.220Z,1761524947.220 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:29:07.453Z,1761524947.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886527,0.457307,0.070282],[-0.462648,-0.874503,-0.145608],[-0.005126,-0.161601,0.986843]]
2025-10-27T00:29:07.469Z,1761524947.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:07.472Z,1761524947.472 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:29:07.472Z,1761524947.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:07.475Z,1761524947.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 261.535034 m,
      bearing: 209.875554 deg,
      approach rate: -0.708324 m/s,
      LOS rate: -0.001987 deg/s,
      cmd heading: 207.155580 deg,
      new cmd heading: 207.153336 deg.

2025-10-27T00:29:07.476Z,1761524947.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615508 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:07.733Z,1761524947.733 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:29:07.849Z,1761524947.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886875,0.456611,0.070418],[-0.461986,-0.874958,-0.144976],[-0.004585,-0.161107,0.986926]]
2025-10-27T00:29:07.906Z,1761524947.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:07.909Z,1761524947.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 261.242828 m,
      bearing: 209.872228 deg,
      approach rate: -0.670732 m/s,
      LOS rate: -0.007643 deg/s,
      cmd heading: 207.153340 deg,
      new cmd heading: 207.143351 deg.

2025-10-27T00:29:07.910Z,1761524947.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615334 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:07.980Z,1761524947.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:29:08.232Z,1761524948.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:29:08.258Z,1761524948.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887414,0.455341,0.071842],[-0.460964,-0.875515,-0.144867],[-0.003066,-0.161674,0.986840]]
2025-10-27T00:29:08.278Z,1761524948.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:08.280Z,1761524948.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 260.968079 m,
      bearing: 209.869167 deg,
      approach rate: -0.740242 m/s,
      LOS rate: -0.008258 deg/s,
      cmd heading: 207.143354 deg,
      new cmd heading: 207.134159 deg.

2025-10-27T00:29:08.281Z,1761524948.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615173 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:08.485Z,1761524948.485 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:29:08.657Z,1761524948.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887899,0.454066,0.073888],[-0.460036,-0.875843,-0.145831],[-0.001502,-0.163474,0.986546]]
2025-10-27T00:29:08.709Z,1761524948.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:08.721Z,1761524948.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 260.685333 m,
      bearing: 209.866080 deg,
      approach rate: -0.655719 m/s,
      LOS rate: -0.007166 deg/s,
      cmd heading: 207.134161 deg,
      new cmd heading: 207.124891 deg.

2025-10-27T00:29:08.722Z,1761524948.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615011 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:08.736Z,1761524948.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:29:08.991Z,1761524948.991 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:29:09.143Z,1761524949.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:09.146Z,1761524949.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 260.354401 m,
      bearing: 209.860782 deg,
      approach rate: -0.761821 m/s,
      LOS rate: -0.012212 deg/s,
      cmd heading: 207.124886 deg,
      new cmd heading: 207.108970 deg.

2025-10-27T00:29:09.163Z,1761524949.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614733 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:09.241Z,1761524949.241 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:29:09.241Z,1761524949.241 [DAT](INFO): response not received
2025-10-27T00:29:09.242Z,1761524949.242 [DAT](INFO): DAT read: user:128>

2025-10-27T00:29:09.243Z,1761524949.243 [DAT](INFO): DAT read: Tx time:00:29:10.7477

2025-10-27T00:29:09.244Z,1761524949.244 [DAT](INFO): Ping request sent.
2025-10-27T00:29:09.244Z,1761524949.244 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:09.244Z,1761524949.244 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:09.245Z,1761524949.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001202
2025-10-27T00:29:09.492Z,1761524949.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248385
2025-10-27T00:29:09.495Z,1761524949.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888801,0.452066,0.075296],[-0.458294,-0.876679,-0.146288],[-0.000121,-0.164529,0.986372]]
2025-10-27T00:29:09.532Z,1761524949.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:09.537Z,1761524949.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:09.540Z,1761524949.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 260.080841 m,
      bearing: 209.856513 deg,
      approach rate: -0.694919 m/s,
      LOS rate: -0.010854 deg/s,
      cmd heading: 207.108971 deg,
      new cmd heading: 207.096153 deg.

2025-10-27T00:29:09.541Z,1761524949.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614510 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:09.744Z,1761524949.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500397
2025-10-27T00:29:09.958Z,1761524949.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:09.960Z,1761524949.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 259.769989 m,
      bearing: 209.850348 deg,
      approach rate: -0.738792 m/s,
      LOS rate: -0.014670 deg/s,
      cmd heading: 207.096158 deg,
      new cmd heading: 207.077640 deg.

2025-10-27T00:29:09.961Z,1761524949.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614187 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:09.996Z,1761524949.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752600
2025-10-27T00:29:10.248Z,1761524950.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004421
2025-10-27T00:29:10.307Z,1761524950.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889857,0.450006,0.075166],[-0.456240,-0.877881,-0.145499],[0.000511,-0.163767,0.986499]]
2025-10-27T00:29:10.325Z,1761524950.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:10.327Z,1761524950.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 259.505035 m,
      bearing: 209.845216 deg,
      approach rate: -0.721878 m/s,
      LOS rate: -0.013997 deg/s,
      cmd heading: 207.077634 deg,
      new cmd heading: 207.062222 deg.

2025-10-27T00:29:10.328Z,1761524950.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613918 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:10.500Z,1761524950.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256399
2025-10-27T00:29:10.712Z,1761524950.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890268,0.449358,0.074157],[-0.455436,-0.878509,-0.144223],[0.000339,-0.162171,0.986763]]
2025-10-27T00:29:10.752Z,1761524950.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508536
2025-10-27T00:29:10.753Z,1761524950.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:10.756Z,1761524950.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 259.197540 m,
      bearing: 209.839304 deg,
      approach rate: -0.721136 m/s,
      LOS rate: -0.013882 deg/s,
      cmd heading: 207.062225 deg,
      new cmd heading: 207.044467 deg.

2025-10-27T00:29:10.756Z,1761524950.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613608 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:11.006Z,1761524951.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761771
2025-10-27T00:29:11.111Z,1761524951.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890750,0.448635,0.072740],[-0.454494,-0.879371,-0.141926],[0.000293,-0.159481,0.987201]]
2025-10-27T00:29:11.147Z,1761524951.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:11.150Z,1761524951.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 258.921173 m,
      bearing: 209.834341 deg,
      approach rate: -0.698151 m/s,
      LOS rate: -0.012550 deg/s,
      cmd heading: 207.044467 deg,
      new cmd heading: 207.029563 deg.

2025-10-27T00:29:11.151Z,1761524951.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613348 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:11.256Z,1761524951.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012520
2025-10-27T00:29:11.508Z,1761524951.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264509
2025-10-27T00:29:11.515Z,1761524951.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891170,0.448225,0.070076],[-0.453669,-0.880478,-0.137630],[0.000011,-0.154443,0.988002]]
2025-10-27T00:29:11.542Z,1761524951.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:11.544Z,1761524951.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:11.547Z,1761524951.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 258.643829 m,
      bearing: 209.829401 deg,
      approach rate: -0.697792 m/s,
      LOS rate: -0.012442 deg/s,
      cmd heading: 207.029563 deg,
      new cmd heading: 207.014727 deg.

2025-10-27T00:29:11.548Z,1761524951.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613089 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:11.762Z,1761524951.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517697
2025-10-27T00:29:11.918Z,1761524951.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891581,0.447623,0.068675],[-0.452860,-0.881263,-0.135249],[-0.000020,-0.151686,0.988429]]
2025-10-27T00:29:11.978Z,1761524951.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:11.985Z,1761524951.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 258.350616 m,
      bearing: 209.826678 deg,
      approach rate: -0.675533 m/s,
      LOS rate: -0.006280 deg/s,
      cmd heading: 207.014728 deg,
      new cmd heading: 207.006551 deg.

2025-10-27T00:29:11.986Z,1761524951.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612946 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:12.012Z,1761524952.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768531
2025-10-27T00:29:12.264Z,1761524952.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020410
2025-10-27T00:29:12.322Z,1761524952.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891895,0.447078,0.068149],[-0.452242,-0.881825,-0.133645],[0.000345,-0.150017,0.988683]]
2025-10-27T00:29:12.356Z,1761524952.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:12.365Z,1761524952.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 258.080536 m,
      bearing: 209.824207 deg,
      approach rate: -0.715072 m/s,
      LOS rate: -0.006550 deg/s,
      cmd heading: 207.006546 deg,
      new cmd heading: 206.999124 deg.

2025-10-27T00:29:12.366Z,1761524952.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612816 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:12.516Z,1761524952.516 [DAT](INFO): DAT read: Rx Time:00:29:13.5186

2025-10-27T00:29:12.516Z,1761524952.516 [DAT](INFO): Rx dataTimestamp_ set to:1761524952.516147
2025-10-27T00:29:12.517Z,1761524952.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273512
2025-10-27T00:29:12.727Z,1761524952.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891946,0.446701,0.069932],[-0.452140,-0.881631,-0.135261],[0.001233,-0.152264,0.988339]]
2025-10-27T00:29:12.750Z,1761524952.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:12.753Z,1761524952.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 257.790710 m,
      bearing: 209.821556 deg,
      approach rate: -0.735032 m/s,
      LOS rate: -0.006731 deg/s,
      cmd heading: 206.999128 deg,
      new cmd heading: 206.991166 deg.

2025-10-27T00:29:12.754Z,1761524952.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612677 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:12.768Z,1761524952.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524490
2025-10-27T00:29:13.024Z,1761524953.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779802
2025-10-27T00:29:13.129Z,1761524953.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892306,0.445527,0.072773],[-0.451425,-0.881445,-0.138817],[0.002299,-0.156719,0.987641]]
2025-10-27T00:29:13.196Z,1761524953.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.08 m.
2025-10-27T00:29:13.216Z,1761524953.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.076813 m,
      nav range: 257.493958 m,
      bearing: 209.820976 deg,
      approach rate: -0.665561 m/s,
      LOS rate: -0.001303 deg/s,
      cmd heading: 206.991164 deg,
      new cmd heading: 206.989421 deg.

2025-10-27T00:29:13.217Z,1761524953.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612647 target range: 282.076813 and range: 283.30 m.
2025-10-27T00:29:13.280Z,1761524953.280 [DAT](INFO): DAT read: 00:29:13.5186 LVL= 28496, 32753, 32754, 26099, AGC= 70, IDX= 291,-0.23, 2.994, 1.485, 2.874, 2.258, PHS= 0.838,-0.728, 0.572, RAW= 140.9,  -9.4, CAL= 141.0, -11.2, ROT=   9.0,  11.2

2025-10-27T00:29:13.282Z,1761524953.282 [DAT](INFO): got valid direction response:
 00:29:13.5186 LVL= 28496, 32753, 32754, 26099, AGC= 70, IDX= 291,-0.23, 2.994, 1.485, 2.874, 2.258, PHS= 0.838,-0.728, 0.572, RAW= 140.9,  -9.4, CAL= 141.0, -11.2, ROT=   9.0,  11.2

2025-10-27T00:29:13.283Z,1761524953.283 [DAT](INFO): DAT read: Bearing 340.1,  10.2 (Local)

2025-10-27T00:29:13.284Z,1761524953.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.1,  10.2 (Local)

2025-10-27T00:29:13.286Z,1761524953.286 [DAT](INFO): DAT read: Range 11 to 50 : 275.0 m  (Round-trip  366.7 ms) speed  0.4 m/s

2025-10-27T00:29:13.287Z,1761524953.287 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:13.293Z,1761524953.293 [DAT](INFO): direction in FSK: [0.968878,0.153455,-0.194234]
2025-10-27T00:29:13.293Z,1761524953.293 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:13.297Z,1761524953.297 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:13.297Z,1761524953.297 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:13.298Z,1761524953.298 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:13.524Z,1761524953.524 [DAT](INFO): DAT read: user:129>

2025-10-27T00:29:13.525Z,1761524953.525 [DAT](INFO): DAT read: Tx time:00:29:14.9477

2025-10-27T00:29:13.525Z,1761524953.525 [DAT](INFO): Ping request sent.
2025-10-27T00:29:13.525Z,1761524953.525 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:13.525Z,1761524953.525 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:13.526Z,1761524953.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-27T00:29:13.537Z,1761524953.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892448,0.444675,0.076159],[-0.451138,-0.880842,-0.143502],[0.003272,-0.162426,0.986715]]
2025-10-27T00:29:13.584Z,1761524953.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 275.000000 m,
      deltaT: 16.638922 s,
      deltaX: -8.299988 m,
      approachRate: -0.498830 m/s,
      rangeRepo size: 4

2025-10-27T00:29:13.586Z,1761524953.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 273.831329 m,
      bearing: 213.864510 deg,
      lat: 36.779260 deg,
      lon: -121.859901 deg,
      deltaT: 16.638922 s,
      deltaX: -8.245483 m,
      approachRate: -0.495554 m/s,
      posRepo size: 4

2025-10-27T00:29:13.590Z,1761524953.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:13.612Z,1761524953.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 260.602264 m,
      bearing: 211.081367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001303 deg/s,
      cmd heading: 206.989416 deg,
      new cmd heading: 206.987997 deg.

2025-10-27T00:29:13.613Z,1761524953.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612622 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:13.776Z,1761524953.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250995
2025-10-27T00:29:14.014Z,1761524954.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:14.020Z,1761524954.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:14.028Z,1761524954.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503033
2025-10-27T00:29:14.028Z,1761524954.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 260.299866 m,
      bearing: 211.085745 deg,
      approach rate: -0.656061 m/s,
      LOS rate: 0.009509 deg/s,
      cmd heading: 206.987995 deg,
      new cmd heading: 207.001144 deg.

2025-10-27T00:29:14.029Z,1761524954.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612852 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:14.080Z,1761524954.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:29:14.280Z,1761524954.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829
2025-10-27T00:29:14.343Z,1761524954.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892841,0.443352,0.079211],[-0.450338,-0.881034,-0.144830],[0.005577,-0.164982,0.986281]]
2025-10-27T00:29:14.377Z,1761524954.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:14.380Z,1761524954.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 260.045319 m,
      bearing: 211.089485 deg,
      approach rate: -0.713571 m/s,
      LOS rate: 0.010496 deg/s,
      cmd heading: 207.001150 deg,
      new cmd heading: 207.012382 deg.

2025-10-27T00:29:14.381Z,1761524954.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613048 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:14.534Z,1761524954.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009392
2025-10-27T00:29:14.756Z,1761524954.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892549,0.443779,0.080105],[-0.450909,-0.880682,-0.145188],[0.006116,-0.165708,0.986156]]
2025-10-27T00:29:14.774Z,1761524954.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:14.777Z,1761524954.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 259.759583 m,
      bearing: 211.093651 deg,
      approach rate: -0.719224 m/s,
      LOS rate: 0.010498 deg/s,
      cmd heading: 207.012379 deg,
      new cmd heading: 207.024891 deg.

2025-10-27T00:29:14.778Z,1761524954.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613266 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:14.784Z,1761524954.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259020
2025-10-27T00:29:15.037Z,1761524955.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511883
2025-10-27T00:29:15.083Z,1761524955.083 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:29:15.152Z,1761524955.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892214,0.444252,0.081206],[-0.451563,-0.880240,-0.145835],[0.006694,-0.166786,0.985970]]
2025-10-27T00:29:15.226Z,1761524955.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:15.232Z,1761524955.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 259.471863 m,
      bearing: 211.100561 deg,
      approach rate: -0.637276 m/s,
      LOS rate: 0.015322 deg/s,
      cmd heading: 207.024892 deg,
      new cmd heading: 207.045644 deg.

2025-10-27T00:29:15.233Z,1761524955.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613628 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:15.290Z,1761524955.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764877
2025-10-27T00:29:15.540Z,1761524955.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958
2025-10-27T00:29:15.575Z,1761524955.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891685,0.445095,0.082388],[-0.452599,-0.879565,-0.146697],[0.007172,-0.168096,0.985744]]
2025-10-27T00:29:15.612Z,1761524955.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:15.614Z,1761524955.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 259.199127 m,
      bearing: 211.107052 deg,
      approach rate: -0.706433 m/s,
      LOS rate: 0.016831 deg/s,
      cmd heading: 207.045642 deg,
      new cmd heading: 207.065135 deg.

2025-10-27T00:29:15.615Z,1761524955.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613968 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:15.793Z,1761524955.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267943
2025-10-27T00:29:15.978Z,1761524955.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891007,0.446215,0.083661],[-0.453923,-0.878777,-0.147322],[0.007782,-0.169241,0.985544]]
2025-10-27T00:29:16.037Z,1761524956.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:16.044Z,1761524956.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518950
2025-10-27T00:29:16.044Z,1761524956.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:16.051Z,1761524956.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 258.912689 m,
      bearing: 211.114974 deg,
      approach rate: -0.670747 m/s,
      LOS rate: 0.018571 deg/s,
      cmd heading: 207.065135 deg,
      new cmd heading: 207.088926 deg.

2025-10-27T00:29:16.052Z,1761524956.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614384 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:16.296Z,1761524956.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771231
2025-10-27T00:29:16.388Z,1761524956.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890380,0.447249,0.084805],[-0.455137,-0.878144,-0.147353],[0.008567,-0.169799,0.985442]]
2025-10-27T00:29:16.410Z,1761524956.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:16.414Z,1761524956.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 258.663422 m,
      bearing: 211.121805 deg,
      approach rate: -0.676464 m/s,
      LOS rate: 0.018557 deg/s,
      cmd heading: 207.088931 deg,
      new cmd heading: 207.109446 deg.

2025-10-27T00:29:16.414Z,1761524956.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614742 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:16.548Z,1761524956.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022921
2025-10-27T00:29:16.785Z,1761524956.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889549,0.448785,0.085405],[-0.456737,-0.877624,-0.145490],[0.009660,-0.168428,0.985667]]
2025-10-27T00:29:16.800Z,1761524956.800 [DAT](INFO): DAT read: Rx Time:00:29:17.7131

2025-10-27T00:29:16.801Z,1761524956.801 [DAT](INFO): Rx dataTimestamp_ set to:1761524956.800239
2025-10-27T00:29:16.801Z,1761524956.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276031
2025-10-27T00:29:16.831Z,1761524956.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:16.834Z,1761524956.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 258.397095 m,
      bearing: 211.129011 deg,
      approach rate: -0.662599 m/s,
      LOS rate: 0.017946 deg/s,
      cmd heading: 207.109449 deg,
      new cmd heading: 207.131090 deg.

2025-10-27T00:29:16.834Z,1761524956.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615119 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:17.052Z,1761524957.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527005
2025-10-27T00:29:17.192Z,1761524957.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888774,0.450292,0.085541],[-0.458227,-0.877168,-0.143541],[0.010398,-0.166773,0.985941]]
2025-10-27T00:29:17.281Z,1761524957.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.83 m.
2025-10-27T00:29:17.284Z,1761524957.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.831329 m,
      nav range: 258.067078 m,
      bearing: 211.134612 deg,
      approach rate: -0.699398 m/s,
      LOS rate: 0.011884 deg/s,
      cmd heading: 207.131087 deg,
      new cmd heading: 207.147910 deg.

2025-10-27T00:29:17.285Z,1761524957.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615413 target range: 273.831329 and range: 275.00 m.
2025-10-27T00:29:17.329Z,1761524957.329 [DAT](INFO): DAT read: 00:29:17.7131 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 384, 0.13, 0.104,-1.367,-0.018,-0.800, PHS= 1.006,-0.521, 0.738, RAW= 140.5, -17.0, CAL= 140.8, -20.4, ROT=   9.2,  20.4

2025-10-27T00:29:17.330Z,1761524957.330 [DAT](INFO): got valid direction response:
 00:29:17.7131 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 384, 0.13, 0.104,-1.367,-0.018,-0.800, PHS= 1.006,-0.521, 0.738, RAW= 140.5, -17.0, CAL= 140.8, -20.4, ROT=   9.2,  20.4

2025-10-27T00:29:17.332Z,1761524957.332 [DAT](INFO): DAT read: Bearing 330.8,  12.3 (Local)

2025-10-27T00:29:17.333Z,1761524957.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.8,  12.3 (Local)

2025-10-27T00:29:17.339Z,1761524957.339 [DAT](INFO): DAT read: Range 11 to 50 : 270.9 m  (Round-trip  361.3 ms) speed  0.9 m/s

2025-10-27T00:29:17.340Z,1761524957.340 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:17.341Z,1761524957.341 [DAT](INFO): direction in FSK: [0.925225,0.149854,-0.348572]
2025-10-27T00:29:17.342Z,1761524957.342 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:17.356Z,1761524957.356 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:17.356Z,1761524957.356 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:17.356Z,1761524957.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:17.572Z,1761524957.572 [DAT](INFO): DAT read: user:130>

2025-10-27T00:29:17.573Z,1761524957.573 [DAT](INFO): DAT read: Tx time:00:29:18.9977

2025-10-27T00:29:17.573Z,1761524957.573 [DAT](INFO): Ping request sent.
2025-10-27T00:29:17.573Z,1761524957.573 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:17.573Z,1761524957.573 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:17.574Z,1761524957.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-27T00:29:17.630Z,1761524957.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887072,0.453532,0.086095],[-0.461492,-0.875828,-0.141246],[0.011345,-0.165027,0.986224]]
2025-10-27T00:29:17.660Z,1761524957.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 270.899994 m,
      deltaT: 4.048145 s,
      deltaX: -4.100006 m,
      approachRate: -1.012811 m/s,
      rangeRepo size: 4

2025-10-27T00:29:17.664Z,1761524957.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 269.747345 m,
      bearing: 213.033316 deg,
      lat: 36.779260 deg,
      lon: -121.859917 deg,
      deltaT: 4.048145 s,
      deltaX: -4.083984 m,
      approachRate: -1.008853 m/s,
      posRepo size: 4

2025-10-27T00:29:17.665Z,1761524957.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:17.669Z,1761524957.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 258.548004 m,
      bearing: 211.407515 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011884 deg/s,
      cmd heading: 207.147917 deg,
      new cmd heading: 207.161377 deg.

2025-10-27T00:29:17.671Z,1761524957.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615648 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:17.824Z,1761524957.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251114
2025-10-27T00:29:18.062Z,1761524958.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:18.076Z,1761524958.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502944
2025-10-27T00:29:18.078Z,1761524958.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:18.085Z,1761524958.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 258.256592 m,
      bearing: 211.410037 deg,
      approach rate: -0.695233 m/s,
      LOS rate: 0.006024 deg/s,
      cmd heading: 207.161372 deg,
      new cmd heading: 207.168947 deg.

2025-10-27T00:29:18.086Z,1761524958.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615780 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:18.329Z,1761524958.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755598
2025-10-27T00:29:18.406Z,1761524958.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886439,0.455049,0.084591],[-0.462698,-0.875832,-0.137218],[0.011647,-0.160776,0.986922]]
2025-10-27T00:29:18.436Z,1761524958.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:18.439Z,1761524958.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 257.995239 m,
      bearing: 211.412212 deg,
      approach rate: -0.729440 m/s,
      LOS rate: 0.006078 deg/s,
      cmd heading: 207.168940 deg,
      new cmd heading: 207.175473 deg.

2025-10-27T00:29:18.440Z,1761524958.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615894 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:18.580Z,1761524958.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932
2025-10-27T00:29:18.815Z,1761524958.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885798,0.456602,0.082930],[-0.463932,-0.875661,-0.134107],[0.011385,-0.157266,0.987491]]
2025-10-27T00:29:18.836Z,1761524958.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262956
2025-10-27T00:29:18.848Z,1761524958.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:18.859Z,1761524958.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 257.716858 m,
      bearing: 211.414437 deg,
      approach rate: -0.674936 m/s,
      LOS rate: 0.005401 deg/s,
      cmd heading: 207.175470 deg,
      new cmd heading: 207.182152 deg.

2025-10-27T00:29:18.860Z,1761524958.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616011 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:19.088Z,1761524959.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515115
2025-10-27T00:29:19.221Z,1761524959.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885829,0.457260,0.078874],[-0.463901,-0.876452,-0.128948],[0.010166,-0.150815,0.988510]]
2025-10-27T00:29:19.258Z,1761524959.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:19.277Z,1761524959.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 257.409912 m,
      bearing: 211.413168 deg,
      approach rate: -0.749907 m/s,
      LOS rate: -0.003104 deg/s,
      cmd heading: 207.182150 deg,
      new cmd heading: 207.178339 deg.

2025-10-27T00:29:19.277Z,1761524959.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615944 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:19.341Z,1761524959.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767716
2025-10-27T00:29:19.592Z,1761524959.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018851
2025-10-27T00:29:19.623Z,1761524959.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886241,0.456659,0.077712],[-0.463127,-0.876923,-0.128528],[0.009454,-0.149897,0.988656]]
2025-10-27T00:29:19.641Z,1761524959.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:19.645Z,1761524959.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 257.132996 m,
      bearing: 211.412072 deg,
      approach rate: -0.721708 m/s,
      LOS rate: -0.002860 deg/s,
      cmd heading: 207.178339 deg,
      new cmd heading: 207.175046 deg.

2025-10-27T00:29:19.663Z,1761524959.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615887 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:19.844Z,1761524959.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271002
2025-10-27T00:29:20.036Z,1761524960.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886912,0.455470,0.077032],[-0.461855,-0.877508,-0.129111],[0.008790,-0.150087,0.988634]]
2025-10-27T00:29:20.070Z,1761524960.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:20.072Z,1761524960.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:20.091Z,1761524960.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 256.821533 m,
      bearing: 211.407420 deg,
      approach rate: -0.722677 m/s,
      LOS rate: -0.010807 deg/s,
      cmd heading: 207.175046 deg,
      new cmd heading: 207.161073 deg.

2025-10-27T00:29:20.092Z,1761524960.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615643 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:20.096Z,1761524960.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523063
2025-10-27T00:29:20.348Z,1761524960.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774883
2025-10-27T00:29:20.430Z,1761524960.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887741,0.453942,0.076499],[-0.460267,-0.878268,-0.129612],[0.008351,-0.150272,0.988609]]
2025-10-27T00:29:20.464Z,1761524960.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:20.471Z,1761524960.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 256.549377 m,
      bearing: 211.403456 deg,
      approach rate: -0.694585 m/s,
      LOS rate: -0.010128 deg/s,
      cmd heading: 207.161072 deg,
      new cmd heading: 207.149166 deg.

2025-10-27T00:29:20.472Z,1761524960.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615435 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:20.600Z,1761524960.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026921
2025-10-27T00:29:20.830Z,1761524960.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888367,0.452671,0.076759],[-0.459052,-0.878857,-0.129932],[0.008643,-0.150664,0.988547]]
2025-10-27T00:29:20.852Z,1761524960.852 [DAT](INFO): DAT read: Rx Time:00:29:21.7595

2025-10-27T00:29:20.853Z,1761524960.853 [DAT](INFO): Rx dataTimestamp_ set to:1761524960.852288
2025-10-27T00:29:20.853Z,1761524960.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280124
2025-10-27T00:29:20.856Z,1761524960.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:20.858Z,1761524960.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 256.256775 m,
      bearing: 211.399275 deg,
      approach rate: -0.747612 m/s,
      LOS rate: -0.010694 deg/s,
      cmd heading: 207.149160 deg,
      new cmd heading: 207.136604 deg.

2025-10-27T00:29:20.860Z,1761524960.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615216 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:21.104Z,1761524961.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530944
2025-10-27T00:29:21.233Z,1761524961.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889083,0.451253,0.076831],[-0.457655,-0.879647,-0.129509],[0.009143,-0.150306,0.988597]]
2025-10-27T00:29:21.294Z,1761524961.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:21.296Z,1761524961.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 255.935715 m,
      bearing: 211.393628 deg,
      approach rate: -0.733048 m/s,
      LOS rate: -0.012908 deg/s,
      cmd heading: 207.136606 deg,
      new cmd heading: 207.119645 deg.

2025-10-27T00:29:21.297Z,1761524961.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614920 target range: 269.747345 and range: 270.90 m.
2025-10-27T00:29:21.360Z,1761524961.360 [DAT](INFO): DAT read: Range 11 to 50 : 268.2 m  (Round-trip  357.7 ms) speed  0.1 m/s

2025-10-27T00:29:21.361Z,1761524961.361 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T00:29:21.361Z,1761524961.361 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:21.362Z,1761524961.362 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:21.362Z,1761524961.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:21.608Z,1761524961.608 [DAT](INFO): DAT read: user:131>

2025-10-27T00:29:21.609Z,1761524961.609 [DAT](INFO): DAT read: Tx time:00:29:22.9977

2025-10-27T00:29:21.609Z,1761524961.609 [DAT](INFO): Ping request sent.
2025-10-27T00:29:21.609Z,1761524961.609 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:21.609Z,1761524961.609 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:21.610Z,1761524961.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-27T00:29:21.654Z,1761524961.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889672,0.450081,0.076879],[-0.456497,-0.880350,-0.128818],[0.009702,-0.149701,0.988684]]
2025-10-27T00:29:21.720Z,1761524961.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 268.200012 m,
      deltaT: 4.037179 s,
      deltaX: -2.699982 m,
      approachRate: -0.668779 m/s,
      rangeRepo size: 4

2025-10-27T00:29:21.721Z,1761524961.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:21.728Z,1761524961.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 255.637070 m,
      bearing: 211.388449 deg,
      approach rate: -0.700902 m/s,
      LOS rate: -0.012169 deg/s,
      cmd heading: 207.119640 deg,
      new cmd heading: 207.104084 deg.

2025-10-27T00:29:21.729Z,1761524961.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614648 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:21.860Z,1761524961.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250935
2025-10-27T00:29:22.112Z,1761524962.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502974
2025-10-27T00:29:22.117Z,1761524962.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:22.119Z,1761524962.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:22.122Z,1761524962.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 255.333954 m,
      bearing: 211.383684 deg,
      approach rate: -0.759914 m/s,
      LOS rate: -0.011961 deg/s,
      cmd heading: 207.104081 deg,
      new cmd heading: 207.089767 deg.

2025-10-27T00:29:22.123Z,1761524962.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614398 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:22.364Z,1761524962.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755047
2025-10-27T00:29:22.446Z,1761524962.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891264,0.446973,0.076570],[-0.453356,-0.882235,-0.126999],[0.010787,-0.147903,0.988943]]
2025-10-27T00:29:22.464Z,1761524962.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:22.467Z,1761524962.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 255.078293 m,
      bearing: 211.379856 deg,
      approach rate: -0.740268 m/s,
      LOS rate: -0.011094 deg/s,
      cmd heading: 207.089765 deg,
      new cmd heading: 207.078270 deg.

2025-10-27T00:29:22.468Z,1761524962.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614198 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:22.616Z,1761524962.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006771
2025-10-27T00:29:22.849Z,1761524962.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891475,0.446235,0.078398],[-0.452934,-0.881995,-0.130138],[0.011074,-0.151524,0.988392]]
2025-10-27T00:29:22.868Z,1761524962.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990
2025-10-27T00:29:22.877Z,1761524962.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:22.880Z,1761524962.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 254.774246 m,
      bearing: 211.375333 deg,
      approach rate: -0.735503 m/s,
      LOS rate: -0.010956 deg/s,
      cmd heading: 207.078276 deg,
      new cmd heading: 207.064690 deg.

2025-10-27T00:29:22.881Z,1761524962.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613961 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:23.120Z,1761524963.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510940
2025-10-27T00:29:23.254Z,1761524963.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891371,0.446210,0.079715],[-0.453135,-0.881578,-0.132250],[0.011263,-0.154005,0.988006]]
2025-10-27T00:29:23.290Z,1761524963.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:23.309Z,1761524963.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 254.488968 m,
      bearing: 211.373314 deg,
      approach rate: -0.690594 m/s,
      LOS rate: -0.004893 deg/s,
      cmd heading: 207.064684 deg,
      new cmd heading: 207.058621 deg.

2025-10-27T00:29:23.310Z,1761524963.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613855 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:23.373Z,1761524963.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763575
2025-10-27T00:29:23.624Z,1761524963.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014924
2025-10-27T00:29:23.668Z,1761524963.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891127,0.446431,0.081191],[-0.453610,-0.880968,-0.134657],[0.011412,-0.156826,0.987560]]
2025-10-27T00:29:23.702Z,1761524963.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:23.706Z,1761524963.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 254.207520 m,
      bearing: 211.371284 deg,
      approach rate: -0.683854 m/s,
      LOS rate: -0.004938 deg/s,
      cmd heading: 207.058619 deg,
      new cmd heading: 207.052522 deg.

2025-10-27T00:29:23.708Z,1761524963.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613748 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:23.876Z,1761524963.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266898
2025-10-27T00:29:24.088Z,1761524964.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890670,0.447042,0.082834],[-0.454504,-0.880116,-0.137196],[0.011571,-0.159845,0.987074]]
2025-10-27T00:29:24.128Z,1761524964.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518959
2025-10-27T00:29:24.133Z,1761524964.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:24.135Z,1761524964.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:24.141Z,1761524964.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 253.907211 m,
      bearing: 211.371109 deg,
      approach rate: -0.693594 m/s,
      LOS rate: -0.000404 deg/s,
      cmd heading: 207.052526 deg,
      new cmd heading: 207.052001 deg.

2025-10-27T00:29:24.143Z,1761524964.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613739 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:24.381Z,1761524964.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771219
2025-10-27T00:29:24.467Z,1761524964.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890110,0.448067,0.083304],[-0.455600,-0.879450,-0.137826],[0.011506,-0.160634,0.986947]]
2025-10-27T00:29:24.485Z,1761524964.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:24.488Z,1761524964.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 253.664124 m,
      bearing: 211.370900 deg,
      approach rate: -0.694031 m/s,
      LOS rate: -0.000598 deg/s,
      cmd heading: 207.052007 deg,
      new cmd heading: 207.051380 deg.

2025-10-27T00:29:24.489Z,1761524964.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613728 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:24.633Z,1761524964.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023821
2025-10-27T00:29:24.866Z,1761524964.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889487,0.449453,0.082494],[-0.456815,-0.879149,-0.135710],[0.011529,-0.158396,0.987308]]
2025-10-27T00:29:24.884Z,1761524964.884 [DAT](INFO): DAT read: Rx Time:00:29:25.7585

2025-10-27T00:29:24.885Z,1761524964.885 [DAT](INFO): Rx dataTimestamp_ set to:1761524964.884225
2025-10-27T00:29:24.885Z,1761524964.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276032
2025-10-27T00:29:24.886Z,1761524964.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:24.889Z,1761524964.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 253.389130 m,
      bearing: 211.370577 deg,
      approach rate: -0.685750 m/s,
      LOS rate: -0.000806 deg/s,
      cmd heading: 207.051379 deg,
      new cmd heading: 207.050409 deg.

2025-10-27T00:29:24.890Z,1761524964.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613711 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:25.138Z,1761524965.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528615
2025-10-27T00:29:25.272Z,1761524965.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888697,0.451112,0.081946],[-0.458342,-0.878694,-0.133489],[0.011787,-0.156191,0.987657]]
2025-10-27T00:29:25.325Z,1761524965.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:25.331Z,1761524965.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 253.107834 m,
      bearing: 211.373473 deg,
      approach rate: -0.641850 m/s,
      LOS rate: 0.006617 deg/s,
      cmd heading: 207.050409 deg,
      new cmd heading: 207.059109 deg.

2025-10-27T00:29:25.332Z,1761524965.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613863 target range: 269.747345 and range: 268.20 m.
2025-10-27T00:29:25.390Z,1761524965.390 [DAT](INFO): DAT read: Range 11 to 50 : 267.6 m  (Round-trip  356.8 ms) speed  0.9 m/s

2025-10-27T00:29:25.392Z,1761524965.392 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T00:29:25.393Z,1761524965.393 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:25.393Z,1761524965.393 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:25.393Z,1761524965.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:25.641Z,1761524965.641 [DAT](INFO): DAT read: user:132>

2025-10-27T00:29:25.643Z,1761524965.643 [DAT](INFO): DAT read: Tx time:00:29:27.0476

2025-10-27T00:29:25.643Z,1761524965.643 [DAT](INFO): Ping request sent.
2025-10-27T00:29:25.643Z,1761524965.643 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:25.643Z,1761524965.643 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:25.644Z,1761524965.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001069
2025-10-27T00:29:25.737Z,1761524965.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 267.600006 m,
      deltaT: 4.030560 s,
      deltaX: -0.600006 m,
      approachRate: -0.148864 m/s,
      rangeRepo size: 4

2025-10-27T00:29:25.738Z,1761524965.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:25.741Z,1761524965.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 252.824249 m,
      bearing: 211.376400 deg,
      approach rate: -0.688309 m/s,
      LOS rate: 0.007112 deg/s,
      cmd heading: 207.059111 deg,
      new cmd heading: 207.067901 deg.

2025-10-27T00:29:25.742Z,1761524965.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614017 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:25.892Z,1761524965.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248886
2025-10-27T00:29:26.116Z,1761524966.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887329,0.453650,0.082760],[-0.460981,-0.877299,-0.133576],[0.012008,-0.156677,0.987577]]
2025-10-27T00:29:26.145Z,1761524966.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502134
2025-10-27T00:29:26.191Z,1761524966.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:26.193Z,1761524966.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:26.200Z,1761524966.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 252.542221 m,
      bearing: 211.381124 deg,
      approach rate: -0.617590 m/s,
      LOS rate: 0.010355 deg/s,
      cmd heading: 207.067894 deg,
      new cmd heading: 207.082081 deg.

2025-10-27T00:29:26.201Z,1761524966.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614264 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:26.399Z,1761524966.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756027
2025-10-27T00:29:26.516Z,1761524966.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886510,0.455134,0.083384],[-0.462551,-0.876407,-0.134008],[0.012086,-0.157368,0.987466]]
2025-10-27T00:29:26.542Z,1761524966.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:26.548Z,1761524966.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 252.312576 m,
      bearing: 211.384885 deg,
      approach rate: -0.658138 m/s,
      LOS rate: 0.010788 deg/s,
      cmd heading: 207.082088 deg,
      new cmd heading: 207.093381 deg.

2025-10-27T00:29:26.549Z,1761524966.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614461 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:26.648Z,1761524966.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005190
2025-10-27T00:29:26.900Z,1761524966.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256797
2025-10-27T00:29:26.925Z,1761524966.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885647,0.456691,0.084038],[-0.464199,-0.875478,-0.134379],[0.012203,-0.158023,0.987360]]
2025-10-27T00:29:26.943Z,1761524966.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:26.946Z,1761524966.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 252.057846 m,
      bearing: 211.388956 deg,
      approach rate: -0.635361 m/s,
      LOS rate: 0.010165 deg/s,
      cmd heading: 207.093385 deg,
      new cmd heading: 207.105611 deg.

2025-10-27T00:29:26.947Z,1761524966.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614675 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:27.154Z,1761524967.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510573
2025-10-27T00:29:27.322Z,1761524967.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884883,0.458077,0.084545],[-0.465653,-0.874662,-0.134661],[0.012263,-0.158528,0.987278]]
2025-10-27T00:29:27.374Z,1761524967.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:27.377Z,1761524967.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 251.791351 m,
      bearing: 211.392519 deg,
      approach rate: -0.617834 m/s,
      LOS rate: 0.008270 deg/s,
      cmd heading: 207.105611 deg,
      new cmd heading: 207.116313 deg.

2025-10-27T00:29:27.378Z,1761524967.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614861 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:27.404Z,1761524967.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760715
2025-10-27T00:29:27.657Z,1761524967.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013730
2025-10-27T00:29:27.729Z,1761524967.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884201,0.459382,0.084593],[-0.466940,-0.874096,-0.133875],[0.012443,-0.157873,0.987381]]
2025-10-27T00:29:27.748Z,1761524967.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:27.751Z,1761524967.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 251.541046 m,
      bearing: 211.395789 deg,
      approach rate: -0.669863 m/s,
      LOS rate: 0.008759 deg/s,
      cmd heading: 207.116307 deg,
      new cmd heading: 207.126126 deg.

2025-10-27T00:29:27.752Z,1761524967.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615033 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:27.908Z,1761524967.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264729
2025-10-27T00:29:28.158Z,1761524968.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883885,0.460019,0.084436],[-0.467530,-0.873959,-0.132704],[0.012748,-0.156772,0.987553]]
2025-10-27T00:29:28.161Z,1761524968.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518039
2025-10-27T00:29:28.197Z,1761524968.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:28.199Z,1761524968.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:28.201Z,1761524968.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 251.239624 m,
      bearing: 211.396987 deg,
      approach rate: -0.669045 m/s,
      LOS rate: 0.002662 deg/s,
      cmd heading: 207.126129 deg,
      new cmd heading: 207.129726 deg.

2025-10-27T00:29:28.202Z,1761524968.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615096 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:28.412Z,1761524968.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768784
2025-10-27T00:29:28.534Z,1761524968.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883881,0.459994,0.084615],[-0.467529,-0.874001,-0.132434],[0.013035,-0.156615,0.987574]]
2025-10-27T00:29:28.552Z,1761524968.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:28.555Z,1761524968.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 251.002258 m,
      bearing: 211.397932 deg,
      approach rate: -0.670879 m/s,
      LOS rate: 0.002673 deg/s,
      cmd heading: 207.129721 deg,
      new cmd heading: 207.132559 deg.

2025-10-27T00:29:28.556Z,1761524968.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615145 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:28.665Z,1761524968.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021170
2025-10-27T00:29:28.916Z,1761524968.916 [DAT](INFO): DAT read: Rx Time:00:29:29.8028

2025-10-27T00:29:28.917Z,1761524968.917 [DAT](INFO): Rx dataTimestamp_ set to:1761524968.916368
2025-10-27T00:29:28.917Z,1761524968.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274059
2025-10-27T00:29:28.938Z,1761524968.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883839,0.460001,0.085018],[-0.467598,-0.873988,-0.132277],[0.013457,-0.156666,0.987560]]
2025-10-27T00:29:28.978Z,1761524968.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:28.985Z,1761524968.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 250.722809 m,
      bearing: 211.399042 deg,
      approach rate: -0.656361 m/s,
      LOS rate: 0.002609 deg/s,
      cmd heading: 207.132563 deg,
      new cmd heading: 207.135895 deg.

2025-10-27T00:29:28.986Z,1761524968.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615203 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:29.168Z,1761524969.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524806
2025-10-27T00:29:29.357Z,1761524969.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883716,0.459941,0.086604],[-0.467821,-0.873528,-0.134512],[0.013783,-0.159385,0.987120]]
2025-10-27T00:29:29.405Z,1761524969.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.75 m.
2025-10-27T00:29:29.408Z,1761524969.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.747345 m,
      nav range: 250.433655 m,
      bearing: 211.397697 deg,
      approach rate: -0.677495 m/s,
      LOS rate: -0.003155 deg/s,
      cmd heading: 207.135896 deg,
      new cmd heading: 207.131856 deg.

2025-10-27T00:29:29.409Z,1761524969.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615133 target range: 269.747345 and range: 267.60 m.
2025-10-27T00:29:29.425Z,1761524969.425 [DAT](INFO): DAT read: 00:29:29.8028 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 374, 0.29,-2.254, 2.581,-2.234,-2.971, PHS= 0.819,-0.686, 0.693, RAW= 145.7, -11.4, CAL= 146.3, -13.5, ROT=   3.7,  13.5

2025-10-27T00:29:29.426Z,1761524969.426 [DAT](INFO): got valid direction response:
 00:29:29.8028 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 374, 0.29,-2.254, 2.581,-2.234,-2.971, PHS= 0.819,-0.686, 0.693, RAW= 145.7, -11.4, CAL= 146.3, -13.5, ROT=   3.7,  13.5

2025-10-27T00:29:29.428Z,1761524969.428 [DAT](INFO): DAT read: Bearing 337.2,   6.4 (Local)

2025-10-27T00:29:29.429Z,1761524969.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.2,   6.4 (Local)

2025-10-27T00:29:29.430Z,1761524969.430 [DAT](INFO): DAT read: Range 11 to 50 : 263.2 m  (Round-trip  351.0 ms) speed  0.4 m/s

2025-10-27T00:29:29.431Z,1761524969.431 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:29.436Z,1761524969.436 [DAT](INFO): direction in FSK: [0.970343,0.062749,-0.233445]
2025-10-27T00:29:29.436Z,1761524969.436 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:29.439Z,1761524969.439 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:29.440Z,1761524969.440 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:29.440Z,1761524969.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:29.673Z,1761524969.673 [DAT](INFO): DAT read: user:133>

2025-10-27T00:29:29.674Z,1761524969.674 [DAT](INFO): DAT read: Tx time:00:29:31.0476

2025-10-27T00:29:29.675Z,1761524969.675 [DAT](INFO): Ping request sent.
2025-10-27T00:29:29.675Z,1761524969.675 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:29.675Z,1761524969.675 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:29.676Z,1761524969.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001150
2025-10-27T00:29:29.754Z,1761524969.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884020,0.459058,0.088171],[-0.467224,-0.873576,-0.136256],[0.014475,-0.161649,0.986742]]
2025-10-27T00:29:29.808Z,1761524969.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 263.200012 m,
      deltaT: 4.031567 s,
      deltaX: -4.399994 m,
      approachRate: -1.091385 m/s,
      rangeRepo size: 4

2025-10-27T00:29:29.810Z,1761524969.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 262.094513 m,
      bearing: 209.280183 deg,
      lat: 36.779260 deg,
      lon: -121.859917 deg,
      deltaT: 12.099306 s,
      deltaX: -7.652832 m,
      approachRate: -0.632502 m/s,
      posRepo size: 4

2025-10-27T00:29:29.811Z,1761524969.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:29.814Z,1761524969.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 250.182388 m,
      bearing: 211.396570 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003155 deg/s,
      cmd heading: 207.131852 deg,
      new cmd heading: 207.128083 deg.

2025-10-27T00:29:29.815Z,1761524969.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615067 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:29.924Z,1761524969.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249431
2025-10-27T00:29:30.175Z,1761524970.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884564,0.457785,0.089327],[-0.466163,-0.874057,-0.136806],[0.015449,-0.162655,0.986562]]
2025-10-27T00:29:30.176Z,1761524970.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501386
2025-10-27T00:29:30.227Z,1761524970.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:30.229Z,1761524970.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:30.232Z,1761524970.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 249.893188 m,
      bearing: 211.392535 deg,
      approach rate: -0.679067 m/s,
      LOS rate: -0.009484 deg/s,
      cmd heading: 207.128082 deg,
      new cmd heading: 207.115965 deg.

2025-10-27T00:29:30.233Z,1761524970.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614856 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:30.428Z,1761524970.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753185
2025-10-27T00:29:30.561Z,1761524970.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885246,0.456355,0.089886],[-0.464843,-0.874734,-0.136972],[0.016119,-0.163037,0.986488]]
2025-10-27T00:29:30.602Z,1761524970.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:30.605Z,1761524970.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 249.630569 m,
      bearing: 211.388955 deg,
      approach rate: -0.703198 m/s,
      LOS rate: -0.009598 deg/s,
      cmd heading: 207.115965 deg,
      new cmd heading: 207.105212 deg.

2025-10-27T00:29:30.606Z,1761524970.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614668 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:30.681Z,1761524970.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006207
2025-10-27T00:29:30.932Z,1761524970.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257278
2025-10-27T00:29:30.965Z,1761524970.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886116,0.454414,0.091142],[-0.463150,-0.875468,-0.138013],[0.017077,-0.164508,0.986228]]
2025-10-27T00:29:30.998Z,1761524970.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:31.000Z,1761524971.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 249.364807 m,
      bearing: 211.385444 deg,
      approach rate: -0.672661 m/s,
      LOS rate: -0.008895 deg/s,
      cmd heading: 207.105215 deg,
      new cmd heading: 207.094672 deg.

2025-10-27T00:29:31.001Z,1761524971.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614484 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:31.191Z,1761524971.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515581
2025-10-27T00:29:31.381Z,1761524971.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886646,0.453304,0.091509],[-0.462106,-0.876082,-0.137620],[0.017785,-0.164307,0.986249]]
2025-10-27T00:29:31.430Z,1761524971.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:31.432Z,1761524971.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 249.069962 m,
      bearing: 211.381100 deg,
      approach rate: -0.682369 m/s,
      LOS rate: -0.010065 deg/s,
      cmd heading: 207.094669 deg,
      new cmd heading: 207.081622 deg.

2025-10-27T00:29:31.433Z,1761524971.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614256 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:31.440Z,1761524971.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765458
2025-10-27T00:29:31.696Z,1761524971.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021222
2025-10-27T00:29:31.776Z,1761524971.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887385,0.451804,0.091769],[-0.460656,-0.876939,-0.137020],[0.018570,-0.163863,0.986308]]
2025-10-27T00:29:31.794Z,1761524971.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:31.797Z,1761524971.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 248.821350 m,
      bearing: 211.377522 deg,
      approach rate: -0.682213 m/s,
      LOS rate: -0.009828 deg/s,
      cmd heading: 207.081623 deg,
      new cmd heading: 207.070879 deg.

2025-10-27T00:29:31.798Z,1761524971.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614069 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:31.944Z,1761524971.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269238
2025-10-27T00:29:32.196Z,1761524972.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521493
2025-10-27T00:29:32.211Z,1761524972.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887897,0.450737,0.092057],[-0.459643,-0.877511,-0.136760],[0.019138,-0.163742,0.986318]]
2025-10-27T00:29:32.260Z,1761524972.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:32.262Z,1761524972.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:32.265Z,1761524972.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 248.497482 m,
      bearing: 211.373566 deg,
      approach rate: -0.691796 m/s,
      LOS rate: -0.008463 deg/s,
      cmd heading: 207.070872 deg,
      new cmd heading: 207.058986 deg.

2025-10-27T00:29:32.266Z,1761524972.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613861 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:32.452Z,1761524972.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777184
2025-10-27T00:29:32.584Z,1761524972.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888560,0.449400,0.092198],[-0.458345,-0.878193,-0.136738],[0.019518,-0.163758,0.986307]]
2025-10-27T00:29:32.605Z,1761524972.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:32.608Z,1761524972.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 248.259323 m,
      bearing: 211.370730 deg,
      approach rate: -0.693791 m/s,
      LOS rate: -0.008269 deg/s,
      cmd heading: 207.058988 deg,
      new cmd heading: 207.050472 deg.

2025-10-27T00:29:32.609Z,1761524972.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613713 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:32.701Z,1761524972.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026545
2025-10-27T00:29:32.952Z,1761524972.952 [DAT](INFO): DAT read: Rx Time:00:29:33.8013

2025-10-27T00:29:32.952Z,1761524972.952 [DAT](INFO): Rx dataTimestamp_ set to:1761524972.952191
2025-10-27T00:29:32.953Z,1761524972.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278440
2025-10-27T00:29:33.021Z,1761524973.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889036,0.448284,0.093041],[-0.457430,-0.878280,-0.139215],[0.019308,-0.166327,0.985882]]
2025-10-27T00:29:33.053Z,1761524973.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:33.056Z,1761524973.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 247.949142 m,
      bearing: 211.367109 deg,
      approach rate: -0.692423 m/s,
      LOS rate: -0.008093 deg/s,
      cmd heading: 207.050477 deg,
      new cmd heading: 207.039602 deg.

2025-10-27T00:29:33.057Z,1761524973.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613523 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:33.204Z,1761524973.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529431
2025-10-27T00:29:33.390Z,1761524973.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889239,0.447816,0.093348],[-0.457027,-0.878427,-0.139615],[0.019478,-0.166814,0.985796]]
2025-10-27T00:29:33.434Z,1761524973.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.09 m.
2025-10-27T00:29:33.436Z,1761524973.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.094513 m,
      nav range: 247.679932 m,
      bearing: 211.364604 deg,
      approach rate: -0.708299 m/s,
      LOS rate: -0.006598 deg/s,
      cmd heading: 207.039604 deg,
      new cmd heading: 207.032080 deg.

2025-10-27T00:29:33.437Z,1761524973.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613391 target range: 262.094513 and range: 263.20 m.
2025-10-27T00:29:33.462Z,1761524973.462 [DAT](INFO): DAT read: 00:29:33.8013 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424,-0.13, 2.798, 1.306, 2.777, 1.979, PHS= 0.920,-0.629, 0.753, RAW= 144.4, -14.1, CAL= 145.1, -16.7, ROT=   4.9,  16.7

2025-10-27T00:29:33.463Z,1761524973.463 [DAT](INFO): got valid direction response:
 00:29:33.8013 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424,-0.13, 2.798, 1.306, 2.777, 1.979, PHS= 0.920,-0.629, 0.753, RAW= 144.4, -14.1, CAL= 145.1, -16.7, ROT=   4.9,  16.7

2025-10-27T00:29:33.464Z,1761524973.464 [DAT](INFO): DAT read: Bearing 333.5,   8.5 (Local)

2025-10-27T00:29:33.464Z,1761524973.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.5,   8.5 (Local)

2025-10-27T00:29:33.466Z,1761524973.466 [DAT](INFO): DAT read: Range 11 to 50 : 262.2 m  (Round-trip  349.6 ms) speed  0.7 m/s

2025-10-27T00:29:33.467Z,1761524973.467 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:33.468Z,1761524973.468 [DAT](INFO): direction in FSK: [0.954322,0.081814,-0.287361]
2025-10-27T00:29:33.469Z,1761524973.469 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:33.473Z,1761524973.473 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:33.474Z,1761524973.474 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:33.474Z,1761524973.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:33.708Z,1761524973.708 [DAT](INFO): DAT read: user:134>

2025-10-27T00:29:33.710Z,1761524973.710 [DAT](INFO): DAT read: Tx time:00:29:35.0976

2025-10-27T00:29:33.710Z,1761524973.710 [DAT](INFO): Ping request sent.
2025-10-27T00:29:33.710Z,1761524973.710 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:33.710Z,1761524973.710 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:33.711Z,1761524973.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001142
2025-10-27T00:29:33.794Z,1761524973.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889359,0.447521,0.093623],[-0.456798,-0.878410,-0.140465],[0.019379,-0.167691,0.985649]]
2025-10-27T00:29:33.831Z,1761524973.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.200012 m,
      deltaT: 4.036744 s,
      deltaX: -1.000000 m,
      approachRate: -0.247724 m/s,
      rangeRepo size: 4

2025-10-27T00:29:33.833Z,1761524973.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 261.100037 m,
      bearing: 209.122934 deg,
      lat: 36.779260 deg,
      lon: -121.859855 deg,
      deltaT: 4.036744 s,
      deltaX: -0.994476 m,
      approachRate: -0.246356 m/s,
      posRepo size: 4

2025-10-27T00:29:33.833Z,1761524973.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-10-27T00:29:33.836Z,1761524973.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100037 m,
      nav range: 244.599701 m,
      bearing: 210.266682 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006598 deg/s,
      cmd heading: 207.032077 deg,
      new cmd heading: 207.024229 deg.

2025-10-27T00:29:33.837Z,1761524973.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613255 target range: 261.100037 and range: 262.20 m.
2025-10-27T00:29:33.960Z,1761524973.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250056
2025-10-27T00:29:34.215Z,1761524974.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504519
2025-10-27T00:29:34.296Z,1761524974.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:34.298Z,1761524974.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-10-27T00:29:34.305Z,1761524974.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100037 m,
      nav range: 244.282913 m,
      bearing: 210.264082 deg,
      approach rate: -0.677107 m/s,
      LOS rate: -0.005564 deg/s,
      cmd heading: 207.024236 deg,
      new cmd heading: 207.016426 deg.

2025-10-27T00:29:34.306Z,1761524974.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613118 target range: 261.100037 and range: 262.20 m.
2025-10-27T00:29:34.464Z,1761524974.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753890
2025-10-27T00:29:34.601Z,1761524974.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889293,0.447875,0.092557],[-0.456947,-0.878518,-0.139304],[0.018922,-0.166175,0.985915]]
2025-10-27T00:29:34.655Z,1761524974.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-10-27T00:29:34.658Z,1761524974.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100037 m,
      nav range: 244.048203 m,
      bearing: 210.262141 deg,
      approach rate: -0.664833 m/s,
      LOS rate: -0.005503 deg/s,
      cmd heading: 207.016422 deg,
      new cmd heading: 207.010594 deg.

2025-10-27T00:29:34.663Z,1761524974.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613016 target range: 261.100037 and range: 262.20 m.
2025-10-27T00:29:34.717Z,1761524974.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006485
2025-10-27T00:29:34.968Z,1761524974.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258095
2025-10-27T00:29:35.198Z,1761524975.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889235,0.448095,0.092043],[-0.457057,-0.878645,-0.138136],[0.018975,-0.164904,0.986127]]
2025-10-27T00:29:35.223Z,1761524975.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512487
2025-10-27T00:29:35.273Z,1761524975.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-10-27T00:29:35.276Z,1761524975.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100037 m,
      nav range: 243.610229 m,
      bearing: 210.263409 deg,
      approach rate: -0.703802 m/s,
      LOS rate: 0.002041 deg/s,
      cmd heading: 207.010589 deg,
      new cmd heading: 207.014400 deg.

2025-10-27T00:29:35.277Z,1761524975.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613083 target range: 261.100037 and range: 262.20 m.
2025-10-27T00:29:35.472Z,1761524975.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761884
2025-10-27T00:29:35.710Z,1761524975.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888799,0.449396,0.089893],[-0.457896,-0.878980,-0.133136],[0.019183,-0.159492,0.987013]]
2025-10-27T00:29:35.724Z,1761524975.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013874
2025-10-27T00:29:35.746Z,1761524975.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-10-27T00:29:35.749Z,1761524975.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100037 m,
      nav range: 243.292313 m,
      bearing: 210.264259 deg,
      approach rate: -0.672501 m/s,
      LOS rate: 0.001800 deg/s,
      cmd heading: 207.014400 deg,
      new cmd heading: 207.016953 deg.

2025-10-27T00:29:35.750Z,1761524975.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613127 target range: 261.100037 and range: 262.20 m.
2025-10-27T00:29:35.976Z,1761524975.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265846
2025-10-27T00:29:36.160Z,1761524976.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888382,0.450278,0.089597],[-0.458723,-0.878544,-0.133171],[0.018750,-0.159407,0.987035]]
2025-10-27T00:29:36.204Z,1761524976.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-10-27T00:29:36.231Z,1761524976.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520240
2025-10-27T00:29:36.232Z,1761524976.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100037 m,
      nav range: 243.001022 m,
      bearing: 210.264976 deg,
      approach rate: -0.666472 m/s,
      LOS rate: 0.001642 deg/s,
      cmd heading: 207.016955 deg,
      new cmd heading: 207.019108 deg.

2025-10-27T00:29:36.240Z,1761524976.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613165 target range: 261.100037 and range: 262.20 m.
2025-10-27T00:29:36.480Z,1761524976.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769895
2025-10-27T00:29:36.557Z,1761524976.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887973,0.451378,0.088108],[-0.459538,-0.878405,-0.131262],[0.018145,-0.157046,0.987425]]
2025-10-27T00:29:36.591Z,1761524976.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:36.593Z,1761524976.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-10-27T00:29:36.596Z,1761524976.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100037 m,
      nav range: 242.727188 m,
      bearing: 210.266214 deg,
      approach rate: -0.667613 m/s,
      LOS rate: 0.003022 deg/s,
      cmd heading: 207.019113 deg,
      new cmd heading: 207.022832 deg.

2025-10-27T00:29:36.597Z,1761524976.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613230 target range: 261.100037 and range: 262.20 m.
2025-10-27T00:29:36.732Z,1761524976.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021875
2025-10-27T00:29:36.961Z,1761524976.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887571,0.452308,0.087379],[-0.460327,-0.878142,-0.130254],[0.017816,-0.155833,0.987623]]
2025-10-27T00:29:36.979Z,1761524976.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-10-27T00:29:36.981Z,1761524976.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100037 m,
      nav range: 242.471817 m,
      bearing: 210.267318 deg,
      approach rate: -0.662434 m/s,
      LOS rate: 0.002868 deg/s,
      cmd heading: 207.022829 deg,
      new cmd heading: 207.026145 deg.

2025-10-27T00:29:36.982Z,1761524976.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613288 target range: 261.100037 and range: 262.20 m.
2025-10-27T00:29:36.984Z,1761524976.984 [DAT](INFO): DAT read: Rx Time:00:29:37.8478

2025-10-27T00:29:36.985Z,1761524976.985 [DAT](INFO): Rx dataTimestamp_ set to:1761524976.984248
2025-10-27T00:29:36.985Z,1761524976.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275005
2025-10-27T00:29:37.239Z,1761524977.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528414
2025-10-27T00:29:37.448Z,1761524977.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.10 m.
2025-10-27T00:29:37.450Z,1761524977.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.100037 m,
      nav range: 242.165604 m,
      bearing: 210.268923 deg,
      approach rate: -0.654309 m/s,
      LOS rate: 0.003433 deg/s,
      cmd heading: 207.026148 deg,
      new cmd heading: 207.030968 deg.

2025-10-27T00:29:37.451Z,1761524977.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613372 target range: 261.100037 and range: 262.20 m.
2025-10-27T00:29:37.496Z,1761524977.496 [DAT](INFO): DAT read: 00:29:37.8478 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404, 0.20, 3.025, 1.705, 2.974, 2.282, PHS= 0.845,-0.533, 0.648, RAW= 142.4, -14.7, CAL= 142.9, -17.6, ROT=   7.1,  17.6

2025-10-27T00:29:37.497Z,1761524977.497 [DAT](INFO): got valid direction response:
 00:29:37.8478 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404, 0.20, 3.025, 1.705, 2.974, 2.282, PHS= 0.845,-0.533, 0.648, RAW= 142.4, -14.7, CAL= 142.9, -17.6, ROT=   7.1,  17.6

2025-10-27T00:29:37.498Z,1761524977.498 [DAT](INFO): DAT read: Bearing 332.2,  11.0 (Local)

2025-10-27T00:29:37.499Z,1761524977.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.2,  11.0 (Local)

2025-10-27T00:29:37.501Z,1761524977.501 [DAT](INFO): DAT read: Range 11 to 50 : 259.5 m  (Round-trip  346.0 ms) speed  0.6 m/s

2025-10-27T00:29:37.502Z,1761524977.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:37.504Z,1761524977.504 [DAT](INFO): direction in FSK: [0.945882,0.117816,-0.302370]
2025-10-27T00:29:37.504Z,1761524977.504 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:37.509Z,1761524977.509 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:37.509Z,1761524977.509 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:37.509Z,1761524977.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:37.740Z,1761524977.740 [DAT](INFO): DAT read: user:135>

2025-10-27T00:29:37.741Z,1761524977.741 [DAT](INFO): DAT read: Tx time:00:29:39.1476

2025-10-27T00:29:37.741Z,1761524977.741 [DAT](INFO): Ping request sent.
2025-10-27T00:29:37.741Z,1761524977.741 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:37.741Z,1761524977.741 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:37.742Z,1761524977.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-10-27T00:29:37.766Z,1761524977.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886552,0.454279,0.087499],[-0.462311,-0.876961,-0.131177],[0.017143,-0.156747,0.987490]]
2025-10-27T00:29:37.829Z,1761524977.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.500000 m,
      deltaT: 4.031501 s,
      deltaX: -2.700012 m,
      approachRate: -0.669729 m/s,
      rangeRepo size: 4

2025-10-27T00:29:37.831Z,1761524977.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 258.415131 m,
      bearing: 211.687193 deg,
      lat: 36.779253 deg,
      lon: -121.859940 deg,
      deltaT: 4.031501 s,
      deltaX: -2.684906 m,
      approachRate: -0.665982 m/s,
      posRepo size: 4

2025-10-27T00:29:37.839Z,1761524977.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:37.842Z,1761524977.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 246.444824 m,
      bearing: 211.687943 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003433 deg/s,
      cmd heading: 207.030970 deg,
      new cmd heading: 207.034897 deg.

2025-10-27T00:29:37.847Z,1761524977.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613441 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:37.992Z,1761524977.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251197
2025-10-27T00:29:38.170Z,1761524978.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886560,0.454298,0.087317],[-0.462301,-0.876969,-0.131163],[0.016988,-0.156650,0.987508]]
2025-10-27T00:29:38.189Z,1761524978.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:38.192Z,1761524978.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 246.198349 m,
      bearing: 211.690510 deg,
      approach rate: -0.682262 m/s,
      LOS rate: 0.007113 deg/s,
      cmd heading: 207.034891 deg,
      new cmd heading: 207.042600 deg.

2025-10-27T00:29:38.193Z,1761524978.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613575 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:38.247Z,1761524978.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505593
2025-10-27T00:29:38.497Z,1761524978.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755837
2025-10-27T00:29:38.579Z,1761524978.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886549,0.454383,0.086990],[-0.462332,-0.876972,-0.131032],[0.016749,-0.156385,0.987554]]
2025-10-27T00:29:38.649Z,1761524978.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:38.651Z,1761524978.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:38.663Z,1761524978.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 245.921356 m,
      bearing: 211.692626 deg,
      approach rate: -0.600334 m/s,
      LOS rate: 0.004592 deg/s,
      cmd heading: 207.042595 deg,
      new cmd heading: 207.048952 deg.

2025-10-27T00:29:38.664Z,1761524978.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613686 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:38.749Z,1761524978.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007805
2025-10-27T00:29:39.000Z,1761524979.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259042
2025-10-27T00:29:39.006Z,1761524979.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886526,0.454430,0.086977],[-0.462401,-0.876718,-0.132484],[0.016050,-0.157669,0.987362]]
2025-10-27T00:29:39.031Z,1761524979.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:39.034Z,1761524979.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 245.652313 m,
      bearing: 211.694682 deg,
      approach rate: -0.707280 m/s,
      LOS rate: 0.005412 deg/s,
      cmd heading: 207.048947 deg,
      new cmd heading: 207.055123 deg.

2025-10-27T00:29:39.035Z,1761524979.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613794 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:39.255Z,1761524979.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513400
2025-10-27T00:29:39.460Z,1761524979.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:39.463Z,1761524979.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 245.361023 m,
      bearing: 211.696400 deg,
      approach rate: -0.678627 m/s,
      LOS rate: 0.004006 deg/s,
      cmd heading: 207.055122 deg,
      new cmd heading: 207.060281 deg.

2025-10-27T00:29:39.464Z,1761524979.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613884 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:39.504Z,1761524979.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763118
2025-10-27T00:29:39.756Z,1761524979.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014943
2025-10-27T00:29:39.809Z,1761524979.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886913,0.453865,0.085971],[-0.461683,-0.877099,-0.132460],[0.015286,-0.157172,0.987453]]
2025-10-27T00:29:39.836Z,1761524979.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:39.844Z,1761524979.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 245.105728 m,
      bearing: 211.697956 deg,
      approach rate: -0.678781 m/s,
      LOS rate: 0.004143 deg/s,
      cmd heading: 207.060286 deg,
      new cmd heading: 207.064961 deg.

2025-10-27T00:29:39.845Z,1761524979.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613965 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:40.008Z,1761524980.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266768
2025-10-27T00:29:40.214Z,1761524980.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887185,0.453362,0.085825],[-0.461189,-0.877087,-0.134250],[0.014412,-0.158686,0.987224]]
2025-10-27T00:29:40.236Z,1761524980.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:40.239Z,1761524980.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 244.837326 m,
      bearing: 211.699634 deg,
      approach rate: -0.671610 m/s,
      LOS rate: 0.004203 deg/s,
      cmd heading: 207.064957 deg,
      new cmd heading: 207.069996 deg.

2025-10-27T00:29:40.240Z,1761524980.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614053 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:40.263Z,1761524980.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521417
2025-10-27T00:29:40.513Z,1761524980.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772265
2025-10-27T00:29:40.635Z,1761524980.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887432,0.452906,0.085673],[-0.460723,-0.877241,-0.134846],[0.014083,-0.159138,0.987156]]
2025-10-27T00:29:40.675Z,1761524980.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:40.677Z,1761524980.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:40.697Z,1761524980.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 244.535034 m,
      bearing: 211.700237 deg,
      approach rate: -0.685051 m/s,
      LOS rate: 0.001367 deg/s,
      cmd heading: 207.069998 deg,
      new cmd heading: 207.071808 deg.

2025-10-27T00:29:40.698Z,1761524980.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614085 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:40.765Z,1761524980.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023861
2025-10-27T00:29:41.016Z,1761524981.016 [DAT](INFO): DAT read: Rx Time:00:29:41.8956

2025-10-27T00:29:41.017Z,1761524981.017 [DAT](INFO): Rx dataTimestamp_ set to:1761524981.016489
2025-10-27T00:29:41.017Z,1761524981.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276334
2025-10-27T00:29:41.026Z,1761524981.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887846,0.452117,0.085554],[-0.459954,-0.877305,-0.137036],[0.013101,-0.161017,0.986865]]
2025-10-27T00:29:41.043Z,1761524981.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:41.046Z,1761524981.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 244.284882 m,
      bearing: 211.700791 deg,
      approach rate: -0.683139 m/s,
      LOS rate: 0.001514 deg/s,
      cmd heading: 207.071801 deg,
      new cmd heading: 207.073464 deg.

2025-10-27T00:29:41.071Z,1761524981.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614114 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:41.271Z,1761524981.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529113
2025-10-27T00:29:41.453Z,1761524981.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888214,0.451349,0.085791],[-0.459256,-0.877404,-0.138729],[0.012658,-0.162621,0.986607]]
2025-10-27T00:29:41.497Z,1761524981.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.42 m.
2025-10-27T00:29:41.500Z,1761524981.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.415131 m,
      nav range: 243.981598 m,
      bearing: 211.701690 deg,
      approach rate: -0.669195 m/s,
      LOS rate: 0.001988 deg/s,
      cmd heading: 207.073468 deg,
      new cmd heading: 207.076171 deg.

2025-10-27T00:29:41.500Z,1761524981.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614161 target range: 258.415131 and range: 259.50 m.
2025-10-27T00:29:41.530Z,1761524981.530 [DAT](INFO): DAT read: 00:29:41.8956 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.11, 1.963, 0.606, 1.920, 1.046, PHS= 1.020,-0.394, 0.831, RAW= 142.9, -21.2, CAL= 143.8, -23.6, ROT=   6.2,  23.6

2025-10-27T00:29:41.532Z,1761524981.532 [DAT](INFO): got valid direction response:
 00:29:41.8956 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.11, 1.963, 0.606, 1.920, 1.046, PHS= 1.020,-0.394, 0.831, RAW= 142.9, -21.2, CAL= 143.8, -23.6, ROT=   6.2,  23.6

2025-10-27T00:29:41.533Z,1761524981.533 [DAT](INFO): DAT read: Bearing 325.7,  10.8 (Local)

2025-10-27T00:29:41.534Z,1761524981.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.7,  10.8 (Local)

2025-10-27T00:29:41.536Z,1761524981.536 [DAT](INFO): DAT read: Range 11 to 50 : 257.8 m  (Round-trip  343.8 ms) speed  0.2 m/s

2025-10-27T00:29:41.537Z,1761524981.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:41.538Z,1761524981.538 [DAT](INFO): direction in FSK: [0.911003,0.098967,-0.400349]
2025-10-27T00:29:41.539Z,1761524981.539 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:41.552Z,1761524981.552 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:41.552Z,1761524981.552 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:41.552Z,1761524981.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:41.776Z,1761524981.776 [DAT](INFO): DAT read: user:136>

2025-10-27T00:29:41.777Z,1761524981.777 [DAT](INFO): DAT read: Tx time:00:29:43.1976

2025-10-27T00:29:41.777Z,1761524981.777 [DAT](INFO): Ping request sent.
2025-10-27T00:29:41.777Z,1761524981.777 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:41.777Z,1761524981.777 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:41.778Z,1761524981.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-10-27T00:29:41.851Z,1761524981.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889030,0.449973,0.084560],[-0.457685,-0.878378,-0.137753],[0.012290,-0.161169,0.986850]]
2025-10-27T00:29:41.880Z,1761524981.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 257.799988 m,
      deltaT: 4.035735 s,
      deltaX: -1.700012 m,
      approachRate: -0.421240 m/s,
      rangeRepo size: 4

2025-10-27T00:29:41.882Z,1761524981.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 256.723541 m,
      bearing: 209.312312 deg,
      lat: 36.779253 deg,
      lon: -121.859855 deg,
      deltaT: 4.035735 s,
      deltaX: -1.691589 m,
      approachRate: -0.419153 m/s,
      posRepo size: 4

2025-10-27T00:29:41.882Z,1761524981.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:41.885Z,1761524981.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 239.869125 m,
      bearing: 210.176980 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001988 deg/s,
      cmd heading: 207.076173 deg,
      new cmd heading: 207.078452 deg.

2025-10-27T00:29:41.886Z,1761524981.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614201 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:42.031Z,1761524982.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253818
2025-10-27T00:29:42.283Z,1761524982.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504934
2025-10-27T00:29:42.358Z,1761524982.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889493,0.449164,0.083988],[-0.456796,-0.878800,-0.138014],[0.011818,-0.161128,0.986863]]
2025-10-27T00:29:42.400Z,1761524982.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:42.402Z,1761524982.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 239.519028 m,
      bearing: 210.174831 deg,
      approach rate: -0.671965 m/s,
      LOS rate: -0.004132 deg/s,
      cmd heading: 207.078454 deg,
      new cmd heading: 207.071995 deg.

2025-10-27T00:29:42.404Z,1761524982.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614088 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:42.532Z,1761524982.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754656
2025-10-27T00:29:42.733Z,1761524982.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889912,0.448395,0.083659],[-0.455988,-0.879154,-0.138430],[0.011478,-0.161338,0.986832]]
2025-10-27T00:29:42.749Z,1761524982.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:42.752Z,1761524982.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:42.755Z,1761524982.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 239.283936 m,
      bearing: 210.173435 deg,
      approach rate: -0.669159 m/s,
      LOS rate: -0.003976 deg/s,
      cmd heading: 207.071993 deg,
      new cmd heading: 207.067802 deg.

2025-10-27T00:29:42.756Z,1761524982.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614015 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:42.784Z,1761524982.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006667
2025-10-27T00:29:43.036Z,1761524983.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258551
2025-10-27T00:29:43.141Z,1761524983.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890310,0.447745,0.082904],[-0.455231,-0.879453,-0.139025],[0.010662,-0.161515,0.986813]]
2025-10-27T00:29:43.158Z,1761524983.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:43.161Z,1761524983.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 239.011627 m,
      bearing: 210.171871 deg,
      approach rate: -0.668706 m/s,
      LOS rate: -0.003845 deg/s,
      cmd heading: 207.067799 deg,
      new cmd heading: 207.063102 deg.

2025-10-27T00:29:43.162Z,1761524983.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613933 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:43.291Z,1761524983.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513148
2025-10-27T00:29:43.536Z,1761524983.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890723,0.447119,0.081832],[-0.454447,-0.879732,-0.139820],[0.009474,-0.161729,0.986790]]
2025-10-27T00:29:43.540Z,1761524983.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762740
2025-10-27T00:29:43.574Z,1761524983.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:43.576Z,1761524983.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 238.738419 m,
      bearing: 210.171529 deg,
      approach rate: -0.657979 m/s,
      LOS rate: -0.000825 deg/s,
      cmd heading: 207.063100 deg,
      new cmd heading: 207.062072 deg.

2025-10-27T00:29:43.577Z,1761524983.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613915 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:43.792Z,1761524983.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014644
2025-10-27T00:29:44.044Z,1761524984.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266466
2025-10-27T00:29:44.052Z,1761524984.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:44.059Z,1761524984.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 238.437424 m,
      bearing: 210.171152 deg,
      approach rate: -0.628650 m/s,
      LOS rate: -0.000790 deg/s,
      cmd heading: 207.062075 deg,
      new cmd heading: 207.060941 deg.

2025-10-27T00:29:44.060Z,1761524984.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613895 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:44.296Z,1761524984.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519003
2025-10-27T00:29:44.398Z,1761524984.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891464,0.446276,0.078288],[-0.453059,-0.880052,-0.142291],[0.005396,-0.162316,0.986724]]
2025-10-27T00:29:44.458Z,1761524984.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:44.473Z,1761524984.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 238.156754 m,
      bearing: 210.170006 deg,
      approach rate: -0.692715 m/s,
      LOS rate: -0.002831 deg/s,
      cmd heading: 207.060941 deg,
      new cmd heading: 207.057500 deg.

2025-10-27T00:29:44.474Z,1761524984.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613835 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:44.549Z,1761524984.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771017
2025-10-27T00:29:44.800Z,1761524984.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022935
2025-10-27T00:29:44.806Z,1761524984.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891538,0.446596,0.075580],[-0.452940,-0.879945,-0.143325],[0.002497,-0.162013,0.986785]]
2025-10-27T00:29:44.829Z,1761524984.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:44.832Z,1761524984.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:44.835Z,1761524984.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 237.911072 m,
      bearing: 210.169008 deg,
      approach rate: -0.655760 m/s,
      LOS rate: -0.002665 deg/s,
      cmd heading: 207.057499 deg,
      new cmd heading: 207.054503 deg.

2025-10-27T00:29:44.838Z,1761524984.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613783 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:45.052Z,1761524985.052 [DAT](INFO): DAT read: Rx Time:00:29:45.9150

2025-10-27T00:29:45.053Z,1761524985.053 [DAT](INFO): Rx dataTimestamp_ set to:1761524985.052254
2025-10-27T00:29:45.053Z,1761524985.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275763
2025-10-27T00:29:45.209Z,1761524985.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891666,0.446860,0.072435],[-0.452693,-0.879975,-0.143923],[-0.000573,-0.161122,0.986934]]
2025-10-27T00:29:45.215Z,1761524985.215 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:29:45.249Z,1761524985.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:45.252Z,1761524985.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 237.639648 m,
      bearing: 210.167920 deg,
      approach rate: -0.650731 m/s,
      LOS rate: -0.002611 deg/s,
      cmd heading: 207.054507 deg,
      new cmd heading: 207.051240 deg.

2025-10-27T00:29:45.253Z,1761524985.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613726 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:45.304Z,1761524985.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526609
2025-10-27T00:29:45.561Z,1761524985.561 [DAT](INFO): DAT read: 00:29:45.9150 LVL= 32752, 32753, 32754, 28147, AGC= 70, IDX= 136,-0.14,-1.057,-2.623,-1.174,-2.074, PHS= 1.119,-0.504, 0.856, RAW= 141.3, -19.0, CAL= 141.8, -22.0, ROT=   8.2,  22.0

2025-10-27T00:29:45.562Z,1761524985.562 [DAT](INFO): got valid direction response:
 00:29:45.9150 LVL= 32752, 32753, 32754, 28147, AGC= 70, IDX= 136,-0.14,-1.057,-2.623,-1.174,-2.074, PHS= 1.119,-0.504, 0.856, RAW= 141.3, -19.0, CAL= 141.8, -22.0, ROT=   8.2,  22.0

2025-10-27T00:29:45.563Z,1761524985.563 [DAT](INFO): DAT read: Bearing 326.3,  11.4 (Local)

2025-10-27T00:29:45.564Z,1761524985.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.3,  11.4 (Local)

2025-10-27T00:29:45.565Z,1761524985.565 [DAT](INFO): DAT read: Range 11 to 50 : 234.9 m  (Round-trip  313.3 ms) speed  0.7 m/s

2025-10-27T00:29:45.566Z,1761524985.566 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:45.566Z,1761524985.566 [DAT](INFO): direction in FSK: [0.917705,0.132243,-0.374607]
2025-10-27T00:29:45.567Z,1761524985.567 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:45.571Z,1761524985.571 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:45.571Z,1761524985.571 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:45.571Z,1761524985.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:45.664Z,1761524985.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891101,0.448990,0.065931],[-0.453756,-0.879397,-0.144106],[-0.006723,-0.158329,0.987363]]
2025-10-27T00:29:45.769Z,1761524985.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 234.899994 m,
 deltaT: 4.031958 s,
 deltaX: -22.899994 m,
 approachRate: -5.679621 m/s,
 rangeRepo size: 4
2025-10-27T00:29:45.770Z,1761524985.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:45.777Z,1761524985.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 237.312317 m,
      bearing: 210.166500 deg,
      approach rate: -0.630155 m/s,
      LOS rate: -0.002738 deg/s,
      cmd heading: 207.051242 deg,
      new cmd heading: 207.046976 deg.

2025-10-27T00:29:45.778Z,1761524985.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613652 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:45.808Z,1761524985.808 [DAT](INFO): DAT read: user:137>

2025-10-27T00:29:45.809Z,1761524985.809 [DAT](INFO): DAT read: Tx time:00:29:47.1975

2025-10-27T00:29:45.809Z,1761524985.809 [DAT](INFO): Ping request sent.
2025-10-27T00:29:45.809Z,1761524985.809 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:45.809Z,1761524985.809 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:45.810Z,1761524985.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-27T00:29:46.060Z,1761524986.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250614
2025-10-27T00:29:46.074Z,1761524986.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:46.089Z,1761524986.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 237.106934 m,
      bearing: 210.165607 deg,
      approach rate: -0.672698 m/s,
      LOS rate: -0.002928 deg/s,
      cmd heading: 207.046980 deg,
      new cmd heading: 207.044299 deg.

2025-10-27T00:29:46.090Z,1761524986.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613605 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:46.219Z,1761524986.219 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:29:46.312Z,1761524986.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832
2025-10-27T00:29:46.432Z,1761524986.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890918,0.449764,0.063066],[-0.454070,-0.879276,-0.143855],[-0.009249,-0.156799,0.987587]]
2025-10-27T00:29:46.463Z,1761524986.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:46.465Z,1761524986.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 236.857819 m,
      bearing: 210.164497 deg,
      approach rate: -0.641218 m/s,
      LOS rate: -0.002860 deg/s,
      cmd heading: 207.044303 deg,
      new cmd heading: 207.040970 deg.

2025-10-27T00:29:46.466Z,1761524986.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613547 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:46.564Z,1761524986.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754961
2025-10-27T00:29:46.816Z,1761524986.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006719
2025-10-27T00:29:46.889Z,1761524986.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:46.897Z,1761524986.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:46.900Z,1761524986.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 236.596039 m,
      bearing: 210.163328 deg,
      approach rate: -0.611319 m/s,
      LOS rate: -0.002732 deg/s,
      cmd heading: 207.040970 deg,
      new cmd heading: 207.037459 deg.

2025-10-27T00:29:46.901Z,1761524986.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613485 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:47.068Z,1761524987.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259094
2025-10-27T00:29:47.251Z,1761524987.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890002,0.452348,0.057250],[-0.455730,-0.878560,-0.142975],[-0.014377,-0.153339,0.988069]]
2025-10-27T00:29:47.277Z,1761524987.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:47.280Z,1761524987.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 236.335388 m,
      bearing: 210.162036 deg,
      approach rate: -0.674789 m/s,
      LOS rate: -0.003350 deg/s,
      cmd heading: 207.037459 deg,
      new cmd heading: 207.033578 deg.

2025-10-27T00:29:47.281Z,1761524987.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613418 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:47.324Z,1761524987.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514106
2025-10-27T00:29:47.572Z,1761524987.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762743
2025-10-27T00:29:47.649Z,1761524987.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889622,0.453755,0.051757],[-0.456289,-0.878310,-0.142728],[-0.019305,-0.150590,0.988408]]
2025-10-27T00:29:47.721Z,1761524987.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:47.728Z,1761524987.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 236.069794 m,
      bearing: 210.160663 deg,
      approach rate: -0.598436 m/s,
      LOS rate: -0.003097 deg/s,
      cmd heading: 207.033580 deg,
      new cmd heading: 207.029457 deg.

2025-10-27T00:29:47.729Z,1761524987.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613346 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:47.824Z,1761524987.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014839
2025-10-27T00:29:48.050Z,1761524988.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889761,0.453751,0.049353],[-0.455916,-0.878436,-0.143149],[-0.021601,-0.149869,0.988470]]
2025-10-27T00:29:48.075Z,1761524988.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:48.076Z,1761524988.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266921
2025-10-27T00:29:48.080Z,1761524988.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 235.817886 m,
      bearing: 210.159380 deg,
      approach rate: -0.712394 m/s,
      LOS rate: -0.003632 deg/s,
      cmd heading: 207.029454 deg,
      new cmd heading: 207.025602 deg.

2025-10-27T00:29:48.081Z,1761524988.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613278 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:48.328Z,1761524988.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518730
2025-10-27T00:29:48.457Z,1761524988.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890487,0.452637,0.046394],[-0.454397,-0.879371,-0.142234],[-0.023583,-0.147739,0.988745]]
2025-10-27T00:29:48.493Z,1761524988.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:48.516Z,1761524988.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 235.539948 m,
      bearing: 210.157922 deg,
      approach rate: -0.664022 m/s,
      LOS rate: -0.003488 deg/s,
      cmd heading: 207.025602 deg,
      new cmd heading: 207.021222 deg.

2025-10-27T00:29:48.517Z,1761524988.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613202 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:48.581Z,1761524988.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771571
2025-10-27T00:29:48.832Z,1761524988.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022748
2025-10-27T00:29:48.858Z,1761524988.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891253,0.451270,0.044978],[-0.452831,-0.880131,-0.142525],[-0.024731,-0.147394,0.988769]]
2025-10-27T00:29:48.900Z,1761524988.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:48.907Z,1761524988.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 235.285217 m,
      bearing: 210.156690 deg,
      approach rate: -0.625619 m/s,
      LOS rate: -0.003030 deg/s,
      cmd heading: 207.021217 deg,
      new cmd heading: 207.017516 deg.

2025-10-27T00:29:48.908Z,1761524988.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613137 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:49.084Z,1761524989.084 [DAT](INFO): DAT read: Rx Time:00:29:49.9381

2025-10-27T00:29:49.084Z,1761524989.084 [DAT](INFO): Rx dataTimestamp_ set to:1761524989.084051
2025-10-27T00:29:49.085Z,1761524989.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275741
2025-10-27T00:29:49.261Z,1761524989.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891950,0.450088,0.042964],[-0.451378,-0.880937,-0.142152],[-0.026133,-0.146185,0.988912]]
2025-10-27T00:29:49.277Z,1761524989.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:49.279Z,1761524989.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.72 m.
2025-10-27T00:29:49.281Z,1761524989.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.723541 m,
      nav range: 235.018494 m,
      bearing: 210.155498 deg,
      approach rate: -0.705004 m/s,
      LOS rate: -0.003152 deg/s,
      cmd heading: 207.017515 deg,
      new cmd heading: 207.013937 deg.

2025-10-27T00:29:49.282Z,1761524989.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613075 target range: 256.723541 and range: 257.80 m.
2025-10-27T00:29:49.338Z,1761524989.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528939
2025-10-27T00:29:49.602Z,1761524989.602 [DAT](INFO): DAT read: 00:29:49.9381 LVL= 29776, 31169, 31826, 24371, AGC= 69, IDX= 162, 0.34, 2.661, 1.196, 2.609, 1.988, PHS= 0.775,-0.747, 0.577, RAW= 143.1,  -8.5, CAL= 143.3, -10.1, ROT=   6.7,  10.1

2025-10-27T00:29:49.613Z,1761524989.613 [DAT](INFO): got valid direction response:
 00:29:49.9381 LVL= 29776, 31169, 31826, 24371, AGC= 69, IDX= 162, 0.34, 2.661, 1.196, 2.609, 1.988, PHS= 0.775,-0.747, 0.577, RAW= 143.1,  -8.5, CAL= 143.3, -10.1, ROT=   6.7,  10.1

2025-10-27T00:29:49.614Z,1761524989.614 [DAT](INFO): DAT read: Bearing 337.8,   6.9 (Local)

2025-10-27T00:29:49.615Z,1761524989.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.8,   6.9 (Local)

2025-10-27T00:29:49.617Z,1761524989.617 [DAT](INFO): DAT read: Range 11 to 50 : 252.3 m  (Round-trip  336.5 ms) speed  0.0 m/s

2025-10-27T00:29:49.618Z,1761524989.618 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:49.620Z,1761524989.620 [DAT](INFO): direction in FSK: [0.977780,0.114863,-0.175367]
2025-10-27T00:29:49.620Z,1761524989.620 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:49.624Z,1761524989.624 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:49.624Z,1761524989.624 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:49.625Z,1761524989.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:49.684Z,1761524989.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892982,0.448201,0.041214],[-0.449261,-0.882028,-0.142094],[-0.027335,-0.145404,0.988995]]
2025-10-27T00:29:49.803Z,1761524989.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.300003 m,
      deltaT: 8.068693 s,
      deltaX: -5.499985 m,
      approachRate: -0.681645 m/s,
      rangeRepo size: 4

2025-10-27T00:29:49.809Z,1761524989.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 251.251160 m,
      bearing: 211.886828 deg,
      lat: 36.779253 deg,
      lon: -121.859842 deg,
      deltaT: 8.068693 s,
      deltaX: -5.472382 m,
      approachRate: -0.678224 m/s,
      posRepo size: 4

2025-10-27T00:29:49.810Z,1761524989.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:49.816Z,1761524989.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 234.065338 m,
      bearing: 209.894524 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003152 deg/s,
      cmd heading: 207.013936 deg,
      new cmd heading: 207.008987 deg.

2025-10-27T00:29:49.817Z,1761524989.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612988 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:49.844Z,1761524989.844 [DAT](INFO): DAT read: user:138>

2025-10-27T00:29:49.845Z,1761524989.845 [DAT](INFO): DAT read: Tx time:00:29:51.2475

2025-10-27T00:29:49.845Z,1761524989.845 [DAT](INFO): Ping request sent.
2025-10-27T00:29:49.845Z,1761524989.845 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:49.845Z,1761524989.845 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:49.846Z,1761524989.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-27T00:29:50.097Z,1761524990.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252257
2025-10-27T00:29:50.141Z,1761524990.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893326,0.447517,0.041191],[-0.448473,-0.881799,-0.145953],[-0.028994,-0.148857,0.988434]]
2025-10-27T00:29:50.159Z,1761524990.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:50.162Z,1761524990.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 233.817307 m,
      bearing: 209.894476 deg,
      approach rate: -0.694239 m/s,
      LOS rate: -0.000136 deg/s,
      cmd heading: 207.008991 deg,
      new cmd heading: 207.008845 deg.

2025-10-27T00:29:50.163Z,1761524990.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612986 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:50.348Z,1761524990.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502899
2025-10-27T00:29:50.535Z,1761524990.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893393,0.447472,0.040221],[-0.448260,-0.881773,-0.146760],[-0.030205,-0.149144,0.988354]]
2025-10-27T00:29:50.585Z,1761524990.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:50.591Z,1761524990.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 233.538071 m,
      bearing: 209.895823 deg,
      approach rate: -0.656611 m/s,
      LOS rate: 0.003173 deg/s,
      cmd heading: 207.008841 deg,
      new cmd heading: 207.012888 deg.

2025-10-27T00:29:50.593Z,1761524990.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613056 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:50.601Z,1761524990.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755414
2025-10-27T00:29:50.852Z,1761524990.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006910
2025-10-27T00:29:50.979Z,1761524990.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:50.982Z,1761524990.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 233.278915 m,
      bearing: 209.897077 deg,
      approach rate: -0.656713 m/s,
      LOS rate: 0.003180 deg/s,
      cmd heading: 207.012884 deg,
      new cmd heading: 207.016649 deg.

2025-10-27T00:29:50.983Z,1761524990.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613122 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:51.105Z,1761524991.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259973
2025-10-27T00:29:51.343Z,1761524991.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893844,0.446424,0.041819],[-0.447224,-0.880971,-0.154536],[-0.032147,-0.156834,0.987102]]
2025-10-27T00:29:51.356Z,1761524991.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510991
2025-10-27T00:29:51.394Z,1761524991.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:51.410Z,1761524991.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:51.440Z,1761524991.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 233.027283 m,
      bearing: 209.898366 deg,
      approach rate: -0.586480 m/s,
      LOS rate: 0.003008 deg/s,
      cmd heading: 207.016654 deg,
      new cmd heading: 207.020527 deg.

2025-10-27T00:29:51.448Z,1761524991.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613190 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:51.608Z,1761524991.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763125
2025-10-27T00:29:51.767Z,1761524991.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893930,0.446331,0.040968],[-0.446957,-0.880880,-0.155821],[-0.033460,-0.157604,0.986935]]
2025-10-27T00:29:51.792Z,1761524991.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:51.794Z,1761524991.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 232.744934 m,
      bearing: 209.899835 deg,
      approach rate: -0.735911 m/s,
      LOS rate: 0.003834 deg/s,
      cmd heading: 207.020520 deg,
      new cmd heading: 207.024934 deg.

2025-10-27T00:29:51.812Z,1761524991.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613267 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:51.861Z,1761524991.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015889
2025-10-27T00:29:52.112Z,1761524992.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864
2025-10-27T00:29:52.177Z,1761524992.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894037,0.446240,0.039578],[-0.446628,-0.880942,-0.156413],[-0.034932,-0.157516,0.986898]]
2025-10-27T00:29:52.196Z,1761524992.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:52.198Z,1761524992.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 232.479568 m,
      bearing: 209.901242 deg,
      approach rate: -0.656940 m/s,
      LOS rate: 0.003486 deg/s,
      cmd heading: 207.024933 deg,
      new cmd heading: 207.029157 deg.

2025-10-27T00:29:52.200Z,1761524992.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613340 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:52.364Z,1761524992.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518920
2025-10-27T00:29:52.575Z,1761524992.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893985,0.446502,0.037778],[-0.446609,-0.880982,-0.156242],[-0.036481,-0.156550,0.986996]]
2025-10-27T00:29:52.617Z,1761524992.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771582
2025-10-27T00:29:52.634Z,1761524992.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:52.637Z,1761524992.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 232.186569 m,
      bearing: 209.906466 deg,
      approach rate: -0.668097 m/s,
      LOS rate: 0.011928 deg/s,
      cmd heading: 207.029154 deg,
      new cmd heading: 207.044847 deg.

2025-10-27T00:29:52.638Z,1761524992.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613614 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:52.869Z,1761524992.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024126
2025-10-27T00:29:52.978Z,1761524992.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894010,0.446651,0.035350],[-0.446411,-0.881231,-0.155400],[-0.038258,-0.154710,0.987219]]
2025-10-27T00:29:53.006Z,1761524993.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:53.009Z,1761524993.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 231.938049 m,
      bearing: 209.910921 deg,
      approach rate: -0.668318 m/s,
      LOS rate: 0.011992 deg/s,
      cmd heading: 207.044849 deg,
      new cmd heading: 207.058227 deg.

2025-10-27T00:29:53.010Z,1761524993.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613848 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:53.120Z,1761524993.120 [DAT](INFO): DAT read: Rx Time:00:29:53.9866

2025-10-27T00:29:53.120Z,1761524993.120 [DAT](INFO): Rx dataTimestamp_ set to:1761524993.120193
2025-10-27T00:29:53.121Z,1761524993.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276008
2025-10-27T00:29:53.372Z,1761524993.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526993
2025-10-27T00:29:53.384Z,1761524993.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893898,0.446974,0.034065],[-0.446512,-0.881093,-0.155892],[-0.039666,-0.154562,0.987187]]
2025-10-27T00:29:53.407Z,1761524993.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:53.409Z,1761524993.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.25 m.
2025-10-27T00:29:53.438Z,1761524993.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.251160 m,
      nav range: 231.669785 m,
      bearing: 209.915731 deg,
      approach rate: -0.666066 m/s,
      LOS rate: 0.011957 deg/s,
      cmd heading: 207.058223 deg,
      new cmd heading: 207.072670 deg.

2025-10-27T00:29:53.446Z,1761524993.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614100 target range: 251.251160 and range: 252.30 m.
2025-10-27T00:29:53.630Z,1761524993.630 [DAT](INFO): DAT read: 00:29:53.9866 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 121, 0.23, 0.378,-1.387, 0.474, 0.155, PHS= 0.326,-1.497, 0.275, RAW= 148.6,  10.0, CAL= 148.3,  10.9, ROT=   1.7, -10.9

2025-10-27T00:29:53.631Z,1761524993.631 [DAT](INFO): got valid direction response:
 00:29:53.9866 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 121, 0.23, 0.378,-1.387, 0.474, 0.155, PHS= 0.326,-1.497, 0.275, RAW= 148.6,  10.0, CAL= 148.3,  10.9, ROT=   1.7, -10.9

2025-10-27T00:29:53.632Z,1761524993.632 [DAT](INFO): DAT read: Bearing 357.3,  -2.0 (Local)

2025-10-27T00:29:53.632Z,1761524993.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  -2.0 (Local)

2025-10-27T00:29:53.633Z,1761524993.633 [DAT](INFO): DAT read: Range 11 to 50 : 251.1 m  (Round-trip  334.9 ms) speed  1.2 m/s

2025-10-27T00:29:53.634Z,1761524993.634 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:53.638Z,1761524993.638 [DAT](INFO): direction in FSK: [0.981527,0.029131,0.189095]
2025-10-27T00:29:53.639Z,1761524993.639 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:53.661Z,1761524993.661 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:53.662Z,1761524993.662 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:53.662Z,1761524993.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:53.824Z,1761524993.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893686,0.447463,0.033192],[-0.446791,-0.880658,-0.157540],[-0.041263,-0.155621,0.986955]]
2025-10-27T00:29:53.876Z,1761524993.876 [DAT](INFO): DAT read: user:139>

2025-10-27T00:29:53.877Z,1761524993.877 [DAT](INFO): DAT read: Tx time:00:29:55.2975

2025-10-27T00:29:53.877Z,1761524993.877 [DAT](INFO): Ping request sent.
2025-10-27T00:29:53.877Z,1761524993.877 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:53.877Z,1761524993.877 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:53.878Z,1761524993.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-10-27T00:29:53.917Z,1761524993.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 251.100006 m,
      deltaT: 4.031662 s,
      deltaX: -1.199997 m,
      approachRate: -0.297643 m/s,
      rangeRepo size: 4

2025-10-27T00:29:53.924Z,1761524993.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 250.056641 m,
      bearing: 209.934504 deg,
      lat: 36.779253 deg,
      lon: -121.859933 deg,
      deltaT: 4.031662 s,
      deltaX: -1.194519 m,
      approachRate: -0.296285 m/s,
      posRepo size: 4

2025-10-27T00:29:53.925Z,1761524993.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:53.943Z,1761524993.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 235.518387 m,
      bearing: 211.633732 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011957 deg/s,
      cmd heading: 207.072676 deg,
      new cmd heading: 207.090877 deg.

2025-10-27T00:29:53.944Z,1761524993.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614418 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:54.128Z,1761524994.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250580
2025-10-27T00:29:54.284Z,1761524994.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893063,0.448740,0.032720],[-0.447850,-0.879589,-0.160479],[-0.043233,-0.157971,0.986497]]
2025-10-27T00:29:54.302Z,1761524994.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:54.320Z,1761524994.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 235.240341 m,
      bearing: 211.640792 deg,
      approach rate: -0.721576 m/s,
      LOS rate: 0.018342 deg/s,
      cmd heading: 207.090871 deg,
      new cmd heading: 207.112074 deg.

2025-10-27T00:29:54.321Z,1761524994.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614788 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:54.381Z,1761524994.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503205
2025-10-27T00:29:54.632Z,1761524994.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754520
2025-10-27T00:29:54.695Z,1761524994.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892519,0.449964,0.030701],[-0.448724,-0.879090,-0.160771],[-0.045352,-0.157267,0.986514]]
2025-10-27T00:29:54.737Z,1761524994.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:54.757Z,1761524994.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 234.959839 m,
      bearing: 211.646504 deg,
      approach rate: -0.644059 m/s,
      LOS rate: 0.013131 deg/s,
      cmd heading: 207.112072 deg,
      new cmd heading: 207.129229 deg.

2025-10-27T00:29:54.758Z,1761524994.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615087 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:54.884Z,1761524994.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006585
2025-10-27T00:29:55.100Z,1761524995.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892066,0.450954,0.029323],[-0.449439,-0.878555,-0.161694],[-0.047155,-0.157420,0.986405]]
2025-10-27T00:29:55.129Z,1761524995.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:55.132Z,1761524995.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 234.707581 m,
      bearing: 211.651600 deg,
      approach rate: -0.644244 m/s,
      LOS rate: 0.013029 deg/s,
      cmd heading: 207.129230 deg,
      new cmd heading: 207.144535 deg.

2025-10-27T00:29:55.133Z,1761524995.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615354 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:55.136Z,1761524995.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258628
2025-10-27T00:29:55.388Z,1761524995.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510607
2025-10-27T00:29:55.527Z,1761524995.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891453,0.452304,0.027072],[-0.450455,-0.878178,-0.160916],[-0.049009,-0.155644,0.986597]]
2025-10-27T00:29:55.561Z,1761524995.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:55.563Z,1761524995.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:55.566Z,1761524995.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 234.431534 m,
      bearing: 211.655746 deg,
      approach rate: -0.635833 m/s,
      LOS rate: 0.009560 deg/s,
      cmd heading: 207.144529 deg,
      new cmd heading: 207.156981 deg.

2025-10-27T00:29:55.567Z,1761524995.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615571 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:55.641Z,1761524995.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763246
2025-10-27T00:29:55.892Z,1761524995.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014609
2025-10-27T00:29:55.910Z,1761524995.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891170,0.452948,0.025583],[-0.450822,-0.877856,-0.161644],[-0.050758,-0.155586,0.986517]]
2025-10-27T00:29:55.928Z,1761524995.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:55.931Z,1761524995.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 234.198547 m,
      bearing: 211.659226 deg,
      approach rate: -0.637332 m/s,
      LOS rate: 0.009530 deg/s,
      cmd heading: 207.156987 deg,
      new cmd heading: 207.167439 deg.

2025-10-27T00:29:55.932Z,1761524995.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615754 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:56.145Z,1761524996.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267259
2025-10-27T00:29:56.301Z,1761524996.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890788,0.453785,0.023995],[-0.451389,-0.877524,-0.161863],[-0.052395,-0.155017,0.986521]]
2025-10-27T00:29:56.340Z,1761524996.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:56.347Z,1761524996.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 233.947601 m,
      bearing: 211.662939 deg,
      approach rate: -0.609613 m/s,
      LOS rate: 0.009030 deg/s,
      cmd heading: 207.167438 deg,
      new cmd heading: 207.178590 deg.

2025-10-27T00:29:56.348Z,1761524996.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615948 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:56.396Z,1761524996.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518710
2025-10-27T00:29:56.648Z,1761524996.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770492
2025-10-27T00:29:56.716Z,1761524996.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890780,0.453896,0.022119],[-0.451231,-0.877682,-0.161445],[-0.053865,-0.153792,0.986634]]
2025-10-27T00:29:56.754Z,1761524996.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:56.757Z,1761524996.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 233.668167 m,
      bearing: 211.661144 deg,
      approach rate: -0.675221 m/s,
      LOS rate: -0.004342 deg/s,
      cmd heading: 207.178584 deg,
      new cmd heading: 207.173193 deg.

2025-10-27T00:29:56.758Z,1761524996.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615854 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:56.900Z,1761524996.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022532
2025-10-27T00:29:57.115Z,1761524997.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891099,0.453360,0.020164],[-0.450442,-0.878213,-0.160758],[-0.055173,-0.152335,0.986788]]
2025-10-27T00:29:57.133Z,1761524997.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:57.136Z,1761524997.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 233.422379 m,
      bearing: 211.659606 deg,
      approach rate: -0.648515 m/s,
      LOS rate: -0.004062 deg/s,
      cmd heading: 207.173189 deg,
      new cmd heading: 207.168570 deg.

2025-10-27T00:29:57.137Z,1761524997.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615774 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:57.152Z,1761524997.152 [DAT](INFO): DAT read: Rx Time:00:29:58.0049

2025-10-27T00:29:57.152Z,1761524997.152 [DAT](INFO): Rx dataTimestamp_ set to:1761524997.152122
2025-10-27T00:29:57.153Z,1761524997.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275582
2025-10-27T00:29:57.404Z,1761524997.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526990
2025-10-27T00:29:57.557Z,1761524997.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891254,0.453117,0.018731],[-0.449945,-0.878342,-0.161447],[-0.056702,-0.152319,0.986704]]
2025-10-27T00:29:57.613Z,1761524997.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:57.616Z,1761524997.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:57.619Z,1761524997.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 233.108170 m,
      bearing: 211.654739 deg,
      approach rate: -0.650678 m/s,
      LOS rate: -0.010093 deg/s,
      cmd heading: 207.168571 deg,
      new cmd heading: 207.153950 deg.

2025-10-27T00:29:57.620Z,1761524997.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615519 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:57.662Z,1761524997.662 [DAT](INFO): DAT read: 00:29:58.0049 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 110, 0.08,-2.809, 2.105,-2.818, 2.890, PHS= 0.686,-0.740, 0.531, RAW= 144.3,  -7.1, CAL= 144.4,  -8.4, ROT=   5.6,   8.4

2025-10-27T00:29:57.664Z,1761524997.664 [DAT](INFO): got valid direction response:
 00:29:58.0049 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 110, 0.08,-2.809, 2.105,-2.818, 2.890, PHS= 0.686,-0.740, 0.531, RAW= 144.3,  -7.1, CAL= 144.4,  -8.4, ROT=   5.6,   8.4

2025-10-27T00:29:57.664Z,1761524997.664 [DAT](INFO): DAT read: Bearing 338.0,   3.8 (Local)

2025-10-27T00:29:57.665Z,1761524997.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.0,   3.8 (Local)

2025-10-27T00:29:57.666Z,1761524997.666 [DAT](INFO): DAT read: Range 11 to 50 : 227.4 m  (Round-trip  303.3 ms) speed  0.5 m/s

2025-10-27T00:29:57.667Z,1761524997.667 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:29:57.668Z,1761524997.668 [DAT](INFO): direction in FSK: [0.984551,0.096536,-0.146083]
2025-10-27T00:29:57.668Z,1761524997.668 [DAT](INFO): publishing direction and range info
2025-10-27T00:29:57.676Z,1761524997.676 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:29:57.676Z,1761524997.676 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:29:57.676Z,1761524997.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:29:57.908Z,1761524997.908 [DAT](INFO): DAT read: user:140>

2025-10-27T00:29:57.910Z,1761524997.910 [DAT](INFO): DAT read: Tx time:00:29:59.2975

2025-10-27T00:29:57.910Z,1761524997.910 [DAT](INFO): Ping request sent.
2025-10-27T00:29:57.910Z,1761524997.910 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:29:57.910Z,1761524997.910 [DAT](INFO): publishing transmit ping time
2025-10-27T00:29:57.919Z,1761524997.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.008487
2025-10-27T00:29:58.008Z,1761524998.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 227.399994 m,
 deltaT: 4.032567 s,
 deltaX: -23.700012 m,
 approachRate: -5.877153 m/s,
 rangeRepo size: 4
2025-10-27T00:29:58.009Z,1761524998.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:58.016Z,1761524998.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 232.860245 m,
      bearing: 211.650889 deg,
      approach rate: -0.632770 m/s,
      LOS rate: -0.009836 deg/s,
      cmd heading: 207.153955 deg,
      new cmd heading: 207.142393 deg.

2025-10-27T00:29:58.017Z,1761524998.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615317 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:58.160Z,1761524998.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249592
2025-10-27T00:29:58.364Z,1761524998.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891353,0.453005,0.016632],[-0.449388,-0.878228,-0.163601],[-0.059505,-0.153301,0.986386]]
2025-10-27T00:29:58.382Z,1761524998.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:58.385Z,1761524998.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 232.608414 m,
      bearing: 211.647005 deg,
      approach rate: -0.673244 m/s,
      LOS rate: -0.010394 deg/s,
      cmd heading: 207.142398 deg,
      new cmd heading: 207.130734 deg.

2025-10-27T00:29:58.385Z,1761524998.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615113 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:58.412Z,1761524998.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501982
2025-10-27T00:29:58.666Z,1761524998.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755961
2025-10-27T00:29:58.814Z,1761524998.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:58.817Z,1761524998.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 232.322968 m,
      bearing: 211.639614 deg,
      approach rate: -0.660445 m/s,
      LOS rate: -0.017123 deg/s,
      cmd heading: 207.130732 deg,
      new cmd heading: 207.108530 deg.

2025-10-27T00:29:58.818Z,1761524998.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614726 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:58.917Z,1761524998.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006336
2025-10-27T00:29:59.168Z,1761524999.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257614
2025-10-27T00:29:59.199Z,1761524999.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:59.202Z,1761524999.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 232.068604 m,
      bearing: 211.633012 deg,
      approach rate: -0.661062 m/s,
      LOS rate: -0.017176 deg/s,
      cmd heading: 207.108534 deg,
      new cmd heading: 207.088707 deg.

2025-10-27T00:29:59.202Z,1761524999.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614380 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:59.420Z,1761524999.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509748
2025-10-27T00:29:59.600Z,1761524999.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893293,0.449350,0.010640],[-0.444998,-0.880813,-0.161697],[-0.063286,-0.149178,0.986783]]
2025-10-27T00:29:59.636Z,1761524999.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:29:59.638Z,1761524999.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:29:59.641Z,1761524999.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 231.774979 m,
      bearing: 211.626151 deg,
      approach rate: -0.668248 m/s,
      LOS rate: -0.015634 deg/s,
      cmd heading: 207.088713 deg,
      new cmd heading: 207.068104 deg.

2025-10-27T00:29:59.642Z,1761524999.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614020 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:29:59.672Z,1761524999.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761690
2025-10-27T00:29:59.924Z,1761524999.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013951
2025-10-27T00:29:59.982Z,1761524999.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894010,0.447966,0.008544],[-0.443351,-0.881723,-0.161259],[-0.064705,-0.147955,0.986875]]
2025-10-27T00:30:00.028Z,1761525000.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:30:00.031Z,1761525000.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 231.513565 m,
      bearing: 211.620139 deg,
      approach rate: -0.670525 m/s,
      LOS rate: -0.015439 deg/s,
      cmd heading: 207.068099 deg,
      new cmd heading: 207.050042 deg.

2025-10-27T00:30:00.032Z,1761525000.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613705 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:30:00.176Z,1761525000.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265595
2025-10-27T00:30:00.373Z,1761525000.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894671,0.446689,0.005794],[-0.441843,-0.882904,-0.158916],[-0.065870,-0.144737,0.987275]]
2025-10-27T00:30:00.412Z,1761525000.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:30:00.414Z,1761525000.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 231.267410 m,
      bearing: 211.614553 deg,
      approach rate: -0.641446 m/s,
      LOS rate: -0.014572 deg/s,
      cmd heading: 207.050040 deg,
      new cmd heading: 207.033265 deg.

2025-10-27T00:30:00.420Z,1761525000.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613412 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:30:00.428Z,1761525000.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517732
2025-10-27T00:30:00.681Z,1761525000.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770327
2025-10-27T00:30:00.778Z,1761525000.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895475,0.445100,0.003189],[-0.440058,-0.884210,-0.156591],[-0.066879,-0.141627,0.987658]]
2025-10-27T00:30:00.825Z,1761525000.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:30:00.828Z,1761525000.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 230.984207 m,
      bearing: 211.609267 deg,
      approach rate: -0.685546 m/s,
      LOS rate: -0.012811 deg/s,
      cmd heading: 207.033265 deg,
      new cmd heading: 207.017388 deg.

2025-10-27T00:30:00.829Z,1761525000.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613135 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:30:00.932Z,1761525000.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021738
2025-10-27T00:30:01.184Z,1761525001.184 [DAT](INFO): DAT read: Rx Time:00:30:02.0298

2025-10-27T00:30:01.184Z,1761525001.184 [DAT](INFO): Rx dataTimestamp_ set to:1761525001.184222
2025-10-27T00:30:01.185Z,1761525001.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274753
2025-10-27T00:30:01.186Z,1761525001.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896270,0.443506,0.001588],[-0.438244,-0.885075,-0.156794],[-0.068134,-0.141226,0.987630]]
2025-10-27T00:30:01.204Z,1761525001.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:30:01.207Z,1761525001.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 230.730133 m,
      bearing: 211.604637 deg,
      approach rate: -0.670119 m/s,
      LOS rate: -0.012224 deg/s,
      cmd heading: 207.017392 deg,
      new cmd heading: 207.003488 deg.

2025-10-27T00:30:01.208Z,1761525001.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612892 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:30:01.436Z,1761525001.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525590
2025-10-27T00:30:01.618Z,1761525001.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896840,0.442354,0.000672],[-0.436898,-0.885539,-0.157928],[-0.069266,-0.141930,0.987450]]
2025-10-27T00:30:01.666Z,1761525001.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:01.668Z,1761525001.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.06 m.
2025-10-27T00:30:01.671Z,1761525001.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.056641 m,
      nav range: 230.425964 m,
      bearing: 211.605543 deg,
      approach rate: -0.654914 m/s,
      LOS rate: 0.001952 deg/s,
      cmd heading: 207.003486 deg,
      new cmd heading: 207.006206 deg.

2025-10-27T00:30:01.672Z,1761525001.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612940 target range: 250.056641 and range: 251.10 m.
2025-10-27T00:30:01.704Z,1761525001.704 [DAT](INFO): DAT read: 00:30:02.0298 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 188, 0.13,-1.754,-3.046,-1.736,-2.508, PHS= 0.857,-0.492, 0.728, RAW= 145.0, -16.7, CAL= 146.2, -19.7, ROT=   3.8,  19.7

2025-10-27T00:30:01.706Z,1761525001.706 [DAT](INFO): got valid direction response:
 00:30:02.0298 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 188, 0.13,-1.754,-3.046,-1.736,-2.508, PHS= 0.857,-0.492, 0.728, RAW= 145.0, -16.7, CAL= 146.2, -19.7, ROT=   3.8,  19.7

2025-10-27T00:30:01.715Z,1761525001.715 [DAT](INFO): DAT read: Bearing 327.1,   3.0 (Local)

2025-10-27T00:30:01.715Z,1761525001.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.1,   3.0 (Local)

2025-10-27T00:30:01.717Z,1761525001.717 [DAT](INFO): DAT read: Range 11 to 50 : 246.1 m  (Round-trip  328.2 ms) speed  0.3 m/s

2025-10-27T00:30:01.718Z,1761525001.718 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:01.719Z,1761525001.719 [DAT](INFO): direction in FSK: [0.939401,0.062395,-0.337095]
2025-10-27T00:30:01.719Z,1761525001.719 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:01.723Z,1761525001.723 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:01.727Z,1761525001.727 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:01.731Z,1761525001.731 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:01.940Z,1761525001.940 [DAT](INFO): DAT read: user:141>

2025-10-27T00:30:01.941Z,1761525001.941 [DAT](INFO): DAT read: Tx time:00:30:03.3475

2025-10-27T00:30:01.941Z,1761525001.941 [DAT](INFO): Ping request sent.
2025-10-27T00:30:01.941Z,1761525001.941 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:01.941Z,1761525001.941 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:01.942Z,1761525001.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-10-27T00:30:02.015Z,1761525002.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896560,0.442921,0.000827],[-0.437294,-0.884870,-0.160562],[-0.070384,-0.144315,0.987025]]
2025-10-27T00:30:02.044Z,1761525002.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 246.100006 m,
      deltaT: 8.064092 s,
      deltaX: -5.000000 m,
      approachRate: -0.620033 m/s,
      rangeRepo size: 4

2025-10-27T00:30:02.046Z,1761525002.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.084061 m,
      bearing: 206.814514 deg,
      lat: 36.779220 deg,
      lon: -121.859843 deg,
      deltaT: 8.064092 s,
      deltaX: -4.972580 m,
      approachRate: -0.616632 m/s,
      posRepo size: 4

2025-10-27T00:30:02.047Z,1761525002.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.08 m.
2025-10-27T00:30:02.049Z,1761525002.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.084061 m,
      nav range: 229.278030 m,
      bearing: 209.419721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001952 deg/s,
      cmd heading: 207.006204 deg,
      new cmd heading: 207.008399 deg.

2025-10-27T00:30:02.050Z,1761525002.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612978 target range: 245.084061 and range: 246.10 m.
2025-10-27T00:30:02.192Z,1761525002.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251317
2025-10-27T00:30:02.394Z,1761525002.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896236,0.443577,-0.000304],[-0.437739,-0.884552,-0.161098],[-0.071728,-0.144249,0.986938]]
2025-10-27T00:30:02.428Z,1761525002.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.08 m.
2025-10-27T00:30:02.431Z,1761525002.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.084061 m,
      nav range: 229.032455 m,
      bearing: 209.418050 deg,
      approach rate: -0.638102 m/s,
      LOS rate: -0.004348 deg/s,
      cmd heading: 207.008403 deg,
      new cmd heading: 207.003383 deg.

2025-10-27T00:30:02.439Z,1761525002.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612890 target range: 245.084061 and range: 246.10 m.
2025-10-27T00:30:02.444Z,1761525002.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503065
2025-10-27T00:30:02.697Z,1761525002.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755738
2025-10-27T00:30:02.798Z,1761525002.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895594,0.444871,-0.001290],[-0.438874,-0.883987,-0.161112],[-0.072815,-0.143725,0.986935]]
2025-10-27T00:30:02.866Z,1761525002.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.08 m.
2025-10-27T00:30:02.873Z,1761525002.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.084061 m,
      nav range: 228.748550 m,
      bearing: 209.422125 deg,
      approach rate: -0.648158 m/s,
      LOS rate: 0.009316 deg/s,
      cmd heading: 207.003376 deg,
      new cmd heading: 207.015619 deg.

2025-10-27T00:30:02.874Z,1761525002.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613104 target range: 245.084061 and range: 246.10 m.
2025-10-27T00:30:02.949Z,1761525002.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007463
2025-10-27T00:30:03.200Z,1761525003.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259025
2025-10-27T00:30:03.257Z,1761525003.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.08 m.
2025-10-27T00:30:03.271Z,1761525003.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.084061 m,
      nav range: 228.496643 m,
      bearing: 209.425750 deg,
      approach rate: -0.675793 m/s,
      LOS rate: 0.009735 deg/s,
      cmd heading: 207.015616 deg,
      new cmd heading: 207.026503 deg.

2025-10-27T00:30:03.272Z,1761525003.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613294 target range: 245.084061 and range: 246.10 m.
2025-10-27T00:30:03.457Z,1761525003.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513833
2025-10-27T00:30:03.645Z,1761525003.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893988,0.448077,-0.003618],[-0.441779,-0.882715,-0.160141],[-0.074949,-0.141566,0.987087]]
2025-10-27T00:30:03.698Z,1761525003.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:03.701Z,1761525003.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.08 m.
2025-10-27T00:30:03.705Z,1761525003.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763685
2025-10-27T00:30:03.728Z,1761525003.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.084061 m,
      nav range: 228.191605 m,
      bearing: 209.434176 deg,
      approach rate: -0.660233 m/s,
      LOS rate: 0.018261 deg/s,
      cmd heading: 207.026503 deg,
      new cmd heading: 207.051814 deg.

2025-10-27T00:30:03.728Z,1761525003.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613736 target range: 245.084061 and range: 246.10 m.
2025-10-27T00:30:03.957Z,1761525003.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015396
2025-10-27T00:30:04.044Z,1761525004.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892938,0.450163,-0.003767],[-0.443710,-0.881490,-0.161544],[-0.076042,-0.142577,0.986858]]
2025-10-27T00:30:04.072Z,1761525004.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.08 m.
2025-10-27T00:30:04.092Z,1761525004.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.084061 m,
      nav range: 227.947571 m,
      bearing: 209.440793 deg,
      approach rate: -0.658935 m/s,
      LOS rate: 0.017886 deg/s,
      cmd heading: 207.051816 deg,
      new cmd heading: 207.071689 deg.

2025-10-27T00:30:04.094Z,1761525004.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614083 target range: 245.084061 and range: 246.10 m.
2025-10-27T00:30:04.208Z,1761525004.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266878
2025-10-27T00:30:04.447Z,1761525004.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891739,0.452534,-0.003774],[-0.445948,-0.880119,-0.162854],[-0.077019,-0.143540,0.986643]]
2025-10-27T00:30:04.463Z,1761525004.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522237
2025-10-27T00:30:04.473Z,1761525004.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.08 m.
2025-10-27T00:30:04.475Z,1761525004.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.084061 m,
      nav range: 227.673157 m,
      bearing: 209.448070 deg,
      approach rate: -0.683613 m/s,
      LOS rate: 0.018151 deg/s,
      cmd heading: 207.071692 deg,
      new cmd heading: 207.093550 deg.

2025-10-27T00:30:04.476Z,1761525004.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614464 target range: 245.084061 and range: 246.10 m.
2025-10-27T00:30:04.712Z,1761525004.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771235
2025-10-27T00:30:04.909Z,1761525004.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.08 m.
2025-10-27T00:30:04.911Z,1761525004.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.084061 m,
      nav range: 227.393341 m,
      bearing: 209.460461 deg,
      approach rate: -0.641707 m/s,
      LOS rate: 0.028450 deg/s,
      cmd heading: 207.093549 deg,
      new cmd heading: 207.130765 deg.

2025-10-27T00:30:04.912Z,1761525004.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615114 target range: 245.084061 and range: 246.10 m.
2025-10-27T00:30:04.965Z,1761525004.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023304
2025-10-27T00:30:05.218Z,1761525005.218 [DAT](INFO): DAT read: Rx Time:00:30:06.0775

2025-10-27T00:30:05.219Z,1761525005.219 [DAT](INFO): Rx dataTimestamp_ set to:1761525005.218265
2025-10-27T00:30:05.219Z,1761525005.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278191
2025-10-27T00:30:05.253Z,1761525005.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888921,0.458048,-0.003274],[-0.451231,-0.876877,-0.165762],[-0.078798,-0.145872,0.986160]]
2025-10-27T00:30:05.297Z,1761525005.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.08 m.
2025-10-27T00:30:05.304Z,1761525005.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.084061 m,
      nav range: 227.146652 m,
      bearing: 209.471018 deg,
      approach rate: -0.635591 m/s,
      LOS rate: 0.027230 deg/s,
      cmd heading: 207.130759 deg,
      new cmd heading: 207.162466 deg.

2025-10-27T00:30:05.305Z,1761525005.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615667 target range: 245.084061 and range: 246.10 m.
2025-10-27T00:30:05.472Z,1761525005.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531456
2025-10-27T00:30:05.729Z,1761525005.729 [DAT](INFO): DAT read: 00:30:06.0775 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 132, 0.08, 1.321,-0.525, 1.509, 1.167, PHS= 0.256,-1.647, 0.298, RAW= 151.1,  11.4, CAL= 150.9,  12.5, ROT= 359.1, -12.5

2025-10-27T00:30:05.730Z,1761525005.730 [DAT](INFO): got valid direction response:
 00:30:06.0775 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 132, 0.08, 1.321,-0.525, 1.509, 1.167, PHS= 0.256,-1.647, 0.298, RAW= 151.1,  11.4, CAL= 150.9,  12.5, ROT= 359.1, -12.5

2025-10-27T00:30:05.744Z,1761525005.744 [DAT](INFO): DAT read: Bearing 357.9,  -7.1 (Local)

2025-10-27T00:30:05.744Z,1761525005.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  -7.1 (Local)

2025-10-27T00:30:05.745Z,1761525005.745 [DAT](INFO): DAT read: Range 11 to 50 : 244.4 m  (Round-trip  325.9 ms) speed  0.5 m/s

2025-10-27T00:30:05.746Z,1761525005.746 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:05.747Z,1761525005.747 [DAT](INFO): direction in FSK: [0.976176,-0.015335,0.216440]
2025-10-27T00:30:05.747Z,1761525005.747 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:05.799Z,1761525005.799 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:05.800Z,1761525005.800 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:05.800Z,1761525005.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:05.819Z,1761525005.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 244.399994 m,
      deltaT: 4.035564 s,
      deltaX: -1.700012 m,
      approachRate: -0.421258 m/s,
      rangeRepo size: 4

2025-10-27T00:30:05.821Z,1761525005.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.394058 m,
      bearing: 207.867842 deg,
      lat: 36.779205 deg,
      lon: -121.859854 deg,
      deltaT: 4.035564 s,
      deltaX: -1.690002 m,
      approachRate: -0.418777 m/s,
      posRepo size: 4

2025-10-27T00:30:05.822Z,1761525005.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:05.825Z,1761525005.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 228.785599 m,
      bearing: 209.503790 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027230 deg/s,
      cmd heading: 207.162465 deg,
      new cmd heading: 207.204747 deg.

2025-10-27T00:30:05.826Z,1761525005.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616405 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:05.976Z,1761525005.976 [DAT](INFO): DAT read: user:142>

2025-10-27T00:30:05.977Z,1761525005.977 [DAT](INFO): DAT read: Tx time:00:30:07.4474

2025-10-27T00:30:05.977Z,1761525005.977 [DAT](INFO): Ping request sent.
2025-10-27T00:30:05.977Z,1761525005.977 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:05.977Z,1761525005.977 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:05.978Z,1761525005.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-27T00:30:06.137Z,1761525006.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884865,0.465838,-0.003148],[-0.458737,-0.872513,-0.168172],[-0.081088,-0.147366,0.985753]]
2025-10-27T00:30:06.154Z,1761525006.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:06.156Z,1761525006.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:06.159Z,1761525006.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 228.550995 m,
      bearing: 209.512368 deg,
      approach rate: -0.686693 m/s,
      LOS rate: 0.025133 deg/s,
      cmd heading: 207.204744 deg,
      new cmd heading: 207.230504 deg.

2025-10-27T00:30:06.160Z,1761525006.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616855 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:06.229Z,1761525006.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251723
2025-10-27T00:30:06.480Z,1761525006.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502854
2025-10-27T00:30:06.538Z,1761525006.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883793,0.467867,-0.003291],[-0.460686,-0.871414,-0.168542],[-0.081723,-0.147440,0.985689]]
2025-10-27T00:30:06.581Z,1761525006.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:06.590Z,1761525006.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 228.294144 m,
      bearing: 209.521633 deg,
      approach rate: -0.604871 m/s,
      LOS rate: 0.021843 deg/s,
      cmd heading: 207.230508 deg,
      new cmd heading: 207.258333 deg.

2025-10-27T00:30:06.595Z,1761525006.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617340 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:06.733Z,1761525006.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755169
2025-10-27T00:30:06.942Z,1761525006.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882912,0.469524,-0.003725],[-0.462255,-0.870579,-0.168559],[-0.082386,-0.147100,0.985685]]
2025-10-27T00:30:06.984Z,1761525006.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007023
2025-10-27T00:30:06.997Z,1761525006.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:06.999Z,1761525006.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 228.011734 m,
      bearing: 209.528529 deg,
      approach rate: -0.679010 m/s,
      LOS rate: 0.016602 deg/s,
      cmd heading: 207.258334 deg,
      new cmd heading: 207.279049 deg.

2025-10-27T00:30:07.000Z,1761525007.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617702 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:07.236Z,1761525007.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259006
2025-10-27T00:30:07.347Z,1761525007.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882153,0.470944,-0.004098],[-0.463571,-0.869811,-0.168910],[-0.083112,-0.147104,0.985623]]
2025-10-27T00:30:07.365Z,1761525007.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:07.372Z,1761525007.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 227.775223 m,
      bearing: 209.534227 deg,
      approach rate: -0.641774 m/s,
      LOS rate: 0.015476 deg/s,
      cmd heading: 207.279043 deg,
      new cmd heading: 207.296153 deg.

2025-10-27T00:30:07.373Z,1761525007.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618001 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:07.488Z,1761525007.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511154
2025-10-27T00:30:07.741Z,1761525007.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763774
2025-10-27T00:30:07.751Z,1761525007.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881862,0.471481,-0.005112],[-0.464011,-0.869714,-0.168198],[-0.083748,-0.145955,0.985740]]
2025-10-27T00:30:07.812Z,1761525007.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:07.819Z,1761525007.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 227.484360 m,
      bearing: 209.534222 deg,
      approach rate: -0.650660 m/s,
      LOS rate: -0.000010 deg/s,
      cmd heading: 207.296159 deg,
      new cmd heading: 207.296146 deg.

2025-10-27T00:30:07.820Z,1761525007.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618000 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:07.992Z,1761525007.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014681
2025-10-27T00:30:08.155Z,1761525008.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881931,0.471348,-0.005374],[-0.463794,-0.869721,-0.168763],[-0.084220,-0.146345,0.985642]]
2025-10-27T00:30:08.171Z,1761525008.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:08.173Z,1761525008.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:08.176Z,1761525008.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 227.240036 m,
      bearing: 209.534234 deg,
      approach rate: -0.676844 m/s,
      LOS rate: 0.000031 deg/s,
      cmd heading: 207.296146 deg,
      new cmd heading: 207.296179 deg.

2025-10-27T00:30:08.177Z,1761525008.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618001 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:08.244Z,1761525008.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266946
2025-10-27T00:30:08.496Z,1761525008.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518777
2025-10-27T00:30:08.563Z,1761525008.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882550,0.470190,-0.005149],[-0.462577,-0.870123,-0.170026],[-0.084424,-0.147675,0.985426]]
2025-10-27T00:30:08.602Z,1761525008.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:08.605Z,1761525008.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 226.955688 m,
      bearing: 209.534349 deg,
      approach rate: -0.662407 m/s,
      LOS rate: 0.000271 deg/s,
      cmd heading: 207.296173 deg,
      new cmd heading: 207.296521 deg.

2025-10-27T00:30:08.606Z,1761525008.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.618007 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:08.748Z,1761525008.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770872
2025-10-27T00:30:08.968Z,1761525008.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883653,0.468119,-0.004776],[-0.460448,-0.870925,-0.171690],[-0.084531,-0.149515,0.985139]]
2025-10-27T00:30:09.000Z,1761525009.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022831
2025-10-27T00:30:09.028Z,1761525009.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:09.035Z,1761525009.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 226.688507 m,
      bearing: 209.527194 deg,
      approach rate: -0.627023 m/s,
      LOS rate: -0.016814 deg/s,
      cmd heading: 207.296528 deg,
      new cmd heading: 207.275035 deg.

2025-10-27T00:30:09.036Z,1761525009.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617632 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:09.252Z,1761525009.252 [DAT](INFO): DAT read: Rx Time:00:30:10.1733

2025-10-27T00:30:09.253Z,1761525009.253 [DAT](INFO): Rx dataTimestamp_ set to:1761525009.252233
2025-10-27T00:30:09.253Z,1761525009.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275889
2025-10-27T00:30:09.366Z,1761525009.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885046,0.465476,-0.005070],[-0.457701,-0.872145,-0.172835],[-0.084873,-0.150646,0.984938]]
2025-10-27T00:30:09.404Z,1761525009.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.39 m.
2025-10-27T00:30:09.411Z,1761525009.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.394058 m,
      nav range: 226.436432 m,
      bearing: 209.520632 deg,
      approach rate: -0.670557 m/s,
      LOS rate: -0.017475 deg/s,
      cmd heading: 207.275040 deg,
      new cmd heading: 207.255333 deg.

2025-10-27T00:30:09.412Z,1761525009.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.617288 target range: 243.394058 and range: 244.40 m.
2025-10-27T00:30:09.504Z,1761525009.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526857
2025-10-27T00:30:09.761Z,1761525009.761 [DAT](INFO): DAT read: 00:30:10.1733 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 399,-0.08,-0.818,-2.342,-0.849,-1.460, PHS= 0.744,-0.837, 0.567, RAW= 144.1,  -6.4, CAL= 144.1,  -7.6, ROT=   5.9,   7.6

2025-10-27T00:30:09.762Z,1761525009.762 [DAT](INFO): got valid direction response:
 00:30:10.1733 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 399,-0.08,-0.818,-2.342,-0.849,-1.460, PHS= 0.744,-0.837, 0.567, RAW= 144.1,  -6.4, CAL= 144.1,  -7.6, ROT=   5.9,   7.6

2025-10-27T00:30:09.764Z,1761525009.764 [DAT](INFO): DAT read: Bearing 338.8,   2.2 (Local)

2025-10-27T00:30:09.764Z,1761525009.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.8,   2.2 (Local)

2025-10-27T00:30:09.766Z,1761525009.766 [DAT](INFO): DAT read: Range 11 to 50 : 241.2 m  (Round-trip  321.7 ms) speed  1.2 m/s

2025-10-27T00:30:09.766Z,1761525009.766 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:09.767Z,1761525009.767 [DAT](INFO): direction in FSK: [0.985965,0.101890,-0.132256]
2025-10-27T00:30:09.768Z,1761525009.768 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:09.771Z,1761525009.771 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:09.771Z,1761525009.771 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:09.771Z,1761525009.771 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:09.914Z,1761525009.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 241.199997 m,
      deltaT: 4.031891 s,
      deltaX: -3.199997 m,
      approachRate: -0.793671 m/s,
      rangeRepo size: 4

2025-10-27T00:30:09.916Z,1761525009.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.205475 m,
      bearing: 212.102852 deg,
      lat: 36.779194 deg,
      lon: -121.859854 deg,
      deltaT: 4.031891 s,
      deltaX: -3.188583 m,
      approachRate: -0.790841 m/s,
      posRepo size: 4

2025-10-27T00:30:09.917Z,1761525009.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:09.926Z,1761525009.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 227.209763 m,
      bearing: 209.345142 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017475 deg/s,
      cmd heading: 207.255328 deg,
      new cmd heading: 207.228665 deg.

2025-10-27T00:30:09.927Z,1761525009.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616822 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:10.009Z,1761525010.009 [DAT](INFO): DAT read: user:143>

2025-10-27T00:30:10.010Z,1761525010.010 [DAT](INFO): DAT read: Tx time:00:30:11.3974

2025-10-27T00:30:10.010Z,1761525010.010 [DAT](INFO): Ping request sent.
2025-10-27T00:30:10.010Z,1761525010.010 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:10.010Z,1761525010.010 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:10.011Z,1761525010.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000876
2025-10-27T00:30:10.246Z,1761525010.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887688,0.460422,-0.004579],[-0.452352,-0.873901,-0.177975],[-0.085945,-0.155916,0.984024]]
2025-10-27T00:30:10.260Z,1761525010.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249789
2025-10-27T00:30:10.264Z,1761525010.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:10.266Z,1761525010.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:10.268Z,1761525010.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 226.976700 m,
      bearing: 209.334479 deg,
      approach rate: -0.660938 m/s,
      LOS rate: -0.030269 deg/s,
      cmd heading: 207.228663 deg,
      new cmd heading: 207.196643 deg.

2025-10-27T00:30:10.269Z,1761525010.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.616264 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:10.513Z,1761525010.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502237
2025-10-27T00:30:10.646Z,1761525010.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888714,0.458444,-0.003997],[-0.450279,-0.874459,-0.180471],[-0.086231,-0.158587,0.983572]]
2025-10-27T00:30:10.664Z,1761525010.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:10.667Z,1761525010.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 226.713654 m,
      bearing: 209.322594 deg,
      approach rate: -0.659886 m/s,
      LOS rate: -0.029851 deg/s,
      cmd heading: 207.196643 deg,
      new cmd heading: 207.160945 deg.

2025-10-27T00:30:10.668Z,1761525010.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.615641 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:10.764Z,1761525010.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753840
2025-10-27T00:30:11.016Z,1761525011.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005594
2025-10-27T00:30:11.053Z,1761525011.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889941,0.456058,-0.003928],[-0.447837,-0.875462,-0.181682],[-0.086296,-0.159927,0.983350]]
2025-10-27T00:30:11.108Z,1761525011.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:11.111Z,1761525011.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 226.415955 m,
      bearing: 209.306096 deg,
      approach rate: -0.670756 m/s,
      LOS rate: -0.037220 deg/s,
      cmd heading: 207.160949 deg,
      new cmd heading: 207.111391 deg.

2025-10-27T00:30:11.112Z,1761525011.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614776 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:11.271Z,1761525011.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260401
2025-10-27T00:30:11.464Z,1761525011.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891001,0.453984,-0.004037],[-0.445647,-0.876266,-0.183183],[-0.086700,-0.161417,0.983071]]
2025-10-27T00:30:11.482Z,1761525011.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:11.485Z,1761525011.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 226.165009 m,
      bearing: 209.292325 deg,
      approach rate: -0.671386 m/s,
      LOS rate: -0.036885 deg/s,
      cmd heading: 207.111389 deg,
      new cmd heading: 207.070029 deg.

2025-10-27T00:30:11.486Z,1761525011.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.614054 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:11.520Z,1761525011.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509913
2025-10-27T00:30:11.772Z,1761525011.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762216
2025-10-27T00:30:11.864Z,1761525011.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891876,0.452254,-0.004938],[-0.443789,-0.877184,-0.183303],[-0.087231,-0.161292,0.983044]]
2025-10-27T00:30:11.900Z,1761525011.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:11.903Z,1761525011.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 225.881714 m,
      bearing: 209.277616 deg,
      approach rate: -0.677353 m/s,
      LOS rate: -0.035213 deg/s,
      cmd heading: 207.070025 deg,
      new cmd heading: 207.025843 deg.

2025-10-27T00:30:11.924Z,1761525011.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613283 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:12.024Z,1761525012.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013833
2025-10-27T00:30:12.266Z,1761525012.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892414,0.451178,-0.005888],[-0.442564,-0.877770,-0.183457],[-0.087940,-0.161114,0.983010]]
2025-10-27T00:30:12.276Z,1761525012.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265873
2025-10-27T00:30:12.285Z,1761525012.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:12.287Z,1761525012.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:12.290Z,1761525012.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 225.619705 m,
      bearing: 209.264069 deg,
      approach rate: -0.677436 m/s,
      LOS rate: -0.035067 deg/s,
      cmd heading: 207.025848 deg,
      new cmd heading: 206.985160 deg.

2025-10-27T00:30:12.290Z,1761525012.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612572 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:12.528Z,1761525012.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517718
2025-10-27T00:30:12.670Z,1761525012.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892799,0.450400,-0.007086],[-0.441640,-0.878316,-0.183072],[-0.088680,-0.160316,0.983074]]
2025-10-27T00:30:12.714Z,1761525012.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:12.721Z,1761525012.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 225.347549 m,
      bearing: 209.250030 deg,
      approach rate: -0.638845 m/s,
      LOS rate: -0.032994 deg/s,
      cmd heading: 206.985154 deg,
      new cmd heading: 206.942986 deg.

2025-10-27T00:30:12.722Z,1761525012.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611836 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:12.784Z,1761525012.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773409
2025-10-27T00:30:13.032Z,1761525013.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021972
2025-10-27T00:30:13.089Z,1761525013.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892865,0.450240,-0.008659],[-0.441356,-0.878741,-0.181711],[-0.089422,-0.158422,0.983314]]
2025-10-27T00:30:13.132Z,1761525013.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:13.134Z,1761525013.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 225.052750 m,
      bearing: 209.238743 deg,
      approach rate: -0.703732 m/s,
      LOS rate: -0.026979 deg/s,
      cmd heading: 206.942984 deg,
      new cmd heading: 206.909078 deg.

2025-10-27T00:30:13.136Z,1761525013.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611245 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:13.284Z,1761525013.284 [DAT](INFO): DAT read: Rx Time:00:30:14.1205

2025-10-27T00:30:13.284Z,1761525013.284 [DAT](INFO): Rx dataTimestamp_ set to:1761525013.284139
2025-10-27T00:30:13.285Z,1761525013.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274790
2025-10-27T00:30:13.477Z,1761525013.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892956,0.450029,-0.010148],[-0.441014,-0.879140,-0.180611],[-0.090202,-0.156802,0.983502]]
2025-10-27T00:30:13.507Z,1761525013.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.21 m.
2025-10-27T00:30:13.510Z,1761525013.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.205475 m,
      nav range: 224.803085 m,
      bearing: 209.229177 deg,
      approach rate: -0.665255 m/s,
      LOS rate: -0.025516 deg/s,
      cmd heading: 206.909079 deg,
      new cmd heading: 206.880351 deg.

2025-10-27T00:30:13.511Z,1761525013.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610743 target range: 240.205475 and range: 241.20 m.
2025-10-27T00:30:13.536Z,1761525013.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526089
2025-10-27T00:30:13.797Z,1761525013.797 [DAT](INFO): DAT read: 00:30:14.1205 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414,-0.08,-3.022, 1.466,-2.976, 2.338, PHS= 1.026,-0.827, 0.925, RAW= 147.2, -12.4, CAL= 148.1, -14.6, ROT=   1.9,  14.6

2025-10-27T00:30:13.799Z,1761525013.799 [DAT](INFO): got valid direction response:
 00:30:14.1205 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414,-0.08,-3.022, 1.466,-2.976, 2.338, PHS= 1.026,-0.827, 0.925, RAW= 147.2, -12.4, CAL= 148.1, -14.6, ROT=   1.9,  14.6

2025-10-27T00:30:13.800Z,1761525013.800 [DAT](INFO): DAT read: Bearing 330.7,  -0.6 (Local)

2025-10-27T00:30:13.800Z,1761525013.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.7,  -0.6 (Local)

2025-10-27T00:30:13.801Z,1761525013.801 [DAT](INFO): DAT read: Range 11 to 50 : 239.1 m  (Round-trip  318.9 ms) speed  0.1 m/s

2025-10-27T00:30:13.802Z,1761525013.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:13.825Z,1761525013.825 [DAT](INFO): direction in FSK: [0.967177,0.032085,-0.252069]
2025-10-27T00:30:13.826Z,1761525013.826 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:13.833Z,1761525013.833 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:13.833Z,1761525013.833 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:13.834Z,1761525013.834 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:13.889Z,1761525013.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892598,0.450701,-0.011704],[-0.441539,-0.879114,-0.179450],[-0.091168,-0.155009,0.983697]]
2025-10-27T00:30:14.012Z,1761525014.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.100006 m,
      deltaT: 4.034975 s,
      deltaX: -2.099991 m,
      approachRate: -0.520447 m/s,
      rangeRepo size: 4

2025-10-27T00:30:14.014Z,1761525014.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 238.113724 m,
      bearing: 205.860341 deg,
      lat: 36.779194 deg,
      lon: -121.859843 deg,
      deltaT: 4.034975 s,
      deltaX: -2.091751 m,
      approachRate: -0.518405 m/s,
      posRepo size: 4

2025-10-27T00:30:14.015Z,1761525014.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:14.025Z,1761525014.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 224.005173 m,
      bearing: 208.992766 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025516 deg/s,
      cmd heading: 206.880351 deg,
      new cmd heading: 206.842382 deg.

2025-10-27T00:30:14.026Z,1761525014.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610080 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:14.040Z,1761525014.040 [DAT](INFO): DAT read: user:144>

2025-10-27T00:30:14.041Z,1761525014.041 [DAT](INFO): DAT read: Tx time:00:30:15.4474

2025-10-27T00:30:14.041Z,1761525014.041 [DAT](INFO): Ping request sent.
2025-10-27T00:30:14.041Z,1761525014.041 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:14.041Z,1761525014.041 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:14.042Z,1761525014.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000887
2025-10-27T00:30:14.296Z,1761525014.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254744
2025-10-27T00:30:14.352Z,1761525014.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891884,0.452082,-0.012878],[-0.442886,-0.878802,-0.177648],[-0.091628,-0.152738,0.984010]]
2025-10-27T00:30:14.400Z,1761525014.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:14.402Z,1761525014.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:14.405Z,1761525014.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 223.731033 m,
      bearing: 208.987130 deg,
      approach rate: -0.686739 m/s,
      LOS rate: -0.014135 deg/s,
      cmd heading: 206.842375 deg,
      new cmd heading: 206.825447 deg.

2025-10-27T00:30:14.406Z,1761525014.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609785 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:14.545Z,1761525014.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504182
2025-10-27T00:30:14.792Z,1761525014.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891291,0.453203,-0.014422],[-0.443984,-0.878737,-0.175215],[-0.092081,-0.149765,0.984425]]
2025-10-27T00:30:14.801Z,1761525014.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759556
2025-10-27T00:30:14.880Z,1761525014.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:14.883Z,1761525014.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 223.394318 m,
      bearing: 208.988417 deg,
      approach rate: -0.704575 m/s,
      LOS rate: 0.002698 deg/s,
      cmd heading: 206.825450 deg,
      new cmd heading: 206.829318 deg.

2025-10-27T00:30:14.884Z,1761525014.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609853 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:15.053Z,1761525015.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012057
2025-10-27T00:30:15.158Z,1761525015.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890870,0.453995,-0.015455],[-0.444731,-0.878613,-0.173935],[-0.092545,-0.148080,0.984636]]
2025-10-27T00:30:15.188Z,1761525015.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:15.190Z,1761525015.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 223.193024 m,
      bearing: 208.989147 deg,
      approach rate: -0.654700 m/s,
      LOS rate: 0.002375 deg/s,
      cmd heading: 206.829316 deg,
      new cmd heading: 206.831507 deg.

2025-10-27T00:30:15.195Z,1761525015.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609891 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:15.304Z,1761525015.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262923
2025-10-27T00:30:15.557Z,1761525015.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515511
2025-10-27T00:30:15.589Z,1761525015.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890400,0.454878,-0.016567],[-0.445586,-0.878489,-0.172364],[-0.092958,-0.146091,0.984894]]
2025-10-27T00:30:15.608Z,1761525015.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:15.611Z,1761525015.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 222.904907 m,
      bearing: 208.990125 deg,
      approach rate: -0.686634 m/s,
      LOS rate: 0.002335 deg/s,
      cmd heading: 206.831502 deg,
      new cmd heading: 206.834441 deg.

2025-10-27T00:30:15.612Z,1761525015.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609942 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:15.812Z,1761525015.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770281
2025-10-27T00:30:15.969Z,1761525015.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889717,0.456190,-0.017167],[-0.446834,-0.877941,-0.171925],[-0.093502,-0.145294,0.984960]]
2025-10-27T00:30:16.061Z,1761525016.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020421
2025-10-27T00:30:16.128Z,1761525016.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:16.131Z,1761525016.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 222.555466 m,
      bearing: 208.998363 deg,
      approach rate: -0.672322 m/s,
      LOS rate: 0.015874 deg/s,
      cmd heading: 206.834439 deg,
      new cmd heading: 206.859191 deg.

2025-10-27T00:30:16.132Z,1761525016.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610374 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:16.312Z,1761525016.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270897
2025-10-27T00:30:16.347Z,1761525016.347 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:30:16.432Z,1761525016.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889028,0.457535,-0.017032],[-0.448108,-0.877138,-0.172708],[-0.093959,-0.145910,0.984826]]
2025-10-27T00:30:16.453Z,1761525016.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:16.455Z,1761525016.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:16.458Z,1761525016.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 222.338089 m,
      bearing: 209.003417 deg,
      approach rate: -0.662576 m/s,
      LOS rate: 0.015421 deg/s,
      cmd heading: 206.859191 deg,
      new cmd heading: 206.874369 deg.

2025-10-27T00:30:16.459Z,1761525016.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610639 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:16.565Z,1761525016.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523846
2025-10-27T00:30:16.819Z,1761525016.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777735
2025-10-27T00:30:16.861Z,1761525016.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888324,0.458918,-0.016587],[-0.449526,-0.876391,-0.172813],[-0.093843,-0.146057,0.984815]]
2025-10-27T00:30:16.911Z,1761525016.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:16.914Z,1761525016.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 222.029510 m,
      bearing: 209.013014 deg,
      approach rate: -0.676615 m/s,
      LOS rate: 0.021072 deg/s,
      cmd heading: 206.874368 deg,
      new cmd heading: 206.903198 deg.

2025-10-27T00:30:16.915Z,1761525016.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611142 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:17.069Z,1761525017.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028115
2025-10-27T00:30:17.228Z,1761525017.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887511,0.460504,-0.016117],[-0.451112,-0.875476,-0.173319],[-0.093925,-0.146552,0.984734]]
2025-10-27T00:30:17.251Z,1761525017.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:17.254Z,1761525017.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 221.801575 m,
      bearing: 209.020012 deg,
      approach rate: -0.670676 m/s,
      LOS rate: 0.020612 deg/s,
      cmd heading: 206.903191 deg,
      new cmd heading: 206.924207 deg.

2025-10-27T00:30:17.255Z,1761525017.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611509 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:17.321Z,1761525017.321 [DAT](INFO): DAT read: Rx Time:00:30:18.1682

2025-10-27T00:30:17.322Z,1761525017.322 [DAT](INFO): Rx dataTimestamp_ set to:1761525017.321191
2025-10-27T00:30:17.322Z,1761525017.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281102
2025-10-27T00:30:17.352Z,1761525017.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:30:17.572Z,1761525017.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530970
2025-10-27T00:30:17.725Z,1761525017.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.11 m.
2025-10-27T00:30:17.734Z,1761525017.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.113724 m,
      nav range: 221.505356 m,
      bearing: 209.029128 deg,
      approach rate: -0.625424 m/s,
      LOS rate: 0.019273 deg/s,
      cmd heading: 206.924201 deg,
      new cmd heading: 206.951586 deg.

2025-10-27T00:30:17.735Z,1761525017.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611987 target range: 238.113724 and range: 239.10 m.
2025-10-27T00:30:17.860Z,1761525017.860 [DAT](INFO): DAT read: 00:30:18.1682 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 124, 0.29, 2.449, 0.650, 2.637, 2.226, PHS= 0.325,-1.531, 0.367, RAW= 151.1,   9.0, CAL= 150.7,   9.7, ROT= 359.3,  -9.7

2025-10-27T00:30:17.861Z,1761525017.861 [DAT](INFO): got valid direction response:
 00:30:18.1682 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 124, 0.29, 2.449, 0.650, 2.637, 2.226, PHS= 0.325,-1.531, 0.367, RAW= 151.1,   9.0, CAL= 150.7,   9.7, ROT= 359.3,  -9.7

2025-10-27T00:30:17.862Z,1761525017.862 [DAT](INFO): DAT read: Bearing 355.3,  -7.6 (Local)

2025-10-27T00:30:17.862Z,1761525017.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,  -7.6 (Local)

2025-10-27T00:30:17.867Z,1761525017.867 [DAT](INFO): DAT read: Range 11 to 50 : 237.4 m  (Round-trip  316.6 ms) speed  0.7 m/s

2025-10-27T00:30:17.868Z,1761525017.868 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:17.869Z,1761525017.869 [DAT](INFO): direction in FSK: [0.985630,-0.012042,0.168489]
2025-10-27T00:30:17.869Z,1761525017.869 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:17.877Z,1761525017.877 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:17.877Z,1761525017.877 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:17.877Z,1761525017.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:18.034Z,1761525018.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885544,0.464319,-0.014803],[-0.454938,-0.873222,-0.174685],[-0.094036,-0.147957,0.984513]]
2025-10-27T00:30:18.078Z,1761525018.078 [DAT](INFO): DAT read: user:145>

2025-10-27T00:30:18.079Z,1761525018.079 [DAT](INFO): DAT read: Tx time:00:30:19.4974

2025-10-27T00:30:18.079Z,1761525018.079 [DAT](INFO): Ping request sent.
2025-10-27T00:30:18.079Z,1761525018.079 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:18.079Z,1761525018.079 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:18.080Z,1761525018.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-10-27T00:30:18.109Z,1761525018.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.399994 m,
      deltaT: 4.035216 s,
      deltaX: -1.700012 m,
      approachRate: -0.421294 m/s,
      rangeRepo size: 4

2025-10-27T00:30:18.111Z,1761525018.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.422318 m,
      bearing: 207.945829 deg,
      lat: 36.779145 deg,
      lon: -121.859854 deg,
      deltaT: 4.035216 s,
      deltaX: -1.691406 m,
      approachRate: -0.419161 m/s,
      posRepo size: 4

2025-10-27T00:30:18.112Z,1761525018.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:18.115Z,1761525018.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 226.523224 m,
      bearing: 208.593269 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019273 deg/s,
      cmd heading: 206.951590 deg,
      new cmd heading: 206.973788 deg.

2025-10-27T00:30:18.116Z,1761525018.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612374 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:18.331Z,1761525018.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251570
2025-10-27T00:30:18.440Z,1761525018.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884652,0.466042,-0.013967],[-0.456687,-0.872154,-0.175457],[-0.093952,-0.148840,0.984388]]
2025-10-27T00:30:18.469Z,1761525018.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:18.471Z,1761525018.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:18.479Z,1761525018.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 226.270630 m,
      bearing: 208.600250 deg,
      approach rate: -0.696888 m/s,
      LOS rate: 0.019281 deg/s,
      cmd heading: 206.973788 deg,
      new cmd heading: 206.994754 deg.

2025-10-27T00:30:18.480Z,1761525018.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612740 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:18.581Z,1761525018.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501915
2025-10-27T00:30:18.835Z,1761525018.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755162
2025-10-27T00:30:18.891Z,1761525018.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883159,0.468886,-0.013283],[-0.459468,-0.870429,-0.176753],[-0.094439,-0.149998,0.984166]]
2025-10-27T00:30:18.932Z,1761525018.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:18.935Z,1761525018.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 225.964996 m,
      bearing: 208.606798 deg,
      approach rate: -0.663001 m/s,
      LOS rate: 0.014223 deg/s,
      cmd heading: 206.994757 deg,
      new cmd heading: 207.014427 deg.

2025-10-27T00:30:18.936Z,1761525018.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613083 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:19.084Z,1761525019.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004840
2025-10-27T00:30:19.300Z,1761525019.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:19.303Z,1761525019.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 225.731018 m,
      bearing: 208.611822 deg,
      approach rate: -0.635256 m/s,
      LOS rate: 0.013656 deg/s,
      cmd heading: 207.014428 deg,
      new cmd heading: 207.029517 deg.

2025-10-27T00:30:19.304Z,1761525019.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613347 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:19.337Z,1761525019.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257274
2025-10-27T00:30:19.588Z,1761525019.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509015
2025-10-27T00:30:19.650Z,1761525019.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882705,0.469730,-0.013638],[-0.460267,-0.870049,-0.176544],[-0.094794,-0.149559,0.984198]]
2025-10-27T00:30:19.677Z,1761525019.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:19.682Z,1761525019.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 225.478302 m,
      bearing: 208.617202 deg,
      approach rate: -0.675605 m/s,
      LOS rate: 0.014397 deg/s,
      cmd heading: 207.029522 deg,
      new cmd heading: 207.045678 deg.

2025-10-27T00:30:19.684Z,1761525019.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613629 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:19.843Z,1761525019.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763121
2025-10-27T00:30:20.064Z,1761525020.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882508,0.470097,-0.013712],[-0.460560,-0.869772,-0.177149],[-0.095203,-0.150020,0.984088]]
2025-10-27T00:30:20.092Z,1761525020.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012853
2025-10-27T00:30:20.131Z,1761525020.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:20.134Z,1761525020.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 225.183273 m,
      bearing: 208.618271 deg,
      approach rate: -0.646536 m/s,
      LOS rate: 0.002346 deg/s,
      cmd heading: 207.045683 deg,
      new cmd heading: 207.048894 deg.

2025-10-27T00:30:20.135Z,1761525020.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613685 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:20.347Z,1761525020.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267674
2025-10-27T00:30:20.517Z,1761525020.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:20.520Z,1761525020.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:20.523Z,1761525020.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 224.936493 m,
      bearing: 208.619167 deg,
      approach rate: -0.635230 m/s,
      LOS rate: 0.002310 deg/s,
      cmd heading: 207.048893 deg,
      new cmd heading: 207.051585 deg.

2025-10-27T00:30:20.524Z,1761525020.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613732 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:20.596Z,1761525020.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516872
2025-10-27T00:30:20.855Z,1761525020.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774828
2025-10-27T00:30:20.969Z,1761525020.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:20.992Z,1761525020.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 224.633728 m,
      bearing: 208.614692 deg,
      approach rate: -0.673185 m/s,
      LOS rate: -0.009964 deg/s,
      cmd heading: 207.051584 deg,
      new cmd heading: 207.038140 deg.

2025-10-27T00:30:20.993Z,1761525020.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613497 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:21.104Z,1761525021.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025037
2025-10-27T00:30:21.341Z,1761525021.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884423,0.466537,-0.011758],[-0.456627,-0.870290,-0.184626],[-0.096368,-0.157919,0.982738]]
2025-10-27T00:30:21.356Z,1761525021.356 [DAT](INFO): DAT read: Rx Time:00:30:22.2131

2025-10-27T00:30:21.357Z,1761525021.357 [DAT](INFO): Rx dataTimestamp_ set to:1761525021.356276
2025-10-27T00:30:21.357Z,1761525021.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277855
2025-10-27T00:30:21.370Z,1761525021.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:21.373Z,1761525021.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 224.375900 m,
      bearing: 208.611184 deg,
      approach rate: -0.643127 m/s,
      LOS rate: -0.008760 deg/s,
      cmd heading: 207.038142 deg,
      new cmd heading: 207.027607 deg.

2025-10-27T00:30:21.374Z,1761525021.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613313 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:21.608Z,1761525021.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529109
2025-10-27T00:30:21.764Z,1761525021.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884803,0.465803,-0.012268],[-0.455802,-0.870675,-0.184849],[-0.096785,-0.157964,0.982690]]
2025-10-27T00:30:21.781Z,1761525021.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.42 m.
2025-10-27T00:30:21.784Z,1761525021.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.422318 m,
      nav range: 224.110352 m,
      bearing: 208.607624 deg,
      approach rate: -0.645179 m/s,
      LOS rate: -0.008658 deg/s,
      cmd heading: 207.027610 deg,
      new cmd heading: 207.016919 deg.

2025-10-27T00:30:21.785Z,1761525021.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613127 target range: 236.422318 and range: 237.40 m.
2025-10-27T00:30:21.900Z,1761525021.900 [DAT](INFO): DAT read: 00:30:22.2131 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 387,-0.34, 1.857, 0.246, 1.853, 1.100, PHS= 0.859,-0.809, 0.709, RAW= 145.3,  -9.5, CAL= 145.7, -11.3, ROT=   4.3,  11.3

2025-10-27T00:30:21.909Z,1761525021.909 [DAT](INFO): got valid direction response:
 00:30:22.2131 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 387,-0.34, 1.857, 0.246, 1.853, 1.100, PHS= 0.859,-0.809, 0.709, RAW= 145.3,  -9.5, CAL= 145.7, -11.3, ROT=   4.3,  11.3

2025-10-27T00:30:21.915Z,1761525021.915 [DAT](INFO): DAT read: Bearing 335.3,   0.7 (Local)

2025-10-27T00:30:21.916Z,1761525021.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.3,   0.7 (Local)

2025-10-27T00:30:21.917Z,1761525021.917 [DAT](INFO): DAT read: Range 11 to 50 : 233.7 m  (Round-trip  311.7 ms) speed  0.2 m/s

2025-10-27T00:30:21.918Z,1761525021.918 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:21.919Z,1761525021.919 [DAT](INFO): direction in FSK: [0.977854,0.073525,-0.195946]
2025-10-27T00:30:21.924Z,1761525021.924 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:21.934Z,1761525021.934 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:21.934Z,1761525021.934 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:21.934Z,1761525021.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:22.112Z,1761525022.112 [DAT](INFO): DAT read: user:146>

2025-10-27T00:30:22.113Z,1761525022.113 [DAT](INFO): DAT read: Tx time:00:30:23.5473

2025-10-27T00:30:22.113Z,1761525022.113 [DAT](INFO): Ping request sent.
2025-10-27T00:30:22.113Z,1761525022.113 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:22.113Z,1761525022.113 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:22.114Z,1761525022.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-10-27T00:30:22.145Z,1761525022.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885323,0.464819,-0.012083],[-0.454732,-0.870950,-0.186186],[-0.097066,-0.159340,0.982440]]
2025-10-27T00:30:22.227Z,1761525022.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 233.699997 m,
      deltaT: 4.036242 s,
      deltaX: -3.699997 m,
      approachRate: -0.916694 m/s,
      rangeRepo size: 4

2025-10-27T00:30:22.229Z,1761525022.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 232.736740 m,
      bearing: 209.661583 deg,
      lat: 36.779145 deg,
      lon: -121.859878 deg,
      deltaT: 4.036242 s,
      deltaX: -3.685577 m,
      approachRate: -0.913121 m/s,
      posRepo size: 4

2025-10-27T00:30:22.230Z,1761525022.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.74 m.
2025-10-27T00:30:22.233Z,1761525022.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.736740 m,
      nav range: 224.829147 m,
      bearing: 209.064405 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008658 deg/s,
      cmd heading: 207.016914 deg,
      new cmd heading: 207.005361 deg.

2025-10-27T00:30:22.234Z,1761525022.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612925 target range: 232.736740 and range: 233.70 m.
2025-10-27T00:30:22.364Z,1761525022.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251064
2025-10-27T00:30:22.564Z,1761525022.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885305,0.464851,-0.012174],[-0.454656,-0.870789,-0.187120],[-0.097584,-0.160123,0.982262]]
2025-10-27T00:30:22.592Z,1761525022.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:22.594Z,1761525022.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.74 m.
2025-10-27T00:30:22.597Z,1761525022.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.736740 m,
      nav range: 224.590775 m,
      bearing: 209.058508 deg,
      approach rate: -0.648228 m/s,
      LOS rate: -0.016054 deg/s,
      cmd heading: 207.005357 deg,
      new cmd heading: 206.987647 deg.

2025-10-27T00:30:22.598Z,1761525022.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612616 target range: 232.736740 and range: 233.70 m.
2025-10-27T00:30:22.617Z,1761525022.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503576
2025-10-27T00:30:22.868Z,1761525022.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754948
2025-10-27T00:30:23.051Z,1761525023.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.74 m.
2025-10-27T00:30:23.060Z,1761525023.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.736740 m,
      nav range: 224.316223 m,
      bearing: 209.048745 deg,
      approach rate: -0.606236 m/s,
      LOS rate: -0.021584 deg/s,
      cmd heading: 206.987653 deg,
      new cmd heading: 206.958329 deg.

2025-10-27T00:30:23.061Z,1761525023.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612104 target range: 232.736740 and range: 233.70 m.
2025-10-27T00:30:23.121Z,1761525023.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007484
2025-10-27T00:30:23.372Z,1761525023.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258930
2025-10-27T00:30:23.388Z,1761525023.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885349,0.464742,-0.013160],[-0.454353,-0.870868,-0.187488],[-0.098594,-0.160013,0.982179]]
2025-10-27T00:30:23.407Z,1761525023.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.74 m.
2025-10-27T00:30:23.410Z,1761525023.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.736740 m,
      nav range: 224.054672 m,
      bearing: 209.039439 deg,
      approach rate: -0.726662 m/s,
      LOS rate: -0.025885 deg/s,
      cmd heading: 206.958325 deg,
      new cmd heading: 206.930374 deg.

2025-10-27T00:30:23.411Z,1761525023.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611616 target range: 232.736740 and range: 233.70 m.
2025-10-27T00:30:23.624Z,1761525023.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510904
2025-10-27T00:30:23.781Z,1761525023.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885430,0.464566,-0.013876],[-0.454081,-0.871041,-0.187346],[-0.099122,-0.159581,0.982196]]
2025-10-27T00:30:23.799Z,1761525023.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.74 m.
2025-10-27T00:30:23.802Z,1761525023.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.736740 m,
      nav range: 223.795944 m,
      bearing: 209.030228 deg,
      approach rate: -0.659415 m/s,
      LOS rate: -0.023503 deg/s,
      cmd heading: 206.930375 deg,
      new cmd heading: 206.902710 deg.

2025-10-27T00:30:23.819Z,1761525023.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611134 target range: 232.736740 and range: 233.70 m.
2025-10-27T00:30:23.879Z,1761525023.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765157
2025-10-27T00:30:24.128Z,1761525024.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014795
2025-10-27T00:30:24.237Z,1761525024.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.74 m.
2025-10-27T00:30:24.256Z,1761525024.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.736740 m,
      nav range: 223.502640 m,
      bearing: 209.018282 deg,
      approach rate: -0.669971 m/s,
      LOS rate: -0.027323 deg/s,
      cmd heading: 206.902713 deg,
      new cmd heading: 206.866828 deg.

2025-10-27T00:30:24.257Z,1761525024.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610507 target range: 232.736740 and range: 233.70 m.
2025-10-27T00:30:24.380Z,1761525024.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267241
2025-10-27T00:30:24.627Z,1761525024.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:24.629Z,1761525024.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.74 m.
2025-10-27T00:30:24.632Z,1761525024.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967
2025-10-27T00:30:24.634Z,1761525024.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.736740 m,
      nav range: 223.239670 m,
      bearing: 209.007545 deg,
      approach rate: -0.669980 m/s,
      LOS rate: -0.027388 deg/s,
      cmd heading: 206.866827 deg,
      new cmd heading: 206.834578 deg.

2025-10-27T00:30:24.635Z,1761525024.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609944 target range: 232.736740 and range: 233.70 m.
2025-10-27T00:30:24.885Z,1761525024.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771837
2025-10-27T00:30:24.990Z,1761525024.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886937,0.461509,-0.018759],[-0.450798,-0.873769,-0.182506],[-0.100619,-0.153415,0.983026]]
2025-10-27T00:30:25.067Z,1761525025.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.74 m.
2025-10-27T00:30:25.070Z,1761525025.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.736740 m,
      nav range: 222.962372 m,
      bearing: 208.996463 deg,
      approach rate: -0.639919 m/s,
      LOS rate: -0.025606 deg/s,
      cmd heading: 206.834575 deg,
      new cmd heading: 206.801287 deg.

2025-10-27T00:30:25.070Z,1761525025.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609363 target range: 232.736740 and range: 233.70 m.
2025-10-27T00:30:25.136Z,1761525025.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023012
2025-10-27T00:30:25.388Z,1761525025.388 [DAT](INFO): DAT read: Rx Time:00:30:26.2599

2025-10-27T00:30:25.388Z,1761525025.388 [DAT](INFO): Rx dataTimestamp_ set to:1761525025.388078
2025-10-27T00:30:25.389Z,1761525025.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275846
2025-10-27T00:30:25.529Z,1761525025.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887590,0.460189,-0.020226],[-0.449395,-0.874740,-0.181310],[-0.101129,-0.151839,0.983218]]
2025-10-27T00:30:25.562Z,1761525025.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.74 m.
2025-10-27T00:30:25.581Z,1761525025.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.736740 m,
      nav range: 222.615280 m,
      bearing: 208.982685 deg,
      approach rate: -0.695101 m/s,
      LOS rate: -0.027636 deg/s,
      cmd heading: 206.801285 deg,
      new cmd heading: 206.759886 deg.

2025-10-27T00:30:25.582Z,1761525025.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608641 target range: 232.736740 and range: 233.70 m.
2025-10-27T00:30:25.640Z,1761525025.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527258
2025-10-27T00:30:25.900Z,1761525025.900 [DAT](INFO): DAT read: 00:30:26.2599 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 402, 0.37,-0.172,-1.677,-0.176,-0.875, PHS= 0.805,-0.757, 0.655, RAW= 145.0,  -9.5, CAL= 145.3, -11.2, ROT=   4.7,  11.2

2025-10-27T00:30:25.901Z,1761525025.901 [DAT](INFO): got valid direction response:
 00:30:26.2599 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 402, 0.37,-0.172,-1.677,-0.176,-0.875, PHS= 0.805,-0.757, 0.655, RAW= 145.0,  -9.5, CAL= 145.3, -11.2, ROT=   4.7,  11.2

2025-10-27T00:30:25.902Z,1761525025.902 [DAT](INFO): DAT read: Bearing 335.9,   0.6 (Local)

2025-10-27T00:30:25.902Z,1761525025.902 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.9,   0.6 (Local)

2025-10-27T00:30:25.938Z,1761525025.938 [DAT](INFO): DAT read: Range 11 to 50 : 231.3 m  (Round-trip  308.4 ms) speed  0.4 m/s

2025-10-27T00:30:25.941Z,1761525025.941 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:25.957Z,1761525025.957 [DAT](INFO): direction in FSK: [0.977657,0.080378,-0.194234]
2025-10-27T00:30:25.958Z,1761525025.958 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:25.996Z,1761525025.996 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:25.996Z,1761525025.996 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:25.997Z,1761525025.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:26.144Z,1761525026.144 [DAT](INFO): DAT read: user:147>

2025-10-27T00:30:26.145Z,1761525026.145 [DAT](INFO): DAT read: Tx time:00:30:27.6473

2025-10-27T00:30:26.145Z,1761525026.145 [DAT](INFO): Ping request sent.
2025-10-27T00:30:26.145Z,1761525026.145 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:26.145Z,1761525026.145 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:26.146Z,1761525026.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-10-27T00:30:26.177Z,1761525026.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.300003 m,
      deltaT: 4.031591 s,
      deltaX: -2.399994 m,
      approachRate: -0.595297 m/s,
      rangeRepo size: 4

2025-10-27T00:30:26.195Z,1761525026.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 230.348602 m,
      bearing: 209.847541 deg,
      lat: 36.779176 deg,
      lon: -121.859885 deg,
      deltaT: 4.031591 s,
      deltaX: -2.388138 m,
      approachRate: -0.592356 m/s,
      posRepo size: 4

2025-10-27T00:30:26.196Z,1761525026.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.35 m.
2025-10-27T00:30:26.199Z,1761525026.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.348602 m,
      nav range: 219.451706 m,
      bearing: 209.571170 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027636 deg/s,
      cmd heading: 206.759880 deg,
      new cmd heading: 206.708957 deg.

2025-10-27T00:30:26.204Z,1761525026.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607752 target range: 230.348602 and range: 231.30 m.
2025-10-27T00:30:26.396Z,1761525026.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251028
2025-10-27T00:30:26.626Z,1761525026.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888637,0.458178,-0.019910],[-0.447216,-0.875359,-0.183697],[-0.101594,-0.154336,0.982781]]
2025-10-27T00:30:26.648Z,1761525026.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502943
2025-10-27T00:30:26.654Z,1761525026.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:26.656Z,1761525026.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.35 m.
2025-10-27T00:30:26.659Z,1761525026.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.348602 m,
      nav range: 219.113922 m,
      bearing: 209.559586 deg,
      approach rate: -0.703716 m/s,
      LOS rate: -0.024171 deg/s,
      cmd heading: 206.708954 deg,
      new cmd heading: 206.674147 deg.

2025-10-27T00:30:26.660Z,1761525026.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607144 target range: 230.348602 and range: 231.30 m.
2025-10-27T00:30:26.900Z,1761525026.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754800
2025-10-27T00:30:27.020Z,1761525027.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888680,0.458084,-0.020177],[-0.447111,-0.875472,-0.183412],[-0.101682,-0.153973,0.982829]]
2025-10-27T00:30:27.152Z,1761525027.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006787
2025-10-27T00:30:27.170Z,1761525027.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.35 m.
2025-10-27T00:30:27.193Z,1761525027.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.348602 m,
      nav range: 218.753815 m,
      bearing: 209.550133 deg,
      approach rate: -0.700771 m/s,
      LOS rate: -0.018425 deg/s,
      cmd heading: 206.674148 deg,
      new cmd heading: 206.645744 deg.

2025-10-27T00:30:27.194Z,1761525027.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606649 target range: 230.348602 and range: 231.30 m.
2025-10-27T00:30:27.407Z,1761525027.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262011
2025-10-27T00:30:27.462Z,1761525027.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888775,0.457912,-0.019895],[-0.446985,-0.875536,-0.183418],[-0.101408,-0.154125,0.982834]]
2025-10-27T00:30:27.480Z,1761525027.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.35 m.
2025-10-27T00:30:27.483Z,1761525027.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.348602 m,
      nav range: 218.537186 m,
      bearing: 209.544442 deg,
      approach rate: -0.698993 m/s,
      LOS rate: -0.018383 deg/s,
      cmd heading: 206.645748 deg,
      new cmd heading: 206.628656 deg.

2025-10-27T00:30:27.484Z,1761525027.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606350 target range: 230.348602 and range: 231.30 m.
2025-10-27T00:30:27.656Z,1761525027.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510759
2025-10-27T00:30:27.858Z,1761525027.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888680,0.458139,-0.018882],[-0.447266,-0.875188,-0.184389],[-0.101001,-0.155418,0.982672]]
2025-10-27T00:30:27.876Z,1761525027.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.35 m.
2025-10-27T00:30:27.899Z,1761525027.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.348602 m,
      nav range: 218.260025 m,
      bearing: 209.537126 deg,
      approach rate: -0.699807 m/s,
      LOS rate: -0.018495 deg/s,
      cmd heading: 206.628659 deg,
      new cmd heading: 206.606684 deg.

2025-10-27T00:30:27.900Z,1761525027.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605967 target range: 230.348602 and range: 231.30 m.
2025-10-27T00:30:27.908Z,1761525027.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763130
2025-10-27T00:30:28.160Z,1761525028.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014857
2025-10-27T00:30:28.262Z,1761525028.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888491,0.458536,-0.018117],[-0.447730,-0.874854,-0.184847],[-0.100609,-0.156123,0.982600]]
2025-10-27T00:30:28.312Z,1761525028.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.35 m.
2025-10-27T00:30:28.315Z,1761525028.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.348602 m,
      nav range: 217.956863 m,
      bearing: 209.532684 deg,
      approach rate: -0.695011 m/s,
      LOS rate: -0.010198 deg/s,
      cmd heading: 206.606679 deg,
      new cmd heading: 206.593334 deg.

2025-10-27T00:30:28.316Z,1761525028.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605734 target range: 230.348602 and range: 231.30 m.
2025-10-27T00:30:28.412Z,1761525028.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267082
2025-10-27T00:30:28.664Z,1761525028.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518762
2025-10-27T00:30:28.669Z,1761525028.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888570,0.458420,-0.017145],[-0.447738,-0.874789,-0.185136],[-0.099869,-0.156830,0.982563]]
2025-10-27T00:30:28.688Z,1761525028.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:28.692Z,1761525028.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.35 m.
2025-10-27T00:30:28.696Z,1761525028.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.348602 m,
      nav range: 217.695755 m,
      bearing: 209.528852 deg,
      approach rate: -0.689386 m/s,
      LOS rate: -0.010129 deg/s,
      cmd heading: 206.593333 deg,
      new cmd heading: 206.581823 deg.

2025-10-27T00:30:28.697Z,1761525028.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605533 target range: 230.348602 and range: 231.30 m.
2025-10-27T00:30:28.916Z,1761525028.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770837
2025-10-27T00:30:29.070Z,1761525029.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888765,0.458076,-0.016247],[-0.447528,-0.874872,-0.185250],[-0.099073,-0.157373,0.982557]]
2025-10-27T00:30:29.134Z,1761525029.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.35 m.
2025-10-27T00:30:29.140Z,1761525029.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.348602 m,
      nav range: 217.392044 m,
      bearing: 209.525203 deg,
      approach rate: -0.686402 m/s,
      LOS rate: -0.008259 deg/s,
      cmd heading: 206.581817 deg,
      new cmd heading: 206.570854 deg.

2025-10-27T00:30:29.141Z,1761525029.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605341 target range: 230.348602 and range: 231.30 m.
2025-10-27T00:30:29.168Z,1761525029.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023028
2025-10-27T00:30:29.420Z,1761525029.420 [DAT](INFO): DAT read: Rx Time:00:30:30.3585

2025-10-27T00:30:29.421Z,1761525029.421 [DAT](INFO): Rx dataTimestamp_ set to:1761525029.420511
2025-10-27T00:30:29.422Z,1761525029.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276404
2025-10-27T00:30:29.489Z,1761525029.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888843,0.457952,-0.015430],[-0.447515,-0.874835,-0.185455],[-0.098428,-0.157936,0.982532]]
2025-10-27T00:30:29.507Z,1761525029.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.35 m.
2025-10-27T00:30:29.510Z,1761525029.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.348602 m,
      nav range: 217.127518 m,
      bearing: 209.522021 deg,
      approach rate: -0.708034 m/s,
      LOS rate: -0.008528 deg/s,
      cmd heading: 206.570848 deg,
      new cmd heading: 206.561290 deg.

2025-10-27T00:30:29.523Z,1761525029.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605175 target range: 230.348602 and range: 231.30 m.
2025-10-27T00:30:29.672Z,1761525029.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526797
2025-10-27T00:30:29.907Z,1761525029.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889247,0.457191,-0.014713],[-0.446899,-0.875189,-0.185270],[-0.097581,-0.158176,0.982577]]
2025-10-27T00:30:29.929Z,1761525029.929 [DAT](INFO): DAT read: 00:30:30.3585 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 426, 0.10, 1.876, 0.346, 1.651, 1.109, PHS= 0.869,-0.718, 0.498, RAW= 137.1,  -9.1, CAL= 137.2, -10.5, ROT=  12.8,  10.5

2025-10-27T00:30:29.930Z,1761525029.930 [DAT](INFO): got valid direction response:
 00:30:30.3585 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 426, 0.10, 1.876, 0.346, 1.651, 1.109, PHS= 0.869,-0.718, 0.498, RAW= 137.1,  -9.1, CAL= 137.2, -10.5, ROT=  12.8,  10.5

2025-10-27T00:30:29.944Z,1761525029.944 [DAT](INFO): DAT read: Bearing 337.9,   8.5 (Local)

2025-10-27T00:30:29.944Z,1761525029.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.9,   8.5 (Local)

2025-10-27T00:30:29.945Z,1761525029.945 [DAT](INFO): DAT read: Range 11 to 50 : 230.3 m  (Round-trip  307.1 ms) speed  0.6 m/s

2025-10-27T00:30:29.946Z,1761525029.946 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:29.947Z,1761525029.947 [DAT](INFO): direction in FSK: [0.958820,0.217839,-0.182236]
2025-10-27T00:30:29.947Z,1761525029.947 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:29.985Z,1761525029.985 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:29.986Z,1761525029.986 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:30.007Z,1761525030.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:30.036Z,1761525030.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 230.300003 m,
      deltaT: 4.030103 s,
      deltaX: -1.000000 m,
      approachRate: -0.248133 m/s,
      rangeRepo size: 4

2025-10-27T00:30:30.047Z,1761525030.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 229.351944 m,
      bearing: 217.959355 deg,
      lat: 36.779176 deg,
      lon: -121.859885 deg,
      deltaT: 4.030103 s,
      deltaX: -0.996658 m,
      approachRate: -0.247303 m/s,
      posRepo size: 4

2025-10-27T00:30:30.048Z,1761525030.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:30.059Z,1761525030.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 216.838257 m,
      bearing: 209.518589 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008528 deg/s,
      cmd heading: 206.561286 deg,
      new cmd heading: 206.548547 deg.

2025-10-27T00:30:30.060Z,1761525030.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604952 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:30.177Z,1761525030.177 [DAT](INFO): DAT read: user:148>

2025-10-27T00:30:30.178Z,1761525030.178 [DAT](INFO): DAT read: Tx time:00:30:31.6473

2025-10-27T00:30:30.178Z,1761525030.178 [DAT](INFO): Ping request sent.
2025-10-27T00:30:30.178Z,1761525030.178 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:30.178Z,1761525030.178 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:30.179Z,1761525030.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000902
2025-10-27T00:30:30.321Z,1761525030.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889397,0.456925,-0.013848],[-0.446777,-0.875258,-0.185237],[-0.096760,-0.158562,0.982596]]
2025-10-27T00:30:30.358Z,1761525030.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:30.361Z,1761525030.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 216.545135 m,
      bearing: 209.517431 deg,
      approach rate: -0.831201 m/s,
      LOS rate: -0.003290 deg/s,
      cmd heading: 206.548541 deg,
      new cmd heading: 206.545059 deg.

2025-10-27T00:30:30.361Z,1761525030.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604891 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:30.429Z,1761525030.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250961
2025-10-27T00:30:30.680Z,1761525030.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501924
2025-10-27T00:30:30.728Z,1761525030.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889648,0.456444,-0.013606],[-0.446413,-0.875597,-0.184517],[-0.096135,-0.158081,0.982735]]
2025-10-27T00:30:30.745Z,1761525030.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:30.747Z,1761525030.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:30.749Z,1761525030.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 216.281693 m,
      bearing: 209.516417 deg,
      approach rate: -0.677249 m/s,
      LOS rate: -0.002608 deg/s,
      cmd heading: 206.545057 deg,
      new cmd heading: 206.542013 deg.

2025-10-27T00:30:30.750Z,1761525030.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604838 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:30.932Z,1761525030.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753806
2025-10-27T00:30:31.125Z,1761525031.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889809,0.456142,-0.013206],[-0.446198,-0.875748,-0.184320],[-0.095641,-0.158117,0.982778]]
2025-10-27T00:30:31.178Z,1761525031.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:31.184Z,1761525031.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005795
2025-10-27T00:30:31.193Z,1761525031.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 215.993942 m,
      bearing: 209.516889 deg,
      approach rate: -0.666811 m/s,
      LOS rate: 0.001095 deg/s,
      cmd heading: 206.542011 deg,
      new cmd heading: 206.543428 deg.

2025-10-27T00:30:31.194Z,1761525031.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604863 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:31.440Z,1761525031.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261457
2025-10-27T00:30:31.544Z,1761525031.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889756,0.456259,-0.012735],[-0.446398,-0.875669,-0.184209],[-0.095199,-0.158216,0.982805]]
2025-10-27T00:30:31.562Z,1761525031.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:31.565Z,1761525031.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 215.737823 m,
      bearing: 209.517296 deg,
      approach rate: -0.667108 m/s,
      LOS rate: 0.001062 deg/s,
      cmd heading: 206.543432 deg,
      new cmd heading: 206.544655 deg.

2025-10-27T00:30:31.566Z,1761525031.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604884 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:31.692Z,1761525031.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513727
2025-10-27T00:30:31.935Z,1761525031.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889838,0.456091,-0.012993],[-0.446317,-0.875979,-0.182925],[-0.094812,-0.156974,0.983041]]
2025-10-27T00:30:31.940Z,1761525031.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761672
2025-10-27T00:30:31.955Z,1761525031.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:31.958Z,1761525031.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 215.476166 m,
      bearing: 209.517721 deg,
      approach rate: -0.666646 m/s,
      LOS rate: 0.001084 deg/s,
      cmd heading: 206.544661 deg,
      new cmd heading: 206.545937 deg.

2025-10-27T00:30:31.959Z,1761525031.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604907 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:32.192Z,1761525032.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013642
2025-10-27T00:30:32.392Z,1761525032.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:32.395Z,1761525032.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 215.179596 m,
      bearing: 209.520164 deg,
      approach rate: -0.677559 m/s,
      LOS rate: 0.005589 deg/s,
      cmd heading: 206.545931 deg,
      new cmd heading: 206.553270 deg.

2025-10-27T00:30:32.396Z,1761525032.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605035 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:32.445Z,1761525032.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266377
2025-10-27T00:30:32.697Z,1761525032.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518288
2025-10-27T00:30:32.748Z,1761525032.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889615,0.456555,-0.011944],[-0.446800,-0.875431,-0.184363],[-0.094628,-0.158676,0.982786]]
2025-10-27T00:30:32.765Z,1761525032.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:32.767Z,1761525032.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:32.770Z,1761525032.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 214.924515 m,
      bearing: 209.522234 deg,
      approach rate: -0.681490 m/s,
      LOS rate: 0.005537 deg/s,
      cmd heading: 206.553267 deg,
      new cmd heading: 206.559484 deg.

2025-10-27T00:30:32.771Z,1761525032.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605143 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:32.948Z,1761525032.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769601
2025-10-27T00:30:33.145Z,1761525033.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889562,0.456674,-0.011349],[-0.446973,-0.875257,-0.184771],[-0.094313,-0.159293,0.982716]]
2025-10-27T00:30:33.196Z,1761525033.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:33.200Z,1761525033.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021783
2025-10-27T00:30:33.199Z,1761525033.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 214.645691 m,
      bearing: 209.525272 deg,
      approach rate: -0.649418 m/s,
      LOS rate: 0.007086 deg/s,
      cmd heading: 206.559482 deg,
      new cmd heading: 206.568609 deg.

2025-10-27T00:30:33.201Z,1761525033.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605302 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:33.452Z,1761525033.452 [DAT](INFO): DAT read: Rx Time:00:30:34.3543

2025-10-27T00:30:33.452Z,1761525033.452 [DAT](INFO): Rx dataTimestamp_ set to:1761525033.452128
2025-10-27T00:30:33.453Z,1761525033.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274722
2025-10-27T00:30:33.551Z,1761525033.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889240,0.457321,-0.010491],[-0.447609,-0.874628,-0.186203],[-0.094331,-0.160884,0.982455]]
2025-10-27T00:30:33.579Z,1761525033.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.35 m.
2025-10-27T00:30:33.582Z,1761525033.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.351944 m,
      nav range: 214.397278 m,
      bearing: 209.527938 deg,
      approach rate: -0.649247 m/s,
      LOS rate: 0.006974 deg/s,
      cmd heading: 206.568608 deg,
      new cmd heading: 206.576613 deg.

2025-10-27T00:30:33.583Z,1761525033.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605442 target range: 229.351944 and range: 230.30 m.
2025-10-27T00:30:33.705Z,1761525033.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525968
2025-10-27T00:30:33.954Z,1761525033.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888838,0.458106,-0.010260],[-0.448388,-0.874161,-0.186520],[-0.094415,-0.161186,0.982398]]
2025-10-27T00:30:33.962Z,1761525033.962 [DAT](INFO): DAT read: 00:30:34.3543 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=  90, 0.17, 2.025, 0.272, 2.208, 1.834, PHS= 0.293,-1.517, 0.330, RAW= 151.0,   9.8, CAL= 150.7,  10.7, ROT= 359.3, -10.7

2025-10-27T00:30:33.963Z,1761525033.963 [DAT](INFO): got valid direction response:
 00:30:34.3543 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX=  90, 0.17, 2.025, 0.272, 2.208, 1.834, PHS= 0.293,-1.517, 0.330, RAW= 151.0,   9.8, CAL= 150.7,  10.7, ROT= 359.3, -10.7

2025-10-27T00:30:33.964Z,1761525033.964 [DAT](INFO): DAT read: Bearing 356.9,  -7.6 (Local)

2025-10-27T00:30:33.964Z,1761525033.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,  -7.6 (Local)

2025-10-27T00:30:33.965Z,1761525033.965 [DAT](INFO): DAT read: Range 11 to 50 : 227.1 m  (Round-trip  302.9 ms) speed  0.4 m/s

2025-10-27T00:30:33.966Z,1761525033.966 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:33.967Z,1761525033.967 [DAT](INFO): direction in FSK: [0.982539,-0.012005,0.185667]
2025-10-27T00:30:33.967Z,1761525033.967 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:33.975Z,1761525033.975 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:33.975Z,1761525033.975 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:33.975Z,1761525033.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:34.153Z,1761525034.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 227.100006 m,
      deltaT: 4.032298 s,
      deltaX: -3.199997 m,
      approachRate: -0.793591 m/s,
      rangeRepo size: 4

2025-10-27T00:30:34.161Z,1761525034.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 226.166641 m,
      bearing: 207.817471 deg,
      lat: 36.779176 deg,
      lon: -121.859885 deg,
      deltaT: 4.032298 s,
      deltaX: -3.185303 m,
      approachRate: -0.789947 m/s,
      posRepo size: 4

2025-10-27T00:30:34.162Z,1761525034.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:34.169Z,1761525034.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 214.035889 m,
      bearing: 209.531741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006974 deg/s,
      cmd heading: 206.576613 deg,
      new cmd heading: 206.588622 deg.

2025-10-27T00:30:34.170Z,1761525034.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605652 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:34.208Z,1761525034.208 [DAT](INFO): DAT read: user:149>

2025-10-27T00:30:34.209Z,1761525034.209 [DAT](INFO): DAT read: Tx time:00:30:35.5973

2025-10-27T00:30:34.209Z,1761525034.209 [DAT](INFO): Ping request sent.
2025-10-27T00:30:34.209Z,1761525034.209 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:34.209Z,1761525034.209 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:34.210Z,1761525034.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-10-27T00:30:34.460Z,1761525034.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250789
2025-10-27T00:30:34.484Z,1761525034.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888305,0.459159,-0.009319],[-0.449465,-0.873359,-0.187686],[-0.094317,-0.162534,0.982185]]
2025-10-27T00:30:34.561Z,1761525034.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:34.569Z,1761525034.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 213.765778 m,
      bearing: 209.535441 deg,
      approach rate: -0.660606 m/s,
      LOS rate: 0.009060 deg/s,
      cmd heading: 206.588620 deg,
      new cmd heading: 206.599734 deg.

2025-10-27T00:30:34.570Z,1761525034.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605846 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:34.713Z,1761525034.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503457
2025-10-27T00:30:34.916Z,1761525034.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887424,0.460864,-0.009138],[-0.451352,-0.872792,-0.185784],[-0.093597,-0.160744,0.982548]]
2025-10-27T00:30:34.932Z,1761525034.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:34.934Z,1761525034.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:34.937Z,1761525034.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 213.519958 m,
      bearing: 209.538678 deg,
      approach rate: -0.660014 m/s,
      LOS rate: 0.008703 deg/s,
      cmd heading: 206.599740 deg,
      new cmd heading: 206.609464 deg.

2025-10-27T00:30:34.938Z,1761525034.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606015 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:34.964Z,1761525034.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754819
2025-10-27T00:30:35.216Z,1761525035.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007319
2025-10-27T00:30:35.314Z,1761525035.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886688,0.462289,-0.008584],[-0.452862,-0.872052,-0.185582],[-0.093278,-0.160667,0.982591]]
2025-10-27T00:30:35.370Z,1761525035.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:35.377Z,1761525035.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 213.252945 m,
      bearing: 209.539756 deg,
      approach rate: -0.611751 m/s,
      LOS rate: 0.002471 deg/s,
      cmd heading: 206.609466 deg,
      new cmd heading: 206.612701 deg.

2025-10-27T00:30:35.378Z,1761525035.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606072 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:35.473Z,1761525035.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263486
2025-10-27T00:30:35.724Z,1761525035.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514826
2025-10-27T00:30:35.728Z,1761525035.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885959,0.463678,-0.008848],[-0.454342,-0.871631,-0.183933],[-0.092998,-0.158937,0.982899]]
2025-10-27T00:30:35.745Z,1761525035.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:35.748Z,1761525035.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 212.999786 m,
      bearing: 209.540663 deg,
      approach rate: -0.674875 m/s,
      LOS rate: 0.002422 deg/s,
      cmd heading: 206.612703 deg,
      new cmd heading: 206.615429 deg.

2025-10-27T00:30:35.749Z,1761525035.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606120 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:35.978Z,1761525035.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768365
2025-10-27T00:30:36.145Z,1761525036.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885537,0.464477,-0.009248],[-0.455258,-0.871582,-0.181893],[-0.092546,-0.156862,0.983275]]
2025-10-27T00:30:36.183Z,1761525036.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:36.186Z,1761525036.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 212.720779 m,
      bearing: 209.538584 deg,
      approach rate: -0.638150 m/s,
      LOS rate: -0.004761 deg/s,
      cmd heading: 206.615435 deg,
      new cmd heading: 206.609191 deg.

2025-10-27T00:30:36.187Z,1761525036.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606011 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:36.228Z,1761525036.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018890
2025-10-27T00:30:36.481Z,1761525036.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271218
2025-10-27T00:30:36.547Z,1761525036.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885796,0.463973,-0.009707],[-0.454946,-0.872311,-0.179161],[-0.091593,-0.154284,0.983772]]
2025-10-27T00:30:36.565Z,1761525036.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:36.568Z,1761525036.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 212.474640 m,
      bearing: 209.536765 deg,
      approach rate: -0.643739 m/s,
      LOS rate: -0.004764 deg/s,
      cmd heading: 206.609193 deg,
      new cmd heading: 206.603727 deg.

2025-10-27T00:30:36.569Z,1761525036.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605915 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:36.732Z,1761525036.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522731
2025-10-27T00:30:36.934Z,1761525036.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886371,0.462871,-0.009842],[-0.453926,-0.873032,-0.178231],[-0.091090,-0.153511,0.983939]]
2025-10-27T00:30:36.966Z,1761525036.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:36.976Z,1761525036.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:36.979Z,1761525036.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 212.226807 m,
      bearing: 209.535005 deg,
      approach rate: -0.603401 m/s,
      LOS rate: -0.004289 deg/s,
      cmd heading: 206.603728 deg,
      new cmd heading: 206.598443 deg.

2025-10-27T00:30:36.980Z,1761525036.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605823 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:36.984Z,1761525036.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775111
2025-10-27T00:30:37.236Z,1761525037.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026789
2025-10-27T00:30:37.445Z,1761525037.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886944,0.461769,-0.009968],[-0.452889,-0.873719,-0.177502],[-0.090674,-0.152920,0.984070]]
2025-10-27T00:30:37.488Z,1761525037.488 [DAT](INFO): DAT read: Rx Time:00:30:38.3019

2025-10-27T00:30:37.488Z,1761525037.488 [DAT](INFO): Rx dataTimestamp_ set to:1761525037.488200
2025-10-27T00:30:37.489Z,1761525037.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279878
2025-10-27T00:30:37.513Z,1761525037.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:37.518Z,1761525037.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 211.869415 m,
      bearing: 209.526578 deg,
      approach rate: -0.666537 m/s,
      LOS rate: -0.015743 deg/s,
      cmd heading: 206.598442 deg,
      new cmd heading: 206.573118 deg.

2025-10-27T00:30:37.521Z,1761525037.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605381 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:37.740Z,1761525037.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530962
2025-10-27T00:30:37.873Z,1761525037.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887615,0.460484,-0.009704],[-0.451749,-0.874498,-0.176569],[-0.089793,-0.152341,0.984240]]
2025-10-27T00:30:37.891Z,1761525037.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.17 m.
2025-10-27T00:30:37.894Z,1761525037.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.166641 m,
      nav range: 211.619415 m,
      bearing: 209.520755 deg,
      approach rate: -0.660259 m/s,
      LOS rate: -0.015398 deg/s,
      cmd heading: 206.573116 deg,
      new cmd heading: 206.555625 deg.

2025-10-27T00:30:37.895Z,1761525037.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605076 target range: 226.166641 and range: 227.10 m.
2025-10-27T00:30:37.998Z,1761525037.998 [DAT](INFO): DAT read: 00:30:38.3019 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 427,-0.13, 1.126,-0.125, 1.079, 0.622, PHS= 0.606,-0.702, 0.413, RAW= 142.1,  -5.2, CAL= 142.1,  -6.1, ROT=   7.9,   6.1

2025-10-27T00:30:38.002Z,1761525038.002 [DAT](INFO): got valid direction response:
 00:30:38.3019 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 427,-0.13, 1.126,-0.125, 1.079, 0.622, PHS= 0.606,-0.702, 0.413, RAW= 142.1,  -5.2, CAL= 142.1,  -6.1, ROT=   7.9,   6.1

2025-10-27T00:30:38.008Z,1761525038.008 [DAT](INFO): DAT read: Bearing 341.0,   3.4 (Local)

2025-10-27T00:30:38.009Z,1761525038.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.0,   3.4 (Local)

2025-10-27T00:30:38.011Z,1761525038.011 [DAT](INFO): DAT read: Range 11 to 50 : 225.3 m  (Round-trip  300.4 ms) speed  1.1 m/s

2025-10-27T00:30:38.012Z,1761525038.012 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:38.014Z,1761525038.014 [DAT](INFO): direction in FSK: [0.984901,0.136666,-0.106264]
2025-10-27T00:30:38.014Z,1761525038.014 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:38.034Z,1761525038.034 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:38.034Z,1761525038.034 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:38.034Z,1761525038.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:38.244Z,1761525038.244 [DAT](INFO): DAT read: user:150>

2025-10-27T00:30:38.245Z,1761525038.245 [DAT](INFO): DAT read: Tx time:00:30:39.6473

2025-10-27T00:30:38.245Z,1761525038.245 [DAT](INFO): Ping request sent.
2025-10-27T00:30:38.245Z,1761525038.245 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:38.245Z,1761525038.245 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:38.246Z,1761525038.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-27T00:30:38.269Z,1761525038.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888126,0.459510,-0.009107],[-0.450937,-0.875043,-0.175944],[-0.088817,-0.152153,0.984358]]
2025-10-27T00:30:38.350Z,1761525038.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 225.300003 m,
      deltaT: 4.035625 s,
      deltaX: -1.800003 m,
      approachRate: -0.446028 m/s,
      rangeRepo size: 4

2025-10-27T00:30:38.352Z,1761525038.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 224.376083 m,
      bearing: 213.904146 deg,
      lat: 36.779180 deg,
      lon: -121.859897 deg,
      deltaT: 4.035625 s,
      deltaX: -1.790558 m,
      approachRate: -0.443688 m/s,
      posRepo size: 4

2025-10-27T00:30:38.353Z,1761525038.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:38.356Z,1761525038.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 211.470398 m,
      bearing: 209.796393 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015398 deg/s,
      cmd heading: 206.555630 deg,
      new cmd heading: 206.534433 deg.

2025-10-27T00:30:38.357Z,1761525038.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604706 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:38.499Z,1761525038.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254093
2025-10-27T00:30:38.674Z,1761525038.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888904,0.458036,-0.007284],[-0.449720,-0.875572,-0.176425],[-0.087187,-0.153549,0.984287]]
2025-10-27T00:30:38.698Z,1761525038.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:38.719Z,1761525038.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 211.250153 m,
      bearing: 209.787515 deg,
      approach rate: -0.631854 m/s,
      LOS rate: -0.025496 deg/s,
      cmd heading: 206.534429 deg,
      new cmd heading: 206.507768 deg.

2025-10-27T00:30:38.720Z,1761525038.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.604240 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:38.748Z,1761525038.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503208
2025-10-27T00:30:39.001Z,1761525039.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755942
2025-10-27T00:30:39.082Z,1761525039.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889654,0.456610,-0.004666],[-0.448587,-0.875840,-0.177973],[-0.085351,-0.156242,0.984024]]
2025-10-27T00:30:39.110Z,1761525039.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:39.125Z,1761525039.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:39.148Z,1761525039.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 210.994064 m,
      bearing: 209.777287 deg,
      approach rate: -0.601879 m/s,
      LOS rate: -0.024067 deg/s,
      cmd heading: 206.507764 deg,
      new cmd heading: 206.477044 deg.

2025-10-27T00:30:39.168Z,1761525039.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603704 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:39.252Z,1761525039.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007054
2025-10-27T00:30:39.489Z,1761525039.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890444,0.455089,-0.001772],[-0.447342,-0.875987,-0.180369],[-0.083636,-0.159816,0.983597]]
2025-10-27T00:30:39.505Z,1761525039.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259605
2025-10-27T00:30:39.554Z,1761525039.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:39.557Z,1761525039.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 210.702698 m,
      bearing: 209.762590 deg,
      approach rate: -0.676337 m/s,
      LOS rate: -0.034164 deg/s,
      cmd heading: 206.477042 deg,
      new cmd heading: 206.432889 deg.

2025-10-27T00:30:39.558Z,1761525039.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602934 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:39.756Z,1761525039.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511201
2025-10-27T00:30:39.890Z,1761525039.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891549,0.452925,-0.000189],[-0.445411,-0.876834,-0.181030],[-0.082159,-0.161313,0.983477]]
2025-10-27T00:30:39.920Z,1761525039.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:39.923Z,1761525039.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 210.467880 m,
      bearing: 209.750874 deg,
      approach rate: -0.641678 m/s,
      LOS rate: -0.032051 deg/s,
      cmd heading: 206.432892 deg,
      new cmd heading: 206.397705 deg.

2025-10-27T00:30:39.924Z,1761525039.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602319 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:40.009Z,1761525040.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764316
2025-10-27T00:30:40.260Z,1761525040.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014930
2025-10-27T00:30:40.294Z,1761525040.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892696,0.450657,0.001562],[-0.443386,-0.877663,-0.181978],[-0.080639,-0.163144,0.983301]]
2025-10-27T00:30:40.346Z,1761525040.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:40.353Z,1761525040.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 210.200668 m,
      bearing: 209.737003 deg,
      approach rate: -0.627053 m/s,
      LOS rate: -0.032591 deg/s,
      cmd heading: 206.397703 deg,
      new cmd heading: 206.356037 deg.

2025-10-27T00:30:40.354Z,1761525040.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601592 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:40.512Z,1761525040.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267392
2025-10-27T00:30:40.705Z,1761525040.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893943,0.448171,0.003020],[-0.441172,-0.878754,-0.182096],[-0.078956,-0.164116,0.983276]]
2025-10-27T00:30:40.740Z,1761525040.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:40.742Z,1761525040.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 209.933762 m,
      bearing: 209.723314 deg,
      approach rate: -0.678363 m/s,
      LOS rate: -0.034835 deg/s,
      cmd heading: 206.356038 deg,
      new cmd heading: 206.314920 deg.

2025-10-27T00:30:40.744Z,1761525040.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600875 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:40.764Z,1761525040.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518957
2025-10-27T00:30:41.017Z,1761525041.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771653
2025-10-27T00:30:41.106Z,1761525041.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895211,0.445622,0.004266],[-0.438891,-0.879950,-0.181830],[-0.077273,-0.164648,0.983321]]
2025-10-27T00:30:41.127Z,1761525041.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:41.131Z,1761525041.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:41.136Z,1761525041.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 209.680023 m,
      bearing: 209.710464 deg,
      approach rate: -0.651329 m/s,
      LOS rate: -0.033026 deg/s,
      cmd heading: 206.314921 deg,
      new cmd heading: 206.276323 deg.

2025-10-27T00:30:41.137Z,1761525041.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600201 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:41.268Z,1761525041.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023048
2025-10-27T00:30:41.521Z,1761525041.521 [DAT](INFO): DAT read: Rx Time:00:30:42.3467

2025-10-27T00:30:41.522Z,1761525041.522 [DAT](INFO): Rx dataTimestamp_ set to:1761525041.521116
2025-10-27T00:30:41.523Z,1761525041.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277572
2025-10-27T00:30:41.526Z,1761525041.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896076,0.443857,0.006192],[-0.437426,-0.880547,-0.182468],[-0.075537,-0.166214,0.983192]]
2025-10-27T00:30:41.581Z,1761525041.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:41.584Z,1761525041.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 209.389938 m,
      bearing: 209.696942 deg,
      approach rate: -0.642540 m/s,
      LOS rate: -0.029993 deg/s,
      cmd heading: 206.276330 deg,
      new cmd heading: 206.235708 deg.

2025-10-27T00:30:41.585Z,1761525041.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599492 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:41.772Z,1761525041.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526933
2025-10-27T00:30:41.915Z,1761525041.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896900,0.442175,0.007142],[-0.435985,-0.881409,-0.181755],[-0.074072,-0.166130,0.983318]]
2025-10-27T00:30:41.933Z,1761525041.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.38 m.
2025-10-27T00:30:41.936Z,1761525041.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.376083 m,
      nav range: 209.164154 m,
      bearing: 209.686499 deg,
      approach rate: -0.641812 m/s,
      LOS rate: -0.029717 deg/s,
      cmd heading: 206.235704 deg,
      new cmd heading: 206.204341 deg.

2025-10-27T00:30:41.937Z,1761525041.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598945 target range: 224.376083 and range: 225.30 m.
2025-10-27T00:30:42.031Z,1761525042.031 [DAT](INFO): DAT read: 00:30:42.3467 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 397,-0.10,-2.228, 2.509,-2.264,-3.020, PHS= 0.894,-0.709, 0.712, RAW= 144.0, -11.8, CAL= 144.5, -14.0, ROT=   5.5,  14.0

2025-10-27T00:30:42.033Z,1761525042.033 [DAT](INFO): got valid direction response:
 00:30:42.3467 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 397,-0.10,-2.228, 2.509,-2.264,-3.020, PHS= 0.894,-0.709, 0.712, RAW= 144.0, -11.8, CAL= 144.5, -14.0, ROT=   5.5,  14.0

2025-10-27T00:30:42.033Z,1761525042.033 [DAT](INFO): DAT read: Bearing 332.5,   3.4 (Local)

2025-10-27T00:30:42.034Z,1761525042.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.5,   3.4 (Local)

2025-10-27T00:30:42.035Z,1761525042.035 [DAT](INFO): DAT read: Range 11 to 50 : 221.5 m  (Round-trip  295.4 ms) speed -0.4 m/s

2025-10-27T00:30:42.036Z,1761525042.036 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:42.037Z,1761525042.037 [DAT](INFO): direction in FSK: [0.965829,0.092999,-0.241922]
2025-10-27T00:30:42.037Z,1761525042.037 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:42.041Z,1761525042.041 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:42.041Z,1761525042.041 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:42.041Z,1761525042.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:42.276Z,1761525042.276 [DAT](INFO): DAT read: user:151>

2025-10-27T00:30:42.277Z,1761525042.277 [DAT](INFO): DAT read: Tx time:00:30:43.6972

2025-10-27T00:30:42.277Z,1761525042.277 [DAT](INFO): Ping request sent.
2025-10-27T00:30:42.277Z,1761525042.277 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:42.277Z,1761525042.277 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:42.278Z,1761525042.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-10-27T00:30:42.313Z,1761525042.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897294,0.441357,0.008157],[-0.435381,-0.881792,-0.181344],[-0.072844,-0.166270,0.983386]]
2025-10-27T00:30:42.409Z,1761525042.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.500000 m,
      deltaT: 4.032486 s,
      deltaX: -3.800003 m,
      approachRate: -0.942347 m/s,
      rangeRepo size: 4

2025-10-27T00:30:42.411Z,1761525042.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 220.589996 m,
      bearing: 208.995425 deg,
      lat: 36.779180 deg,
      lon: -121.859897 deg,
      deltaT: 4.032486 s,
      deltaX: -3.786087 m,
      approachRate: -0.938897 m/s,
      posRepo size: 4

2025-10-27T00:30:42.416Z,1761525042.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:42.418Z,1761525042.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 208.865585 m,
      bearing: 209.677331 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029717 deg/s,
      cmd heading: 206.204340 deg,
      new cmd heading: 206.161966 deg.

2025-10-27T00:30:42.423Z,1761525042.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598205 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:42.529Z,1761525042.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251396
2025-10-27T00:30:42.727Z,1761525042.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897878,0.440155,0.008856],[-0.434475,-0.882686,-0.179156],[-0.071039,-0.164708,0.983781]]
2025-10-27T00:30:42.756Z,1761525042.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:42.759Z,1761525042.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 208.626877 m,
      bearing: 209.670052 deg,
      approach rate: -0.686307 m/s,
      LOS rate: -0.020952 deg/s,
      cmd heading: 206.161965 deg,
      new cmd heading: 206.140103 deg.

2025-10-27T00:30:42.760Z,1761525042.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597824 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:42.780Z,1761525042.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502637
2025-10-27T00:30:43.032Z,1761525043.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754886
2025-10-27T00:30:43.173Z,1761525043.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:43.178Z,1761525043.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:43.202Z,1761525043.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 208.361282 m,
      bearing: 209.661932 deg,
      approach rate: -0.631580 m/s,
      LOS rate: -0.019333 deg/s,
      cmd heading: 206.140109 deg,
      new cmd heading: 206.115719 deg.

2025-10-27T00:30:43.205Z,1761525043.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597398 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:43.285Z,1761525043.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007543
2025-10-27T00:30:43.536Z,1761525043.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258595
2025-10-27T00:30:43.539Z,1761525043.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898825,0.438184,0.010435],[-0.433108,-0.884252,-0.174686],[-0.067317,-0.161531,0.984569]]
2025-10-27T00:30:43.575Z,1761525043.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:43.578Z,1761525043.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 208.097198 m,
      bearing: 209.657694 deg,
      approach rate: -0.662449 m/s,
      LOS rate: -0.010646 deg/s,
      cmd heading: 206.115725 deg,
      new cmd heading: 206.102993 deg.

2025-10-27T00:30:43.596Z,1761525043.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597176 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:43.788Z,1761525043.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510550
2025-10-27T00:30:43.937Z,1761525043.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898867,0.438062,0.011812],[-0.433245,-0.884286,-0.174179],[-0.065856,-0.161681,0.984643]]
2025-10-27T00:30:43.966Z,1761525043.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:43.968Z,1761525043.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 207.846878 m,
      bearing: 209.653660 deg,
      approach rate: -0.640994 m/s,
      LOS rate: -0.010342 deg/s,
      cmd heading: 206.102994 deg,
      new cmd heading: 206.090877 deg.

2025-10-27T00:30:43.969Z,1761525043.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596964 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:44.042Z,1761525044.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764549
2025-10-27T00:30:44.292Z,1761525044.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014570
2025-10-27T00:30:44.397Z,1761525044.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:44.400Z,1761525044.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 207.564865 m,
      bearing: 209.655139 deg,
      approach rate: -0.654155 m/s,
      LOS rate: 0.003435 deg/s,
      cmd heading: 206.090877 deg,
      new cmd heading: 206.095320 deg.

2025-10-27T00:30:44.401Z,1761525044.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597042 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:44.544Z,1761525044.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266683
2025-10-27T00:30:44.746Z,1761525044.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898119,0.439502,0.014837],[-0.435212,-0.883506,-0.173228],[-0.063026,-0.162037,0.984770]]
2025-10-27T00:30:44.777Z,1761525044.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:44.780Z,1761525044.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 207.315308 m,
      bearing: 209.656306 deg,
      approach rate: -0.656109 m/s,
      LOS rate: 0.003072 deg/s,
      cmd heading: 206.095316 deg,
      new cmd heading: 206.098822 deg.

2025-10-27T00:30:44.781Z,1761525044.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597103 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:44.796Z,1761525044.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518727
2025-10-27T00:30:45.048Z,1761525045.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770592
2025-10-27T00:30:45.150Z,1761525045.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897472,0.440784,0.015924],[-0.436768,-0.883106,-0.171342],[-0.061462,-0.160730,0.985083]]
2025-10-27T00:30:45.173Z,1761525045.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:45.175Z,1761525045.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:45.178Z,1761525045.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 207.054642 m,
      bearing: 209.657409 deg,
      approach rate: -0.654620 m/s,
      LOS rate: 0.002772 deg/s,
      cmd heading: 206.098827 deg,
      new cmd heading: 206.102139 deg.

2025-10-27T00:30:45.195Z,1761525045.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597161 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:45.305Z,1761525045.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026832
2025-10-27T00:30:45.552Z,1761525045.552 [DAT](INFO): DAT read: Rx Time:00:30:46.3958

2025-10-27T00:30:45.553Z,1761525045.553 [DAT](INFO): Rx dataTimestamp_ set to:1761525045.552278
2025-10-27T00:30:45.553Z,1761525045.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275813
2025-10-27T00:30:45.559Z,1761525045.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896289,0.443144,0.017016],[-0.439384,-0.882177,-0.169426],[-0.060069,-0.159331,0.985396]]
2025-10-27T00:30:45.595Z,1761525045.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:45.618Z,1761525045.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 206.777603 m,
      bearing: 209.662897 deg,
      approach rate: -0.660547 m/s,
      LOS rate: 0.013104 deg/s,
      cmd heading: 206.102133 deg,
      new cmd heading: 206.118621 deg.

2025-10-27T00:30:45.623Z,1761525045.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597449 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:45.804Z,1761525045.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526560
2025-10-27T00:30:45.958Z,1761525045.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895280,0.445143,0.017943],[-0.441643,-0.881508,-0.167017],[-0.058530,-0.157451,0.985791]]
2025-10-27T00:30:45.992Z,1761525045.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.59 m.
2025-10-27T00:30:46.002Z,1761525046.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.589996 m,
      nav range: 206.525833 m,
      bearing: 209.667728 deg,
      approach rate: -0.633564 m/s,
      LOS rate: 0.012170 deg/s,
      cmd heading: 206.118621 deg,
      new cmd heading: 206.133130 deg.

2025-10-27T00:30:46.008Z,1761525046.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597702 target range: 220.589996 and range: 221.50 m.
2025-10-27T00:30:46.061Z,1761525046.061 [DAT](INFO): DAT read: 00:30:46.3958 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.21,-0.268,-1.891,-0.320,-1.447, PHS= 1.280,-0.400, 1.083, RAW= 143.8, -23.6, CAL= 144.9, -25.5, ROT=   5.1,  25.5

2025-10-27T00:30:46.063Z,1761525046.063 [DAT](INFO): got valid direction response:
 00:30:46.3958 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.21,-0.268,-1.891,-0.320,-1.447, PHS= 1.280,-0.400, 1.083, RAW= 143.8, -23.6, CAL= 144.9, -25.5, ROT=   5.1,  25.5

2025-10-27T00:30:46.065Z,1761525046.065 [DAT](INFO): DAT read: Bearing 320.1,   5.6 (Local)

2025-10-27T00:30:46.065Z,1761525046.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.1,   5.6 (Local)

2025-10-27T00:30:46.067Z,1761525046.067 [DAT](INFO): DAT read: Range 11 to 50 : 220.8 m  (Round-trip  294.4 ms) speed  0.4 m/s

2025-10-27T00:30:46.068Z,1761525046.068 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:46.069Z,1761525046.069 [DAT](INFO): direction in FSK: [0.899012,0.080235,-0.430511]
2025-10-27T00:30:46.070Z,1761525046.070 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:46.092Z,1761525046.092 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:46.092Z,1761525046.092 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:46.093Z,1761525046.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:46.308Z,1761525046.308 [DAT](INFO): DAT read: user:152>

2025-10-27T00:30:46.309Z,1761525046.309 [DAT](INFO): DAT read: Tx time:00:30:47.7472

2025-10-27T00:30:46.309Z,1761525046.309 [DAT](INFO): Ping request sent.
2025-10-27T00:30:46.309Z,1761525046.309 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:46.309Z,1761525046.309 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:46.310Z,1761525046.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-10-27T00:30:46.453Z,1761525046.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 220.800003 m,
      deltaT: 4.031678 s,
      deltaX: -0.699997 m,
      approachRate: -0.173624 m/s,
      rangeRepo size: 4

2025-10-27T00:30:46.455Z,1761525046.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 219.893890 m,
      bearing: 207.001719 deg,
      lat: 36.779194 deg,
      lon: -121.859881 deg,
      deltaT: 4.031678 s,
      deltaX: -0.696106 m,
      approachRate: -0.172659 m/s,
      posRepo size: 4

2025-10-27T00:30:46.456Z,1761525046.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.89 m.
2025-10-27T00:30:46.459Z,1761525046.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.893890 m,
      nav range: 204.180038 m,
      bearing: 209.554012 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012170 deg/s,
      cmd heading: 206.133128 deg,
      new cmd heading: 206.149943 deg.

2025-10-27T00:30:46.460Z,1761525046.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597995 target range: 219.893890 and range: 220.80 m.
2025-10-27T00:30:46.561Z,1761525046.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251817
2025-10-27T00:30:46.807Z,1761525046.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892698,0.450250,0.019107],[-0.447166,-0.879724,-0.161640],[-0.055970,-0.152839,0.986665]]
2025-10-27T00:30:46.812Z,1761525046.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502962
2025-10-27T00:30:46.826Z,1761525046.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.89 m.
2025-10-27T00:30:46.829Z,1761525046.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.893890 m,
      nav range: 203.934113 m,
      bearing: 209.560514 deg,
      approach rate: -0.658174 m/s,
      LOS rate: 0.017421 deg/s,
      cmd heading: 206.149944 deg,
      new cmd heading: 206.169472 deg.

2025-10-27T00:30:46.830Z,1761525046.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598336 target range: 219.893890 and range: 220.80 m.
2025-10-27T00:30:47.064Z,1761525047.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755339
2025-10-27T00:30:47.210Z,1761525047.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891702,0.452204,0.019492],[-0.449342,-0.879238,-0.158215],[-0.054407,-0.149839,0.987212]]
2025-10-27T00:30:47.290Z,1761525047.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:47.311Z,1761525047.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.89 m.
2025-10-27T00:30:47.314Z,1761525047.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.893890 m,
      nav range: 203.661072 m,
      bearing: 209.567571 deg,
      approach rate: -0.570270 m/s,
      LOS rate: 0.014760 deg/s,
      cmd heading: 206.169479 deg,
      new cmd heading: 206.190679 deg.

2025-10-27T00:30:47.316Z,1761525047.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006978
2025-10-27T00:30:47.319Z,1761525047.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598706 target range: 219.893890 and range: 220.80 m.
2025-10-27T00:30:47.489Z,1761525047.489 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:30:47.568Z,1761525047.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258821
2025-10-27T00:30:47.686Z,1761525047.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.89 m.
2025-10-27T00:30:47.690Z,1761525047.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.893890 m,
      nav range: 203.384811 m,
      bearing: 209.576371 deg,
      approach rate: -0.725272 m/s,
      LOS rate: 0.023135 deg/s,
      cmd heading: 206.190680 deg,
      new cmd heading: 206.217116 deg.

2025-10-27T00:30:47.692Z,1761525047.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599168 target range: 219.893890 and range: 220.80 m.
2025-10-27T00:30:47.820Z,1761525047.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511081
2025-10-27T00:30:48.034Z,1761525048.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891031,0.453424,0.021699],[-0.450965,-0.878706,-0.156544],[-0.051913,-0.149271,0.987433]]
2025-10-27T00:30:48.065Z,1761525048.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.89 m.
2025-10-27T00:30:48.068Z,1761525048.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.893890 m,
      nav range: 203.143799 m,
      bearing: 209.583948 deg,
      approach rate: -0.635635 m/s,
      LOS rate: 0.020005 deg/s,
      cmd heading: 206.217112 deg,
      new cmd heading: 206.239869 deg.

2025-10-27T00:30:48.069Z,1761525048.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599565 target range: 219.893890 and range: 220.80 m.
2025-10-27T00:30:48.072Z,1761525048.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762954
2025-10-27T00:30:48.324Z,1761525048.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014821
2025-10-27T00:30:48.439Z,1761525048.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890772,0.453863,0.023111],[-0.451610,-0.878381,-0.156512],[-0.050735,-0.149854,0.987406]]
2025-10-27T00:30:48.492Z,1761525048.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:30:48.496Z,1761525048.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.89 m.
2025-10-27T00:30:48.511Z,1761525048.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.893890 m,
      nav range: 202.876190 m,
      bearing: 209.589499 deg,
      approach rate: -0.653102 m/s,
      LOS rate: 0.013566 deg/s,
      cmd heading: 206.239871 deg,
      new cmd heading: 206.256546 deg.

2025-10-27T00:30:48.512Z,1761525048.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599856 target range: 219.893890 and range: 220.80 m.
2025-10-27T00:30:48.577Z,1761525048.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267590
2025-10-27T00:30:48.828Z,1761525048.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518784
2025-10-27T00:30:48.851Z,1761525048.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890294,0.454716,0.024679],[-0.452685,-0.877820,-0.156550],[-0.049522,-0.150548,0.987362]]
2025-10-27T00:30:48.869Z,1761525048.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.89 m.
2025-10-27T00:30:48.872Z,1761525048.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.893890 m,
      nav range: 202.618744 m,
      bearing: 209.594767 deg,
      approach rate: -0.653565 m/s,
      LOS rate: 0.013392 deg/s,
      cmd heading: 206.256550 deg,
      new cmd heading: 206.272375 deg.

2025-10-27T00:30:48.872Z,1761525048.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600132 target range: 219.893890 and range: 220.80 m.
2025-10-27T00:30:49.080Z,1761525049.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771225
2025-10-27T00:30:49.252Z,1761525049.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889818,0.455563,0.026182],[-0.453732,-0.877228,-0.156839],[-0.048483,-0.151437,0.987277]]
2025-10-27T00:30:49.332Z,1761525049.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023399
2025-10-27T00:30:49.333Z,1761525049.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:49.339Z,1761525049.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.89 m.
2025-10-27T00:30:49.342Z,1761525049.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.893890 m,
      nav range: 202.347000 m,
      bearing: 209.600255 deg,
      approach rate: -0.582554 m/s,
      LOS rate: 0.011779 deg/s,
      cmd heading: 206.272382 deg,
      new cmd heading: 206.288866 deg.

2025-10-27T00:30:49.347Z,1761525049.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600420 target range: 219.893890 and range: 220.80 m.
2025-10-27T00:30:49.585Z,1761525049.585 [DAT](INFO): DAT read: Rx Time:00:30:50.4434

2025-10-27T00:30:49.585Z,1761525049.585 [DAT](INFO): Rx dataTimestamp_ set to:1761525049.584747
2025-10-27T00:30:49.586Z,1761525049.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276878
2025-10-27T00:30:49.729Z,1761525049.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.89 m.
2025-10-27T00:30:49.733Z,1761525049.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.893890 m,
      nav range: 202.071182 m,
      bearing: 209.601238 deg,
      approach rate: -0.700202 m/s,
      LOS rate: 0.002501 deg/s,
      cmd heading: 206.288870 deg,
      new cmd heading: 206.291826 deg.

2025-10-27T00:30:49.734Z,1761525049.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600471 target range: 219.893890 and range: 220.80 m.
2025-10-27T00:30:49.837Z,1761525049.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527667
2025-10-27T00:30:50.061Z,1761525050.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889538,0.455828,0.030707],[-0.454562,-0.876327,-0.159451],[-0.045773,-0.155796,0.986728]]
2025-10-27T00:30:50.093Z,1761525050.093 [DAT](INFO): DAT read: 00:30:50.4434 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=  95, 0.17,-0.691,-2.383,-0.513,-0.861, PHS= 0.272,-1.477, 0.305, RAW= 150.9,  10.2, CAL= 150.6,  11.1, ROT= 359.4, -11.1

2025-10-27T00:30:50.094Z,1761525050.094 [DAT](INFO): got valid direction response:
 00:30:50.4434 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=  95, 0.17,-0.691,-2.383,-0.513,-0.861, PHS= 0.272,-1.477, 0.305, RAW= 150.9,  10.2, CAL= 150.6,  11.1, ROT= 359.4, -11.1

2025-10-27T00:30:50.096Z,1761525050.096 [DAT](INFO): DAT read: Bearing 355.9,  -4.8 (Local)

2025-10-27T00:30:50.096Z,1761525050.096 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,  -4.8 (Local)

2025-10-27T00:30:50.097Z,1761525050.097 [DAT](INFO): DAT read: Range 11 to 50 : 219.0 m  (Round-trip  292.0 ms) speed  0.4 m/s

2025-10-27T00:30:50.098Z,1761525050.098 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:50.100Z,1761525050.100 [DAT](INFO): direction in FSK: [0.981239,-0.010276,0.192522]
2025-10-27T00:30:50.100Z,1761525050.100 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:50.103Z,1761525050.103 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:50.103Z,1761525050.103 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:50.104Z,1761525050.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:50.136Z,1761525050.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 219.000000 m,
      deltaT: 4.031935 s,
      deltaX: -1.800003 m,
      approachRate: -0.446437 m/s,
      rangeRepo size: 4

2025-10-27T00:30:50.138Z,1761525050.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 218.102005 m,
      bearing: 208.218759 deg,
      lat: 36.779170 deg,
      lon: -121.859881 deg,
      deltaT: 4.031935 s,
      deltaX: -1.791885 m,
      approachRate: -0.444423 m/s,
      posRepo size: 4

2025-10-27T00:30:50.155Z,1761525050.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:50.158Z,1761525050.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 204.152817 m,
      bearing: 209.236097 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002501 deg/s,
      cmd heading: 206.291821 deg,
      new cmd heading: 206.294746 deg.

2025-10-27T00:30:50.159Z,1761525050.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600523 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:50.340Z,1761525050.340 [DAT](INFO): DAT read: user:153>

2025-10-27T00:30:50.341Z,1761525050.341 [DAT](INFO): DAT read: Tx time:00:30:51.7472

2025-10-27T00:30:50.341Z,1761525050.341 [DAT](INFO): Ping request sent.
2025-10-27T00:30:50.341Z,1761525050.341 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:50.341Z,1761525050.341 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:50.342Z,1761525050.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-10-27T00:30:50.560Z,1761525050.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889901,0.454889,0.033945],[-0.454057,-0.876230,-0.161410],[-0.043680,-0.159052,0.986303]]
2025-10-27T00:30:50.592Z,1761525050.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250783
2025-10-27T00:30:50.606Z,1761525050.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:50.609Z,1761525050.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 203.807114 m,
      bearing: 209.230007 deg,
      approach rate: -0.710033 m/s,
      LOS rate: -0.012530 deg/s,
      cmd heading: 206.294744 deg,
      new cmd heading: 206.276442 deg.

2025-10-27T00:30:50.610Z,1761525050.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.600203 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:50.844Z,1761525050.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503168
2025-10-27T00:30:50.964Z,1761525050.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890461,0.453654,0.035730],[-0.453068,-0.876490,-0.162769],[-0.042524,-0.161128,0.986017]]
2025-10-27T00:30:50.992Z,1761525050.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:50.998Z,1761525050.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 203.558365 m,
      bearing: 209.225703 deg,
      approach rate: -0.643587 m/s,
      LOS rate: -0.011149 deg/s,
      cmd heading: 206.276439 deg,
      new cmd heading: 206.263512 deg.

2025-10-27T00:30:51.000Z,1761525051.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599977 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:51.096Z,1761525051.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754708
2025-10-27T00:30:51.352Z,1761525051.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010407
2025-10-27T00:30:51.467Z,1761525051.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:51.469Z,1761525051.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:51.473Z,1761525051.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 203.252945 m,
      bearing: 209.214121 deg,
      approach rate: -0.640546 m/s,
      LOS rate: -0.024326 deg/s,
      cmd heading: 206.263517 deg,
      new cmd heading: 206.228720 deg.

2025-10-27T00:30:51.476Z,1761525051.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.599370 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:51.600Z,1761525051.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258788
2025-10-27T00:30:51.852Z,1761525051.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510682
2025-10-27T00:30:51.915Z,1761525051.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892225,0.449878,0.039292],[-0.449893,-0.877965,-0.163629],[-0.039116,-0.163671,0.985739]]
2025-10-27T00:30:51.987Z,1761525051.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:51.996Z,1761525051.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 202.959885 m,
      bearing: 209.203306 deg,
      approach rate: -0.570960 m/s,
      LOS rate: -0.021102 deg/s,
      cmd heading: 206.228724 deg,
      new cmd heading: 206.196231 deg.

2025-10-27T00:30:51.997Z,1761525051.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598803 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:52.105Z,1761525052.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763399
2025-10-27T00:30:52.358Z,1761525052.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016893
2025-10-27T00:30:52.387Z,1761525052.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893286,0.447513,0.042103],[-0.447955,-0.878592,-0.165568],[-0.037102,-0.166760,0.985299]]
2025-10-27T00:30:52.444Z,1761525052.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:52.447Z,1761525052.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 202.619720 m,
      bearing: 209.186726 deg,
      approach rate: -0.736860 m/s,
      LOS rate: -0.035976 deg/s,
      cmd heading: 206.196226 deg,
      new cmd heading: 206.146402 deg.

2025-10-27T00:30:52.448Z,1761525052.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597934 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:52.608Z,1761525052.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266640
2025-10-27T00:30:52.743Z,1761525052.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894632,0.444616,0.044161],[-0.445451,-0.879872,-0.165526],[-0.034739,-0.167756,0.985216]]
2025-10-27T00:30:52.773Z,1761525052.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:52.775Z,1761525052.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 202.402634 m,
      bearing: 209.176306 deg,
      approach rate: -0.660853 m/s,
      LOS rate: -0.031754 deg/s,
      cmd heading: 206.146406 deg,
      new cmd heading: 206.115114 deg.

2025-10-27T00:30:52.776Z,1761525052.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597387 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:52.861Z,1761525052.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519530
2025-10-27T00:30:53.112Z,1761525053.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770746
2025-10-27T00:30:53.150Z,1761525053.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895673,0.442207,0.047142],[-0.443531,-0.880539,-0.167124],[-0.032393,-0.170597,0.984808]]
2025-10-27T00:30:53.193Z,1761525053.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:53.200Z,1761525053.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 202.134033 m,
      bearing: 209.163580 deg,
      approach rate: -0.638939 m/s,
      LOS rate: -0.030313 deg/s,
      cmd heading: 206.115110 deg,
      new cmd heading: 206.076881 deg.

2025-10-27T00:30:53.201Z,1761525053.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.596720 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:53.367Z,1761525053.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025379
2025-10-27T00:30:53.550Z,1761525053.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896546,0.440151,0.049730],[-0.441953,-0.881338,-0.167092],[-0.029717,-0.171784,0.984686]]
2025-10-27T00:30:53.597Z,1761525053.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:53.599Z,1761525053.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:53.602Z,1761525053.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 201.854416 m,
      bearing: 209.148411 deg,
      approach rate: -0.688592 m/s,
      LOS rate: -0.037407 deg/s,
      cmd heading: 206.076875 deg,
      new cmd heading: 206.031306 deg.

2025-10-27T00:30:53.603Z,1761525053.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595925 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:53.616Z,1761525053.616 [DAT](INFO): DAT read: Rx Time:00:30:54.4387

2025-10-27T00:30:53.616Z,1761525053.616 [DAT](INFO): Rx dataTimestamp_ set to:1761525053.616191
2025-10-27T00:30:53.617Z,1761525053.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275854
2025-10-27T00:30:53.869Z,1761525053.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527358
2025-10-27T00:30:54.000Z,1761525054.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897463,0.438022,0.051932],[-0.440254,-0.882285,-0.166583],[-0.027148,-0.172365,0.984659]]
2025-10-27T00:30:54.018Z,1761525054.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.10 m.
2025-10-27T00:30:54.021Z,1761525054.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.102005 m,
      nav range: 201.579071 m,
      bearing: 209.133599 deg,
      approach rate: -0.657287 m/s,
      LOS rate: -0.035407 deg/s,
      cmd heading: 206.031304 deg,
      new cmd heading: 205.986806 deg.

2025-10-27T00:30:54.022Z,1761525054.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.595148 target range: 218.102005 and range: 219.00 m.
2025-10-27T00:30:54.127Z,1761525054.127 [DAT](INFO): DAT read: 00:30:54.4387 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  92, 0.03, 2.142, 0.441, 2.258, 1.873, PHS= 0.371,-1.387, 0.340, RAW= 149.1,   7.8, CAL= 148.6,   8.4, ROT=   1.4,  -8.4

2025-10-27T00:30:54.128Z,1761525054.128 [DAT](INFO): got valid direction response:
 00:30:54.4387 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  92, 0.03, 2.142, 0.441, 2.258, 1.873, PHS= 0.371,-1.387, 0.340, RAW= 149.1,   7.8, CAL= 148.6,   8.4, ROT=   1.4,  -8.4

2025-10-27T00:30:54.129Z,1761525054.129 [DAT](INFO): DAT read: Bearing 353.1,  -1.7 (Local)

2025-10-27T00:30:54.130Z,1761525054.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.1,  -1.7 (Local)

2025-10-27T00:30:54.131Z,1761525054.131 [DAT](INFO): DAT read: Range 11 to 50 : 215.5 m  (Round-trip  287.4 ms) speed  0.4 m/s

2025-10-27T00:30:54.132Z,1761525054.132 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:54.133Z,1761525054.133 [DAT](INFO): direction in FSK: [0.988977,0.024170,0.146083]
2025-10-27T00:30:54.133Z,1761525054.133 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:54.157Z,1761525054.157 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:54.157Z,1761525054.157 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:54.157Z,1761525054.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:54.375Z,1761525054.375 [DAT](INFO): DAT read: user:154>

2025-10-27T00:30:54.378Z,1761525054.378 [DAT](INFO): DAT read: Tx time:00:30:55.7972

2025-10-27T00:30:54.382Z,1761525054.382 [DAT](INFO): Ping request sent.
2025-10-27T00:30:54.382Z,1761525054.382 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:54.383Z,1761525054.383 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:54.385Z,1761525054.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002606
2025-10-27T00:30:54.401Z,1761525054.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898264,0.436068,0.054473],[-0.438772,-0.883029,-0.166547],[-0.024525,-0.173504,0.984528]]
2025-10-27T00:30:54.517Z,1761525054.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 215.500000 m,
      deltaT: 4.032312 s,
      deltaX: -3.500000 m,
      approachRate: -0.867988 m/s,
      rangeRepo size: 4

2025-10-27T00:30:54.523Z,1761525054.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.614716 m,
      bearing: 208.870562 deg,
      lat: 36.779170 deg,
      lon: -121.859907 deg,
      deltaT: 4.032312 s,
      deltaX: -3.487289 m,
      approachRate: -0.864836 m/s,
      posRepo size: 4

2025-10-27T00:30:54.524Z,1761525054.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:54.531Z,1761525054.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 202.406998 m,
      bearing: 209.687701 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035407 deg/s,
      cmd heading: 205.986812 deg,
      new cmd heading: 205.934848 deg.

2025-10-27T00:30:54.532Z,1761525054.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594241 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:54.625Z,1761525054.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243009
2025-10-27T00:30:54.863Z,1761525054.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899053,0.434174,0.056544],[-0.437292,-0.883946,-0.165578],[-0.021908,-0.173590,0.984574]]
2025-10-27T00:30:54.876Z,1761525054.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494384
2025-10-27T00:30:54.883Z,1761525054.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:54.886Z,1761525054.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 202.135544 m,
      bearing: 209.674596 deg,
      approach rate: -0.723029 m/s,
      LOS rate: -0.034951 deg/s,
      cmd heading: 205.934848 deg,
      new cmd heading: 205.895482 deg.

2025-10-27T00:30:54.886Z,1761525054.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593554 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:55.128Z,1761525055.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746673
2025-10-27T00:30:55.265Z,1761525055.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899672,0.432713,0.057875],[-0.436134,-0.884955,-0.163222],[-0.019411,-0.172088,0.984890]]
2025-10-27T00:30:55.294Z,1761525055.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:55.297Z,1761525055.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 201.862579 m,
      bearing: 209.661483 deg,
      approach rate: -0.663284 m/s,
      LOS rate: -0.031908 deg/s,
      cmd heading: 205.895479 deg,
      new cmd heading: 205.856085 deg.

2025-10-27T00:30:55.298Z,1761525055.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592866 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:55.384Z,1761525055.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002062
2025-10-27T00:30:55.632Z,1761525055.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250296
2025-10-27T00:30:55.734Z,1761525055.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:55.736Z,1761525055.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:55.739Z,1761525055.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 201.567429 m,
      bearing: 209.651983 deg,
      approach rate: -0.668276 m/s,
      LOS rate: -0.021541 deg/s,
      cmd heading: 205.856082 deg,
      new cmd heading: 205.827540 deg.

2025-10-27T00:30:55.760Z,1761525055.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592368 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:55.884Z,1761525055.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502322
2025-10-27T00:30:56.075Z,1761525056.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900544,0.430594,0.060084],[-0.434501,-0.886541,-0.158918],[-0.015162,-0.169219,0.985462]]
2025-10-27T00:30:56.100Z,1761525056.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:56.102Z,1761525056.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 201.324905 m,
      bearing: 209.644280 deg,
      approach rate: -0.666752 m/s,
      LOS rate: -0.021202 deg/s,
      cmd heading: 205.827546 deg,
      new cmd heading: 205.804410 deg.

2025-10-27T00:30:56.103Z,1761525056.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591964 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:56.136Z,1761525056.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754340
2025-10-27T00:30:56.393Z,1761525056.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008763
2025-10-27T00:30:56.489Z,1761525056.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900761,0.429971,0.061275],[-0.434108,-0.886973,-0.157574],[-0.013403,-0.168537,0.985604]]
2025-10-27T00:30:56.576Z,1761525056.576 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +123.63,      +      -0.18,   .00
2025-10-27T00:30:56.591Z,1761525056.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:56.593Z,1761525056.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 200.998016 m,
      bearing: 209.633910 deg,
      approach rate: -0.665630 m/s,
      LOS rate: -0.021151 deg/s,
      cmd heading: 205.804405 deg,
      new cmd heading: 205.773244 deg.

2025-10-27T00:30:56.594Z,1761525056.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591421 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:56.641Z,1761525056.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258887
2025-10-27T00:30:56.892Z,1761525056.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510286
2025-10-27T00:30:56.920Z,1761525056.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:56.923Z,1761525056.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 200.782150 m,
      bearing: 209.627043 deg,
      approach rate: -0.654794 m/s,
      LOS rate: -0.020851 deg/s,
      cmd heading: 205.773246 deg,
      new cmd heading: 205.752624 deg.

2025-10-27T00:30:56.924Z,1761525056.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591061 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:57.144Z,1761525057.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762364
2025-10-27T00:30:57.286Z,1761525057.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900690,0.429789,0.063557],[-0.434363,-0.887660,-0.152933],[-0.009312,-0.165351,0.986191]]
2025-10-27T00:30:57.324Z,1761525057.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:57.331Z,1761525057.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 200.523499 m,
      bearing: 209.618770 deg,
      approach rate: -0.640222 m/s,
      LOS rate: -0.020504 deg/s,
      cmd heading: 205.752619 deg,
      new cmd heading: 205.727767 deg.

2025-10-27T00:30:57.332Z,1761525057.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590627 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:57.400Z,1761525057.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017929
2025-10-27T00:30:57.648Z,1761525057.648 [DAT](INFO): DAT read: Rx Time:00:30:58.4867

2025-10-27T00:30:57.648Z,1761525057.648 [DAT](INFO): Rx dataTimestamp_ set to:1761525057.648196
2025-10-27T00:30:57.649Z,1761525057.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267432
2025-10-27T00:30:57.696Z,1761525057.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900461,0.430057,0.064965],[-0.434877,-0.887761,-0.150873],[-0.007210,-0.164107,0.986416]]
2025-10-27T00:30:57.748Z,1761525057.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:57.750Z,1761525057.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:57.752Z,1761525057.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 200.222610 m,
      bearing: 209.620309 deg,
      approach rate: -0.707404 m/s,
      LOS rate: 0.003625 deg/s,
      cmd heading: 205.727770 deg,
      new cmd heading: 205.732395 deg.

2025-10-27T00:30:57.753Z,1761525057.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590708 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:57.900Z,1761525057.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518259
2025-10-27T00:30:58.094Z,1761525058.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899774,0.431318,0.066114],[-0.436322,-0.887453,-0.148493],[-0.005375,-0.162457,0.986701]]
2025-10-27T00:30:58.126Z,1761525058.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.61 m.
2025-10-27T00:30:58.129Z,1761525058.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.614716 m,
      nav range: 199.970932 m,
      bearing: 209.621488 deg,
      approach rate: -0.668407 m/s,
      LOS rate: 0.003134 deg/s,
      cmd heading: 205.732401 deg,
      new cmd heading: 205.735941 deg.

2025-10-27T00:30:58.130Z,1761525058.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590770 target range: 214.614716 and range: 215.50 m.
2025-10-27T00:30:58.176Z,1761525058.176 [DAT](INFO): DAT read: 00:30:58.4867 LVL= 31856, 32753, 32658, 25075, AGC= 67, IDX= 422, 0.22, 0.003,-1.317,-0.011,-1.203, PHS= 1.308,-0.069, 1.148, RAW= 143.9, -32.9, CAL= 145.0, -33.1, ROT=   5.0,  33.1

2025-10-27T00:30:58.178Z,1761525058.178 [DAT](INFO): got valid direction response:
 00:30:58.4867 LVL= 31856, 32753, 32658, 25075, AGC= 67, IDX= 422, 0.22, 0.003,-1.317,-0.011,-1.203, PHS= 1.308,-0.069, 1.148, RAW= 143.9, -32.9, CAL= 145.0, -33.1, ROT=   5.0,  33.1

2025-10-27T00:30:58.179Z,1761525058.179 [DAT](INFO): DAT read: Bearing 312.4,   9.4 (Local)

2025-10-27T00:30:58.180Z,1761525058.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4,   9.4 (Local)

2025-10-27T00:30:58.182Z,1761525058.182 [DAT](INFO): DAT read: Range 11 to 50 : 213.9 m  (Round-trip  285.3 ms) speed  0.0 m/s

2025-10-27T00:30:58.183Z,1761525058.183 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:30:58.192Z,1761525058.192 [DAT](INFO): direction in FSK: [0.834531,0.073012,-0.546102]
2025-10-27T00:30:58.193Z,1761525058.193 [DAT](INFO): publishing direction and range info
2025-10-27T00:30:58.204Z,1761525058.204 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:30:58.204Z,1761525058.204 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:30:58.204Z,1761525058.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:30:58.422Z,1761525058.422 [DAT](INFO): DAT read: user:155>

2025-10-27T00:30:58.425Z,1761525058.425 [DAT](INFO): DAT read: Tx time:00:30:59.8472

2025-10-27T00:30:58.426Z,1761525058.426 [DAT](INFO): Ping request sent.
2025-10-27T00:30:58.426Z,1761525058.426 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:30:58.427Z,1761525058.427 [DAT](INFO): publishing transmit ping time
2025-10-27T00:30:58.429Z,1761525058.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002783
2025-10-27T00:30:58.529Z,1761525058.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898849,0.432860,0.068574],[-0.438254,-0.887088,-0.144945],[-0.001910,-0.160336,0.987061]]
2025-10-27T00:30:58.601Z,1761525058.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 213.899994 m,
      deltaT: 4.048563 s,
      deltaX: -1.600006 m,
      approachRate: -0.395203 m/s,
      rangeRepo size: 4

2025-10-27T00:30:58.607Z,1761525058.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 213.022308 m,
      bearing: 204.927701 deg,
      lat: 36.779170 deg,
      lon: -121.859871 deg,
      deltaT: 4.048563 s,
      deltaX: -1.592407 m,
      approachRate: -0.393327 m/s,
      posRepo size: 4

2025-10-27T00:30:58.608Z,1761525058.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:30:58.623Z,1761525058.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 198.139206 m,
      bearing: 208.835355 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003134 deg/s,
      cmd heading: 205.735939 deg,
      new cmd heading: 205.740399 deg.

2025-10-27T00:30:58.624Z,1761525058.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590847 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:30:58.675Z,1761525058.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248827
2025-10-27T00:30:58.924Z,1761525058.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498191
2025-10-27T00:30:58.954Z,1761525058.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898271,0.433927,0.069409],[-0.439442,-0.886818,-0.142982],[-0.000490,-0.158938,0.987288]]
2025-10-27T00:30:59.016Z,1761525059.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:30:59.027Z,1761525059.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 197.879745 m,
      bearing: 208.840371 deg,
      approach rate: -0.624293 m/s,
      LOS rate: 0.012085 deg/s,
      cmd heading: 205.740393 deg,
      new cmd heading: 205.755461 deg.

2025-10-27T00:30:59.028Z,1761525059.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591110 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:30:59.176Z,1761525059.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750119
2025-10-27T00:30:59.359Z,1761525059.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897473,0.435395,0.070522],[-0.441069,-0.886218,-0.141690],[0.000807,-0.158268,0.987396]]
2025-10-27T00:30:59.376Z,1761525059.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:30:59.379Z,1761525059.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 197.625458 m,
      bearing: 208.845168 deg,
      approach rate: -0.706045 m/s,
      LOS rate: 0.013336 deg/s,
      cmd heading: 205.755460 deg,
      new cmd heading: 205.769869 deg.

2025-10-27T00:30:59.380Z,1761525059.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591362 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:30:59.431Z,1761525059.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005276
2025-10-27T00:30:59.682Z,1761525059.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255462
2025-10-27T00:30:59.757Z,1761525059.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896758,0.436679,0.071677],[-0.442517,-0.885693,-0.140449],[0.002153,-0.157667,0.987490]]
2025-10-27T00:30:59.800Z,1761525059.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:30:59.802Z,1761525059.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:30:59.805Z,1761525059.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 197.352875 m,
      bearing: 208.854758 deg,
      approach rate: -0.640311 m/s,
      LOS rate: 0.022559 deg/s,
      cmd heading: 205.769872 deg,
      new cmd heading: 205.798681 deg.

2025-10-27T00:30:59.806Z,1761525059.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591865 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:30:59.932Z,1761525059.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506131
2025-10-27T00:31:00.167Z,1761525060.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895787,0.438454,0.072961],[-0.444471,-0.884804,-0.139884],[0.003223,-0.157735,0.987476]]
2025-10-27T00:31:00.184Z,1761525060.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758216
2025-10-27T00:31:00.186Z,1761525060.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:00.189Z,1761525060.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 197.106186 m,
      bearing: 208.863301 deg,
      approach rate: -0.641629 m/s,
      LOS rate: 0.022248 deg/s,
      cmd heading: 205.798681 deg,
      new cmd heading: 205.824343 deg.

2025-10-27T00:31:00.190Z,1761525060.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592313 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:00.439Z,1761525060.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012560
2025-10-27T00:31:00.565Z,1761525060.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895135,0.439460,0.074893],[-0.445780,-0.883790,-0.142108],[0.003739,-0.160591,0.987014]]
2025-10-27T00:31:00.621Z,1761525060.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:00.624Z,1761525060.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 196.832306 m,
      bearing: 208.871349 deg,
      approach rate: -0.630838 m/s,
      LOS rate: 0.018563 deg/s,
      cmd heading: 205.824349 deg,
      new cmd heading: 205.848527 deg.

2025-10-27T00:31:00.624Z,1761525060.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592735 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:00.690Z,1761525060.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263947
2025-10-27T00:31:00.940Z,1761525060.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514122
2025-10-27T00:31:00.989Z,1761525060.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894626,0.440203,0.076588],[-0.446794,-0.883042,-0.143566],[0.004432,-0.162657,0.986673]]
2025-10-27T00:31:01.008Z,1761525061.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:01.010Z,1761525061.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 196.588684 m,
      bearing: 208.878442 deg,
      approach rate: -0.629169 m/s,
      LOS rate: 0.018341 deg/s,
      cmd heading: 205.848528 deg,
      new cmd heading: 205.869833 deg.

2025-10-27T00:31:01.012Z,1761525061.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593107 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:01.192Z,1761525061.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766216
2025-10-27T00:31:01.377Z,1761525061.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893842,0.441440,0.078603],[-0.448353,-0.881982,-0.145216],[0.005223,-0.165042,0.986273]]
2025-10-27T00:31:01.395Z,1761525061.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:01.398Z,1761525061.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 196.345428 m,
      bearing: 208.885414 deg,
      approach rate: -0.628063 m/s,
      LOS rate: 0.018022 deg/s,
      cmd heading: 205.869838 deg,
      new cmd heading: 205.890778 deg.

2025-10-27T00:31:01.399Z,1761525061.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593472 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:01.445Z,1761525061.445 [DAT](INFO): DAT read: Rx Time:00:31:02.4712

2025-10-27T00:31:01.446Z,1761525061.446 [DAT](INFO): Rx dataTimestamp_ set to:1761525061.445582
2025-10-27T00:31:01.448Z,1761525061.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022038
2025-10-27T00:31:01.696Z,1761525061.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270709
2025-10-27T00:31:01.780Z,1761525061.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893432,0.441944,0.080406],[-0.449153,-0.881451,-0.145965],[0.006365,-0.166524,0.986017]]
2025-10-27T00:31:01.815Z,1761525061.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:01.817Z,1761525061.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:01.820Z,1761525061.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 196.084473 m,
      bearing: 208.891156 deg,
      approach rate: -0.618577 m/s,
      LOS rate: 0.013629 deg/s,
      cmd heading: 205.890780 deg,
      new cmd heading: 205.908028 deg.

2025-10-27T00:31:01.821Z,1761525061.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593773 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:01.948Z,1761525061.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522174
2025-10-27T00:31:02.185Z,1761525062.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893115,0.442224,0.082364],[-0.449764,-0.880998,-0.146817],[0.007637,-0.168169,0.985729]]
2025-10-27T00:31:02.205Z,1761525062.205 [DAT](INFO): DAT read: 00:31:02.4711 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 264, 0.46, 0.965,-0.808, 1.097, 0.761, PHS= 0.306,-1.524, 0.292, RAW= 149.6,  10.2, CAL= 149.3,  11.1, ROT=   0.7, -11.1

2025-10-27T00:31:02.206Z,1761525062.206 [DAT](INFO): got valid direction response:
 00:31:02.4711 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 264, 0.46, 0.965,-0.808, 1.097, 0.761, PHS= 0.306,-1.524, 0.292, RAW= 149.6,  10.2, CAL= 149.3,  11.1, ROT=   0.7, -11.1

2025-10-27T00:31:02.207Z,1761525062.207 [DAT](INFO): DAT read: Bearing 355.1,  -0.7 (Local)

2025-10-27T00:31:02.208Z,1761525062.208 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  -0.7 (Local)

2025-10-27T00:31:02.209Z,1761525062.209 [DAT](INFO): DAT read: Range 11 to 50 : 164.9 m  (Round-trip  219.9 ms) speed  0.5 m/s

2025-10-27T00:31:02.210Z,1761525062.210 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:02.211Z,1761525062.211 [DAT](INFO): direction in FSK: [0.981219,0.011988,0.192522]
2025-10-27T00:31:02.211Z,1761525062.211 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:02.214Z,1761525062.214 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:02.214Z,1761525062.214 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:02.215Z,1761525062.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:02.261Z,1761525062.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 164.899994 m,
 deltaT: 4.031084 s,
 deltaX: -49.000000 m,
 approachRate: -12.155540 m/s,
 rangeRepo size: 4
2025-10-27T00:31:02.262Z,1761525062.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:02.269Z,1761525062.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 195.822311 m,
      bearing: 208.896887 deg,
      approach rate: -0.591174 m/s,
      LOS rate: 0.012941 deg/s,
      cmd heading: 205.908033 deg,
      new cmd heading: 205.925249 deg.

2025-10-27T00:31:02.270Z,1761525062.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594074 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:02.455Z,1761525062.455 [DAT](INFO): DAT read: user:156>

2025-10-27T00:31:02.458Z,1761525062.458 [DAT](INFO): DAT read: Tx time:00:31:03.8471

2025-10-27T00:31:02.460Z,1761525062.460 [DAT](INFO): Ping request sent.
2025-10-27T00:31:02.461Z,1761525062.461 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:02.462Z,1761525062.462 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:02.465Z,1761525062.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003710
2025-10-27T00:31:02.604Z,1761525062.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892836,0.442462,0.084088],[-0.450290,-0.880722,-0.146859],[0.009078,-0.168985,0.985577]]
2025-10-27T00:31:02.657Z,1761525062.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:02.664Z,1761525062.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 195.574219 m,
      bearing: 208.897022 deg,
      approach rate: -0.626138 m/s,
      LOS rate: 0.000341 deg/s,
      cmd heading: 205.925245 deg,
      new cmd heading: 205.925650 deg.

2025-10-27T00:31:02.665Z,1761525062.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594081 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:02.705Z,1761525062.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244102
2025-10-27T00:31:02.958Z,1761525062.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497773
2025-10-27T00:31:03.013Z,1761525063.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892553,0.442806,0.085274],[-0.450822,-0.880583,-0.146057],[0.010416,-0.168807,0.985594]]
2025-10-27T00:31:03.030Z,1761525063.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:03.033Z,1761525063.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 195.332657 m,
      bearing: 208.897110 deg,
      approach rate: -0.646470 m/s,
      LOS rate: 0.000238 deg/s,
      cmd heading: 205.925655 deg,
      new cmd heading: 205.925921 deg.

2025-10-27T00:31:03.034Z,1761525063.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594085 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:03.208Z,1761525063.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747332
2025-10-27T00:31:03.410Z,1761525063.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892452,0.442865,0.086029],[-0.450989,-0.880765,-0.144440],[0.011804,-0.167704,0.985767]]
2025-10-27T00:31:03.436Z,1761525063.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:03.438Z,1761525063.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 195.081482 m,
      bearing: 208.897185 deg,
      approach rate: -0.619608 m/s,
      LOS rate: 0.000185 deg/s,
      cmd heading: 205.925928 deg,
      new cmd heading: 205.926152 deg.

2025-10-27T00:31:03.440Z,1761525063.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594089 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:03.464Z,1761525063.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003769
2025-10-27T00:31:03.713Z,1761525063.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252468
2025-10-27T00:31:03.815Z,1761525063.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892637,0.442389,0.086547],[-0.450587,-0.881208,-0.142981],[0.013013,-0.166627,0.985934]]
2025-10-27T00:31:03.849Z,1761525063.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:03.854Z,1761525063.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:03.857Z,1761525063.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 194.821243 m,
      bearing: 208.891857 deg,
      approach rate: -0.626842 m/s,
      LOS rate: -0.012851 deg/s,
      cmd heading: 205.926146 deg,
      new cmd heading: 205.910141 deg.

2025-10-27T00:31:03.858Z,1761525063.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593810 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:03.965Z,1761525063.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504323
2025-10-27T00:31:04.216Z,1761525064.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755306
2025-10-27T00:31:04.219Z,1761525064.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892986,0.441566,0.087157],[-0.449850,-0.881885,-0.141120],[0.014548,-0.165226,0.986148]]
2025-10-27T00:31:04.255Z,1761525064.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:04.258Z,1761525064.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 194.567337 m,
      bearing: 208.886699 deg,
      approach rate: -0.628591 m/s,
      LOS rate: -0.012787 deg/s,
      cmd heading: 205.910136 deg,
      new cmd heading: 205.894641 deg.

2025-10-27T00:31:04.259Z,1761525064.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.593539 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:04.469Z,1761525064.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008685
2025-10-27T00:31:04.677Z,1761525064.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:04.681Z,1761525064.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 194.305481 m,
      bearing: 208.873645 deg,
      approach rate: -0.619979 m/s,
      LOS rate: -0.030947 deg/s,
      cmd heading: 205.894646 deg,
      new cmd heading: 205.855433 deg.

2025-10-27T00:31:04.682Z,1761525064.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592855 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:04.720Z,1761525064.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259533
2025-10-27T00:31:04.973Z,1761525064.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512157
2025-10-27T00:31:05.026Z,1761525065.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894258,0.438565,0.089235],[-0.447192,-0.883586,-0.138907],[0.017927,-0.164124,0.986277]]
2025-10-27T00:31:05.050Z,1761525065.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:05.053Z,1761525065.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 194.074280 m,
      bearing: 208.862294 deg,
      approach rate: -0.620638 m/s,
      LOS rate: -0.030509 deg/s,
      cmd heading: 205.855427 deg,
      new cmd heading: 205.821330 deg.

2025-10-27T00:31:05.054Z,1761525065.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.592260 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:05.224Z,1761525065.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763442
2025-10-27T00:31:05.477Z,1761525065.477 [DAT](INFO): DAT read: Rx Time:00:31:06.4988

2025-10-27T00:31:05.478Z,1761525065.478 [DAT](INFO): Rx dataTimestamp_ set to:1761525065.477898
2025-10-27T00:31:05.479Z,1761525065.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018259
2025-10-27T00:31:05.483Z,1761525065.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:05.486Z,1761525065.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 193.811188 m,
      bearing: 208.849343 deg,
      approach rate: -0.606563 m/s,
      LOS rate: -0.029898 deg/s,
      cmd heading: 205.821330 deg,
      new cmd heading: 205.782427 deg.

2025-10-27T00:31:05.487Z,1761525065.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591581 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:05.728Z,1761525065.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267923
2025-10-27T00:31:05.834Z,1761525065.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895638,0.435342,0.091156],[-0.444279,-0.885386,-0.136778],[0.021163,-0.163002,0.986399]]
2025-10-27T00:31:05.879Z,1761525065.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:05.881Z,1761525065.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:05.884Z,1761525065.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 193.553650 m,
      bearing: 208.833540 deg,
      approach rate: -0.647853 m/s,
      LOS rate: -0.039807 deg/s,
      cmd heading: 205.782426 deg,
      new cmd heading: 205.734953 deg.

2025-10-27T00:31:05.885Z,1761525065.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590752 target range: 213.022308 and range: 213.90 m.
2025-10-27T00:31:06.010Z,1761525066.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.548413
2025-10-27T00:31:06.233Z,1761525066.233 [DAT](INFO): DAT read: W= 149.0,   9.7, CAL= 148.6,  10.6, ROT=   1.4, -10.6

2025-10-27T00:31:06.233Z,1761525066.233 [DAT](INFO): unknown deviceResponse_: W= 149.0,   9.7, CAL= 148.6,  10.6, ROT=   1.4, -10.6

2025-10-27T00:31:06.234Z,1761525066.234 [DAT](INFO): DAT read: Bearing 354.1,   1.0 (Local)

2025-10-27T00:31:06.235Z,1761525066.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.1,   1.0 (Local)

2025-10-27T00:31:06.236Z,1761525066.236 [DAT](INFO): DAT read: Range 11 to 50 : 185.6 m  (Round-trip  247.5 ms) speed  0.2 m/s

2025-10-27T00:31:06.237Z,1761525066.237 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T00:31:06.237Z,1761525066.237 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:06.237Z,1761525066.237 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:06.238Z,1761525066.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:06.246Z,1761525066.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896432,0.433453,0.092353],[-0.442594,-0.886318,-0.136200],[0.022817,-0.162969,0.986367]]
2025-10-27T00:31:06.289Z,1761525066.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.600006 m,
      deltaT: 8.063006 s,
      deltaX: -28.299988 m,
      approachRate: -3.509856 m/s,
      rangeRepo size: 4

2025-10-27T00:31:06.290Z,1761525066.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:06.297Z,1761525066.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 193.310074 m,
      bearing: 208.818697 deg,
      approach rate: -0.597223 m/s,
      LOS rate: -0.036440 deg/s,
      cmd heading: 205.734956 deg,
      new cmd heading: 205.690369 deg.

2025-10-27T00:31:06.298Z,1761525066.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589974 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:06.484Z,1761525066.484 [DAT](INFO): DAT read: user:157>

2025-10-27T00:31:06.485Z,1761525066.485 [DAT](INFO): DAT read: Tx time:00:31:07.8471

2025-10-27T00:31:06.485Z,1761525066.485 [DAT](INFO): Ping request sent.
2025-10-27T00:31:06.485Z,1761525066.485 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:06.485Z,1761525066.485 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:06.486Z,1761525066.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-27T00:31:06.704Z,1761525066.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:06.710Z,1761525066.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 193.024490 m,
      bearing: 208.802618 deg,
      approach rate: -0.687702 m/s,
      LOS rate: -0.038776 deg/s,
      cmd heading: 205.690368 deg,
      new cmd heading: 205.642061 deg.

2025-10-27T00:31:06.711Z,1761525066.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589131 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:06.736Z,1761525066.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250722
2025-10-27T00:31:06.989Z,1761525066.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504016
2025-10-27T00:31:07.045Z,1761525067.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897965,0.429979,0.093682],[-0.439298,-0.888421,-0.133136],[0.025984,-0.160705,0.986660]]
2025-10-27T00:31:07.083Z,1761525067.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:07.086Z,1761525067.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 192.785370 m,
      bearing: 208.789373 deg,
      approach rate: -0.631676 m/s,
      LOS rate: -0.035031 deg/s,
      cmd heading: 205.642065 deg,
      new cmd heading: 205.602282 deg.

2025-10-27T00:31:07.087Z,1761525067.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588437 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:07.240Z,1761525067.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754814
2025-10-27T00:31:07.458Z,1761525067.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898705,0.428196,0.094745],[-0.437712,-0.889171,-0.133355],[0.027142,-0.161318,0.986529]]
2025-10-27T00:31:07.492Z,1761525067.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006961
2025-10-27T00:31:07.496Z,1761525067.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:07.498Z,1761525067.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 192.502609 m,
      bearing: 208.773828 deg,
      approach rate: -0.684180 m/s,
      LOS rate: -0.037669 deg/s,
      cmd heading: 205.602286 deg,
      new cmd heading: 205.555582 deg.

2025-10-27T00:31:07.500Z,1761525067.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587622 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:07.744Z,1761525067.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258830
2025-10-27T00:31:07.854Z,1761525067.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899418,0.426444,0.095884],[-0.436168,-0.889904,-0.133524],[0.028387,-0.161915,0.986396]]
2025-10-27T00:31:07.899Z,1761525067.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:07.901Z,1761525067.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:07.904Z,1761525067.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 192.235336 m,
      bearing: 208.759552 deg,
      approach rate: -0.659822 m/s,
      LOS rate: -0.035292 deg/s,
      cmd heading: 205.555581 deg,
      new cmd heading: 205.512694 deg.

2025-10-27T00:31:07.905Z,1761525067.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586873 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:07.996Z,1761525067.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510951
2025-10-27T00:31:08.248Z,1761525068.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763166
2025-10-27T00:31:08.259Z,1761525068.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900354,0.424283,0.096676],[-0.434158,-0.890892,-0.133488],[0.029491,-0.162159,0.986324]]
2025-10-27T00:31:08.278Z,1761525068.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:08.294Z,1761525068.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 191.986816 m,
      bearing: 208.746414 deg,
      approach rate: -0.658779 m/s,
      LOS rate: -0.034872 deg/s,
      cmd heading: 205.512688 deg,
      new cmd heading: 205.473222 deg.

2025-10-27T00:31:08.299Z,1761525068.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586184 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:08.500Z,1761525068.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014986
2025-10-27T00:31:08.661Z,1761525068.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901109,0.422395,0.097900],[-0.432514,-0.891566,-0.134322],[0.030548,-0.163382,0.986090]]
2025-10-27T00:31:08.717Z,1761525068.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:08.736Z,1761525068.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 191.696228 m,
      bearing: 208.736302 deg,
      approach rate: -0.662701 m/s,
      LOS rate: -0.023098 deg/s,
      cmd heading: 205.473223 deg,
      new cmd heading: 205.442839 deg.

2025-10-27T00:31:08.737Z,1761525068.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585654 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:08.752Z,1761525068.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267054
2025-10-27T00:31:09.004Z,1761525069.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518845
2025-10-27T00:31:09.064Z,1761525069.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901944,0.420398,0.098808],[-0.430676,-0.892512,-0.133943],[0.031877,-0.163363,0.986051]]
2025-10-27T00:31:09.082Z,1761525069.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:09.085Z,1761525069.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 191.448639 m,
      bearing: 208.727813 deg,
      approach rate: -0.677944 m/s,
      LOS rate: -0.023274 deg/s,
      cmd heading: 205.442842 deg,
      new cmd heading: 205.417343 deg.

2025-10-27T00:31:09.086Z,1761525069.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585209 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:09.256Z,1761525069.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770819
2025-10-27T00:31:09.480Z,1761525069.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902569,0.418613,0.100664],[-0.429267,-0.892954,-0.135507],[0.033163,-0.165516,0.985649]]
2025-10-27T00:31:09.498Z,1761525069.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:09.501Z,1761525069.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 191.170120 m,
      bearing: 208.718373 deg,
      approach rate: -0.669830 m/s,
      LOS rate: -0.022735 deg/s,
      cmd heading: 205.417338 deg,
      new cmd heading: 205.388979 deg.

2025-10-27T00:31:09.501Z,1761525069.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584714 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:09.508Z,1761525069.508 [DAT](INFO): DAT read: Rx Time:00:31:10.5328

2025-10-27T00:31:09.509Z,1761525069.509 [DAT](INFO): Rx dataTimestamp_ set to:1761525069.508240
2025-10-27T00:31:09.509Z,1761525069.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024020
2025-10-27T00:31:09.761Z,1761525069.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275642
2025-10-27T00:31:09.869Z,1761525069.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903047,0.417205,0.102209],[-0.428165,-0.893336,-0.136477],[0.034368,-0.167007,0.985357]]
2025-10-27T00:31:09.913Z,1761525069.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:09.915Z,1761525069.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:09.918Z,1761525069.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 190.883926 m,
      bearing: 208.714810 deg,
      approach rate: -0.685714 m/s,
      LOS rate: -0.008550 deg/s,
      cmd heading: 205.388979 deg,
      new cmd heading: 205.378274 deg.

2025-10-27T00:31:09.919Z,1761525069.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584527 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:10.012Z,1761525070.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527318
2025-10-27T00:31:10.269Z,1761525070.269 [DAT](INFO): DAT read: 00:31:10.5328 LVL= 27472, 28001, 28386, 22515, AGC= 67, IDX= 260, 0.04,-1.900,-2.988,-1.985,-2.999, PHS= 1.201, 0.056, 0.970, RAW= 139.0, -36.9, CAL= 140.4, -36.2, ROT=   9.6,  36.2

2025-10-27T00:31:10.270Z,1761525070.270 [DAT](INFO): got valid direction response:
 00:31:10.5328 LVL= 27472, 28001, 28386, 22515, AGC= 67, IDX= 260, 0.04,-1.900,-2.988,-1.985,-2.999, PHS= 1.201, 0.056, 0.970, RAW= 139.0, -36.9, CAL= 140.4, -36.2, ROT=   9.6,  36.2

2025-10-27T00:31:10.272Z,1761525070.272 [DAT](INFO): DAT read: Bearing 307.2,  15.2 (Local)

2025-10-27T00:31:10.272Z,1761525070.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.2,  15.2 (Local)

2025-10-27T00:31:10.273Z,1761525070.273 [DAT](INFO): DAT read: Range 11 to 50 : 211.1 m  (Round-trip  281.5 ms) speed  0.1 m/s

2025-10-27T00:31:10.274Z,1761525070.274 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:10.275Z,1761525070.275 [DAT](INFO): direction in FSK: [0.795660,0.134576,-0.590606]
2025-10-27T00:31:10.275Z,1761525070.275 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:10.278Z,1761525070.278 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:10.279Z,1761525070.279 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:10.279Z,1761525070.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:10.328Z,1761525070.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903302,0.416225,0.103935],[-0.427548,-0.893365,-0.138205],[0.035328,-0.169278,0.984935]]
2025-10-27T00:31:10.375Z,1761525070.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 211.100006 m,
 deltaT: 4.032063 s,
 deltaX: 25.500000 m,
 approachRate: 6.324306 m/s,
 rangeRepo size: 4
2025-10-27T00:31:10.376Z,1761525070.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:10.379Z,1761525070.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 190.582291 m,
      bearing: 208.711105 deg,
      approach rate: -0.662631 m/s,
      LOS rate: -0.008153 deg/s,
      cmd heading: 205.378270 deg,
      new cmd heading: 205.367136 deg.

2025-10-27T00:31:10.384Z,1761525070.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584333 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:10.516Z,1761525070.516 [DAT](INFO): DAT read: user:158>

2025-10-27T00:31:10.517Z,1761525070.517 [DAT](INFO): DAT read: Tx time:00:31:11.8971

2025-10-27T00:31:10.517Z,1761525070.517 [DAT](INFO): Ping request sent.
2025-10-27T00:31:10.517Z,1761525070.517 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:10.517Z,1761525070.517 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:10.518Z,1761525070.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-27T00:31:10.734Z,1761525070.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903233,0.415994,0.105450],[-0.427586,-0.893316,-0.138407],[0.036623,-0.170103,0.984746]]
2025-10-27T00:31:10.768Z,1761525070.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250730
2025-10-27T00:31:10.804Z,1761525070.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:10.815Z,1761525070.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 190.294922 m,
      bearing: 208.712840 deg,
      approach rate: -0.662294 m/s,
      LOS rate: 0.004005 deg/s,
      cmd heading: 205.367136 deg,
      new cmd heading: 205.372350 deg.

2025-10-27T00:31:10.816Z,1761525070.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584424 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:11.020Z,1761525071.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502541
2025-10-27T00:31:11.145Z,1761525071.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902952,0.416272,0.106749],[-0.428080,-0.893089,-0.138342],[0.037748,-0.170613,0.984615]]
2025-10-27T00:31:11.164Z,1761525071.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:11.166Z,1761525071.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 190.055984 m,
      bearing: 208.714244 deg,
      approach rate: -0.664940 m/s,
      LOS rate: 0.003913 deg/s,
      cmd heading: 205.372355 deg,
      new cmd heading: 205.376573 deg.

2025-10-27T00:31:11.167Z,1761525071.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584497 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:11.272Z,1761525071.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754643
2025-10-27T00:31:11.524Z,1761525071.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006624
2025-10-27T00:31:11.546Z,1761525071.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902219,0.417758,0.107141],[-0.429567,-0.892579,-0.137025],[0.038388,-0.169650,0.984756]]
2025-10-27T00:31:11.591Z,1761525071.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:11.600Z,1761525071.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 189.793930 m,
      bearing: 208.715660 deg,
      approach rate: -0.618749 m/s,
      LOS rate: 0.003347 deg/s,
      cmd heading: 205.376576 deg,
      new cmd heading: 205.380828 deg.

2025-10-27T00:31:11.608Z,1761525071.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584572 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:11.776Z,1761525071.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258564
2025-10-27T00:31:11.961Z,1761525071.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901572,0.418959,0.107893],[-0.430840,-0.892132,-0.135934],[0.039304,-0.169038,0.984825]]
2025-10-27T00:31:12.009Z,1761525072.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:12.012Z,1761525072.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:12.014Z,1761525072.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 189.509705 m,
      bearing: 208.723645 deg,
      approach rate: -0.670648 m/s,
      LOS rate: 0.018871 deg/s,
      cmd heading: 205.380824 deg,
      new cmd heading: 205.404817 deg.

2025-10-27T00:31:12.015Z,1761525072.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584990 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:12.028Z,1761525072.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510715
2025-10-27T00:31:12.280Z,1761525072.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763173
2025-10-27T00:31:12.357Z,1761525072.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900669,0.420877,0.107974],[-0.432664,-0.891578,-0.133755],[0.039973,-0.167186,0.985115]]
2025-10-27T00:31:12.374Z,1761525072.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:12.377Z,1761525072.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 189.276428 m,
      bearing: 208.730081 deg,
      approach rate: -0.641629 m/s,
      LOS rate: 0.017722 deg/s,
      cmd heading: 205.404812 deg,
      new cmd heading: 205.424141 deg.

2025-10-27T00:31:12.378Z,1761525072.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585328 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:12.535Z,1761525072.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017424
2025-10-27T00:31:12.760Z,1761525072.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899672,0.422958,0.108147],[-0.434682,-0.890859,-0.131994],[0.040516,-0.165761,0.985333]]
2025-10-27T00:31:12.784Z,1761525072.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266677
2025-10-27T00:31:12.798Z,1761525072.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:12.820Z,1761525072.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 189.012726 m,
      bearing: 208.740660 deg,
      approach rate: -0.623373 m/s,
      LOS rate: 0.025044 deg/s,
      cmd heading: 205.424141 deg,
      new cmd heading: 205.455924 deg.

2025-10-27T00:31:12.821Z,1761525072.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585882 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:13.037Z,1761525073.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519316
2025-10-27T00:31:13.288Z,1761525073.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770621
2025-10-27T00:31:13.301Z,1761525073.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898876,0.424362,0.109263],[-0.436247,-0.890131,-0.131742],[0.041352,-0.166085,0.985244]]
2025-10-27T00:31:13.320Z,1761525073.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:13.322Z,1761525073.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 188.686996 m,
      bearing: 208.753591 deg,
      approach rate: -0.623792 m/s,
      LOS rate: 0.024807 deg/s,
      cmd heading: 205.455929 deg,
      new cmd heading: 205.494789 deg.

2025-10-27T00:31:13.324Z,1761525073.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586561 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:13.541Z,1761525073.541 [DAT](INFO): DAT read: Rx Time:00:31:14.5434

2025-10-27T00:31:13.541Z,1761525073.541 [DAT](INFO): Rx dataTimestamp_ set to:1761525073.541101
2025-10-27T00:31:13.542Z,1761525073.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024615
2025-10-27T00:31:13.792Z,1761525073.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274581
2025-10-27T00:31:13.848Z,1761525073.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:13.851Z,1761525073.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 188.359467 m,
      bearing: 208.767883 deg,
      approach rate: -0.619612 m/s,
      LOS rate: 0.027084 deg/s,
      cmd heading: 205.494793 deg,
      new cmd heading: 205.537742 deg.

2025-10-27T00:31:13.852Z,1761525073.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587310 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:14.047Z,1761525074.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529140
2025-10-27T00:31:14.190Z,1761525074.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895797,0.430776,0.109454],[-0.442395,-0.887901,-0.126168],[0.042834,-0.161442,0.985952]]
2025-10-27T00:31:14.214Z,1761525074.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:14.217Z,1761525074.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.02 m.
2025-10-27T00:31:14.224Z,1761525074.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.022308 m,
      nav range: 188.131134 m,
      bearing: 208.777402 deg,
      approach rate: -0.619819 m/s,
      LOS rate: 0.025871 deg/s,
      cmd heading: 205.537741 deg,
      new cmd heading: 205.566332 deg.

2025-10-27T00:31:14.225Z,1761525074.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587809 target range: 213.022308 and range: 185.60 m.
2025-10-27T00:31:14.304Z,1761525074.304 [DAT](INFO): DAT read: 00:31:14.5434 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  44, 0.26, 1.111,-0.607, 1.243, 0.925, PHS= 0.288,-1.487, 0.274, RAW= 149.6,  10.5, CAL= 149.3,  11.5, ROT=   0.7, -11.5

2025-10-27T00:31:14.305Z,1761525074.305 [DAT](INFO): got valid direction response:
 00:31:14.5434 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX=  44, 0.26, 1.111,-0.607, 1.243, 0.925, PHS= 0.288,-1.487, 0.274, RAW= 149.6,  10.5, CAL= 149.3,  11.5, ROT=   0.7, -11.5

2025-10-27T00:31:14.306Z,1761525074.306 [DAT](INFO): DAT read: Bearing 353.6,   1.1 (Local)

2025-10-27T00:31:14.308Z,1761525074.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,   1.1 (Local)

2025-10-27T00:31:14.309Z,1761525074.309 [DAT](INFO): DAT read: Range 11 to 50 : 181.5 m  (Round-trip  242.1 ms) speed  0.3 m/s

2025-10-27T00:31:14.310Z,1761525074.310 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:14.312Z,1761525074.312 [DAT](INFO): direction in FSK: [0.979852,0.011972,0.199368]
2025-10-27T00:31:14.312Z,1761525074.312 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:14.333Z,1761525074.333 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:14.333Z,1761525074.333 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:14.333Z,1761525074.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:14.552Z,1761525074.552 [DAT](INFO): DAT read: user:159>

2025-10-27T00:31:14.553Z,1761525074.553 [DAT](INFO): DAT read: Tx time:00:31:15.9471

2025-10-27T00:31:14.553Z,1761525074.553 [DAT](INFO): Ping request sent.
2025-10-27T00:31:14.553Z,1761525074.553 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:14.553Z,1761525074.553 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:14.554Z,1761525074.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-27T00:31:14.726Z,1761525074.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.500000 m,
      deltaT: 8.065986 s,
      deltaX: -4.100006 m,
      approachRate: -0.508308 m/s,
      rangeRepo size: 4

2025-10-27T00:31:14.732Z,1761525074.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.756363 m,
      bearing: 208.880152 deg,
      lat: 36.779283 deg,
      lon: -121.859738 deg,
      deltaT: 16.128992 s,
      deltaX: -32.265945 m,
      approachRate: -2.000494 m/s,
      posRepo size: 4

2025-10-27T00:31:14.733Z,1761525074.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:14.740Z,1761525074.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 171.160934 m,
      bearing: 207.313646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025871 deg/s,
      cmd heading: 205.566332 deg,
      new cmd heading: 205.605805 deg.

2025-10-27T00:31:14.741Z,1761525074.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588498 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:14.804Z,1761525074.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250926
2025-10-27T00:31:15.056Z,1761525075.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502717
2025-10-27T00:31:15.060Z,1761525075.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895258,0.432064,0.108785],[-0.443440,-0.887782,-0.123308],[0.043301,-0.158632,0.986388]]
2025-10-27T00:31:15.108Z,1761525075.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:15.111Z,1761525075.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 170.910873 m,
      bearing: 207.322190 deg,
      approach rate: -0.652860 m/s,
      LOS rate: 0.022339 deg/s,
      cmd heading: 205.605810 deg,
      new cmd heading: 205.631479 deg.

2025-10-27T00:31:15.112Z,1761525075.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588946 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:15.308Z,1761525075.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754920
2025-10-27T00:31:15.471Z,1761525075.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895045,0.432407,0.109168],[-0.443846,-0.887563,-0.123419],[0.043526,-0.158920,0.986332]]
2025-10-27T00:31:15.489Z,1761525075.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:15.492Z,1761525075.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 170.677582 m,
      bearing: 207.330148 deg,
      approach rate: -0.612969 m/s,
      LOS rate: 0.020937 deg/s,
      cmd heading: 205.631478 deg,
      new cmd heading: 205.655383 deg.

2025-10-27T00:31:15.493Z,1761525075.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589364 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:15.561Z,1761525075.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007611
2025-10-27T00:31:15.812Z,1761525075.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258856
2025-10-27T00:31:15.866Z,1761525075.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895032,0.432290,0.109741],[-0.443879,-0.887366,-0.124714],[0.043468,-0.160335,0.986105]]
2025-10-27T00:31:15.918Z,1761525075.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:15.926Z,1761525075.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 170.422867 m,
      bearing: 207.333322 deg,
      approach rate: -0.592922 m/s,
      LOS rate: 0.007399 deg/s,
      cmd heading: 205.655384 deg,
      new cmd heading: 205.664920 deg.

2025-10-27T00:31:15.933Z,1761525075.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589530 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:16.064Z,1761525076.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510911
2025-10-27T00:31:16.274Z,1761525076.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894785,0.432653,0.110322],[-0.444363,-0.887025,-0.125412],[0.043599,-0.161240,0.985952]]
2025-10-27T00:31:16.291Z,1761525076.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:16.293Z,1761525076.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:16.296Z,1761525076.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 170.182556 m,
      bearing: 207.336283 deg,
      approach rate: -0.641660 m/s,
      LOS rate: 0.007917 deg/s,
      cmd heading: 205.664919 deg,
      new cmd heading: 205.673815 deg.

2025-10-27T00:31:16.297Z,1761525076.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589685 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:16.316Z,1761525076.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762862
2025-10-27T00:31:16.568Z,1761525076.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014814
2025-10-27T00:31:16.722Z,1761525076.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894609,0.432840,0.111013],[-0.444758,-0.886512,-0.127620],[0.043175,-0.163544,0.985591]]
2025-10-27T00:31:16.774Z,1761525076.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:16.781Z,1761525076.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 169.898575 m,
      bearing: 207.330540 deg,
      approach rate: -0.590541 m/s,
      LOS rate: -0.011961 deg/s,
      cmd heading: 205.673812 deg,
      new cmd heading: 205.656556 deg.

2025-10-27T00:31:16.782Z,1761525076.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589384 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:16.820Z,1761525076.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267138
2025-10-27T00:31:17.072Z,1761525077.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518762
2025-10-27T00:31:17.140Z,1761525077.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:17.143Z,1761525077.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 169.665039 m,
      bearing: 207.325804 deg,
      approach rate: -0.637882 m/s,
      LOS rate: -0.012956 deg/s,
      cmd heading: 205.656559 deg,
      new cmd heading: 205.642329 deg.

2025-10-27T00:31:17.144Z,1761525077.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.589136 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:17.324Z,1761525077.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771062
2025-10-27T00:31:17.505Z,1761525077.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894542,0.432794,0.111733],[-0.444866,-0.886347,-0.128390],[0.043468,-0.164556,0.985409]]
2025-10-27T00:31:17.540Z,1761525077.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:17.543Z,1761525077.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 169.420685 m,
      bearing: 207.320829 deg,
      approach rate: -0.610744 m/s,
      LOS rate: -0.012453 deg/s,
      cmd heading: 205.642325 deg,
      new cmd heading: 205.627378 deg.

2025-10-27T00:31:17.544Z,1761525077.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588875 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:17.579Z,1761525077.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025552
2025-10-27T00:31:17.828Z,1761525077.828 [DAT](INFO): DAT read: Rx Time:00:31:18.6256

2025-10-27T00:31:17.828Z,1761525077.828 [DAT](INFO): Rx dataTimestamp_ set to:1761525077.828082
2025-10-27T00:31:17.829Z,1761525077.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275857
2025-10-27T00:31:17.910Z,1761525077.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894926,0.432161,0.111106],[-0.444089,-0.886888,-0.127338],[0.043508,-0.163299,0.985617]]
2025-10-27T00:31:17.978Z,1761525077.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:17.981Z,1761525077.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 169.135620 m,
      bearing: 207.307985 deg,
      approach rate: -0.650507 m/s,
      LOS rate: -0.029358 deg/s,
      cmd heading: 205.627380 deg,
      new cmd heading: 205.588785 deg.

2025-10-27T00:31:17.982Z,1761525077.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588201 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:18.081Z,1761525078.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527605
2025-10-27T00:31:18.314Z,1761525078.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895195,0.431598,0.111128],[-0.443547,-0.887118,-0.127624],[0.043501,-0.163539,0.985577]]
2025-10-27T00:31:18.337Z,1761525078.337 [DAT](INFO): DAT read: 00:31:18.6256 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 261, 0.26,-0.931,-2.069,-1.117,-2.082, PHS= 1.252, 0.058, 0.921, RAW= 134.4, -36.4, CAL= 135.9, -35.7, ROT=  14.1,  35.7

2025-10-27T00:31:18.338Z,1761525078.338 [DAT](INFO): got valid direction response:
 00:31:18.6256 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 261, 0.26,-0.931,-2.069,-1.117,-2.082, PHS= 1.252, 0.058, 0.921, RAW= 134.4, -36.4, CAL= 135.9, -35.7, ROT=  14.1,  35.7

2025-10-27T00:31:18.340Z,1761525078.340 [DAT](INFO): DAT read: Bearing 306.9,  19.4 (Local)

2025-10-27T00:31:18.340Z,1761525078.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.9,  19.4 (Local)

2025-10-27T00:31:18.341Z,1761525078.341 [DAT](INFO): DAT read: Range 11 to 50 : 205.8 m  (Round-trip  274.5 ms) speed  1.0 m/s

2025-10-27T00:31:18.342Z,1761525078.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:18.343Z,1761525078.343 [DAT](INFO): direction in FSK: [0.787617,0.197836,-0.583541]
2025-10-27T00:31:18.343Z,1761525078.343 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:18.346Z,1761525078.346 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:18.346Z,1761525078.346 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:18.347Z,1761525078.347 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:18.362Z,1761525078.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 205.800003 m,
 deltaT: 4.034156 s,
 deltaX: 24.300003 m,
 approachRate: 6.023566 m/s,
 rangeRepo size: 4
2025-10-27T00:31:18.364Z,1761525078.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:18.366Z,1761525078.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 168.889130 m,
      bearing: 207.296899 deg,
      approach rate: -0.643269 m/s,
      LOS rate: -0.028975 deg/s,
      cmd heading: 205.588790 deg,
      new cmd heading: 205.555481 deg.

2025-10-27T00:31:18.404Z,1761525078.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.587620 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:18.584Z,1761525078.584 [DAT](INFO): DAT read: user:160>

2025-10-27T00:31:18.585Z,1761525078.585 [DAT](INFO): DAT read: Tx time:00:31:19.9970

2025-10-27T00:31:18.585Z,1761525078.585 [DAT](INFO): Ping request sent.
2025-10-27T00:31:18.585Z,1761525078.585 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:18.585Z,1761525078.585 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:18.586Z,1761525078.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-27T00:31:18.628Z,1761525078.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:31:18.762Z,1761525078.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895919,0.430178,0.110797],[-0.442075,-0.887887,-0.127384],[0.043578,-0.163107,0.985646]]
2025-10-27T00:31:18.798Z,1761525078.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:18.800Z,1761525078.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:18.802Z,1761525078.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 168.598206 m,
      bearing: 207.276264 deg,
      approach rate: -0.663628 m/s,
      LOS rate: -0.047151 deg/s,
      cmd heading: 205.555486 deg,
      new cmd heading: 205.493475 deg.

2025-10-27T00:31:18.824Z,1761525078.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.586538 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:18.836Z,1761525078.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250923
2025-10-27T00:31:19.088Z,1761525079.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502962
2025-10-27T00:31:19.153Z,1761525079.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896697,0.428673,0.110340],[-0.440454,-0.888866,-0.126164],[0.043994,-0.161731,0.985854]]
2025-10-27T00:31:19.171Z,1761525079.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:19.173Z,1761525079.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 168.353592 m,
      bearing: 207.259001 deg,
      approach rate: -0.659665 m/s,
      LOS rate: -0.046621 deg/s,
      cmd heading: 205.493481 deg,
      new cmd heading: 205.441618 deg.

2025-10-27T00:31:19.174Z,1761525079.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585633 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:19.342Z,1761525079.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756942
2025-10-27T00:31:19.554Z,1761525079.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897753,0.426659,0.109547],[-0.438257,-0.890178,-0.124552],[0.044375,-0.159827,0.986147]]
2025-10-27T00:31:19.572Z,1761525079.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:19.574Z,1761525079.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 168.089401 m,
      bearing: 207.240510 deg,
      approach rate: -0.658550 m/s,
      LOS rate: -0.046166 deg/s,
      cmd heading: 205.441613 deg,
      new cmd heading: 205.386052 deg.

2025-10-27T00:31:19.576Z,1761525079.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.584663 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:19.592Z,1761525079.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006942
2025-10-27T00:31:19.632Z,1761525079.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:31:19.844Z,1761525079.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258976
2025-10-27T00:31:19.962Z,1761525079.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899087,0.423896,0.109333],[-0.435517,-0.891417,-0.125303],[0.044346,-0.160274,0.986076]]
2025-10-27T00:31:20.002Z,1761525080.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:20.004Z,1761525080.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 167.802704 m,
      bearing: 207.217307 deg,
      approach rate: -0.667241 m/s,
      LOS rate: -0.054092 deg/s,
      cmd heading: 205.386056 deg,
      new cmd heading: 205.316330 deg.

2025-10-27T00:31:20.005Z,1761525080.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.583446 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:20.096Z,1761525080.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510984
2025-10-27T00:31:20.348Z,1761525080.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762801
2025-10-27T00:31:20.370Z,1761525080.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900289,0.421487,0.108759],[-0.432976,-0.892838,-0.123980],[0.044848,-0.158707,0.986306]]
2025-10-27T00:31:20.388Z,1761525080.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:20.390Z,1761525080.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 167.544601 m,
      bearing: 207.196599 deg,
      approach rate: -0.667965 m/s,
      LOS rate: -0.053676 deg/s,
      cmd heading: 205.316333 deg,
      new cmd heading: 205.254112 deg.

2025-10-27T00:31:20.392Z,1761525080.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.582360 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:20.600Z,1761525080.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958
2025-10-27T00:31:20.787Z,1761525080.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901585,0.418641,0.109014],[-0.430201,-0.894161,-0.124114],[0.045517,-0.158797,0.986261]]
2025-10-27T00:31:20.829Z,1761525080.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:20.831Z,1761525080.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:20.834Z,1761525080.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 167.256210 m,
      bearing: 207.172091 deg,
      approach rate: -0.651007 m/s,
      LOS rate: -0.055419 deg/s,
      cmd heading: 205.254110 deg,
      new cmd heading: 205.180460 deg.

2025-10-27T00:31:20.835Z,1761525080.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581074 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:20.852Z,1761525080.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266907
2025-10-27T00:31:21.105Z,1761525081.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520103
2025-10-27T00:31:21.207Z,1761525081.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:21.210Z,1761525081.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 167.010757 m,
      bearing: 207.151164 deg,
      approach rate: -0.652830 m/s,
      LOS rate: -0.055741 deg/s,
      cmd heading: 205.180454 deg,
      new cmd heading: 205.117581 deg.

2025-10-27T00:31:21.211Z,1761525081.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579977 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:21.356Z,1761525081.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771001
2025-10-27T00:31:21.574Z,1761525081.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904400,0.411929,0.111245],[-0.424113,-0.896446,-0.128503],[0.046791,-0.163398,0.985450]]
2025-10-27T00:31:21.608Z,1761525081.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022938
2025-10-27T00:31:21.618Z,1761525081.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:21.643Z,1761525081.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 166.751831 m,
      bearing: 207.129689 deg,
      approach rate: -0.639553 m/s,
      LOS rate: -0.053127 deg/s,
      cmd heading: 205.117575 deg,
      new cmd heading: 205.053049 deg.

2025-10-27T00:31:21.644Z,1761525081.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578851 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:21.860Z,1761525081.860 [DAT](INFO): DAT read: Rx Time:00:31:22.6709

2025-10-27T00:31:21.861Z,1761525081.861 [DAT](INFO): Rx dataTimestamp_ set to:1761525081.860254
2025-10-27T00:31:21.861Z,1761525081.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276041
2025-10-27T00:31:22.039Z,1761525082.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905552,0.409182,0.112009],[-0.421587,-0.897422,-0.129993],[0.047328,-0.164937,0.985168]]
2025-10-27T00:31:22.084Z,1761525082.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.76 m.
2025-10-27T00:31:22.087Z,1761525082.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.756363 m,
      nav range: 166.437408 m,
      bearing: 207.107696 deg,
      approach rate: -0.665738 m/s,
      LOS rate: -0.046655 deg/s,
      cmd heading: 205.053043 deg,
      new cmd heading: 204.986939 deg.

2025-10-27T00:31:22.088Z,1761525082.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577697 target range: 180.756363 and range: 181.50 m.
2025-10-27T00:31:22.112Z,1761525082.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526984
2025-10-27T00:31:22.369Z,1761525082.369 [DAT](INFO): DAT read: 00:31:22.6709 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 388,-0.16,-2.689, 2.222,-2.776, 2.287, PHS= 1.410,-0.019, 1.176, RAW= 141.2, -34.4, CAL= 142.4, -34.3, ROT=   7.6,  34.3

2025-10-27T00:31:22.370Z,1761525082.370 [DAT](INFO): got valid direction response:
 00:31:22.6709 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 388,-0.16,-2.689, 2.222,-2.776, 2.287, PHS= 1.410,-0.019, 1.176, RAW= 141.2, -34.4, CAL= 142.4, -34.3, ROT=   7.6,  34.3

2025-10-27T00:31:22.371Z,1761525082.371 [DAT](INFO): DAT read: Bearing 308.2,  13.9 (Local)

2025-10-27T00:31:22.372Z,1761525082.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.2,  13.9 (Local)

2025-10-27T00:31:22.373Z,1761525082.373 [DAT](INFO): DAT read: Range 11 to 50 : 202.3 m  (Round-trip  269.8 ms) speed  0.0 m/s

2025-10-27T00:31:22.374Z,1761525082.374 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:22.375Z,1761525082.375 [DAT](INFO): direction in FSK: [0.818841,0.109257,-0.563526]
2025-10-27T00:31:22.375Z,1761525082.375 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:22.378Z,1761525082.378 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:22.378Z,1761525082.378 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:22.379Z,1761525082.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:22.460Z,1761525082.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906401,0.407264,0.112132],[-0.419692,-0.898354,-0.129689],[0.047916,-0.164611,0.985194]]
2025-10-27T00:31:22.516Z,1761525082.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 202.300003 m,
      deltaT: 8.066139 s,
      deltaX: 20.800003 m,
      approachRate: 2.578681 m/s,
      rangeRepo size: 4

2025-10-27T00:31:22.518Z,1761525082.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 201.470535 m,
      bearing: 205.854925 deg,
      lat: 36.779305 deg,
      lon: -121.859738 deg,
      deltaT: 8.066139 s,
      deltaX: 20.714172 m,
      approachRate: 2.568041 m/s,
      posRepo size: 4

2025-10-27T00:31:22.518Z,1761525082.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:22.525Z,1761525082.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 164.053452 m,
      bearing: 207.469279 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046655 deg/s,
      cmd heading: 204.986941 deg,
      new cmd heading: 204.927194 deg.

2025-10-27T00:31:22.526Z,1761525082.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576654 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:22.618Z,1761525082.618 [DAT](INFO): DAT read: user:161>

2025-10-27T00:31:22.618Z,1761525082.618 [DAT](INFO): DAT read: Tx time:00:31:24.0470

2025-10-27T00:31:22.619Z,1761525082.619 [DAT](INFO): Ping request sent.
2025-10-27T00:31:22.619Z,1761525082.619 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:22.619Z,1761525082.619 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:22.620Z,1761525082.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000863
2025-10-27T00:31:22.850Z,1761525082.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906965,0.406033,0.112036],[-0.418416,-0.899068,-0.128858],[0.048408,-0.163747,0.985314]]
2025-10-27T00:31:22.868Z,1761525082.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249270
2025-10-27T00:31:22.893Z,1761525082.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:22.916Z,1761525082.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:22.925Z,1761525082.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 163.784729 m,
      bearing: 207.458641 deg,
      approach rate: -0.699711 m/s,
      LOS rate: -0.027745 deg/s,
      cmd heading: 204.927190 deg,
      new cmd heading: 204.895224 deg.

2025-10-27T00:31:22.932Z,1761525082.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576096 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:23.120Z,1761525083.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501060
2025-10-27T00:31:23.249Z,1761525083.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907464,0.404961,0.111876],[-0.417279,-0.899732,-0.127905],[0.048862,-0.162752,0.985456]]
2025-10-27T00:31:23.287Z,1761525083.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:23.290Z,1761525083.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 163.528244 m,
      bearing: 207.448567 deg,
      approach rate: -0.654020 m/s,
      LOS rate: -0.025729 deg/s,
      cmd heading: 204.895225 deg,
      new cmd heading: 204.864955 deg.

2025-10-27T00:31:23.291Z,1761525083.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575568 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:23.372Z,1761525083.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753647
2025-10-27T00:31:23.624Z,1761525083.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005203
2025-10-27T00:31:23.654Z,1761525083.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907717,0.404470,0.111597],[-0.416700,-0.900137,-0.126947],[0.049106,-0.161734,0.985612]]
2025-10-27T00:31:23.672Z,1761525083.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:23.676Z,1761525083.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 163.276917 m,
      bearing: 207.438720 deg,
      approach rate: -0.652389 m/s,
      LOS rate: -0.025600 deg/s,
      cmd heading: 204.864954 deg,
      new cmd heading: 204.835367 deg.

2025-10-27T00:31:23.677Z,1761525083.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575052 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:23.876Z,1761525083.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257136
2025-10-27T00:31:24.058Z,1761525084.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907544,0.404854,0.111609],[-0.417061,-0.900028,-0.126527],[0.049226,-0.161377,0.985664]]
2025-10-27T00:31:24.109Z,1761525084.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:24.112Z,1761525084.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 162.994217 m,
      bearing: 207.437149 deg,
      approach rate: -0.647405 m/s,
      LOS rate: -0.003605 deg/s,
      cmd heading: 204.835365 deg,
      new cmd heading: 204.830643 deg.

2025-10-27T00:31:24.113Z,1761525084.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574969 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:24.139Z,1761525084.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511954
2025-10-27T00:31:24.380Z,1761525084.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761174
2025-10-27T00:31:24.462Z,1761525084.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907147,0.405821,0.111329],[-0.417910,-0.899816,-0.125230],[0.049354,-0.160127,0.985862]]
2025-10-27T00:31:24.480Z,1761525084.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:24.482Z,1761525084.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 162.754013 m,
      bearing: 207.435733 deg,
      approach rate: -0.647762 m/s,
      LOS rate: -0.003824 deg/s,
      cmd heading: 204.830639 deg,
      new cmd heading: 204.826385 deg.

2025-10-27T00:31:24.484Z,1761525084.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574895 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:24.632Z,1761525084.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013117
2025-10-27T00:31:24.884Z,1761525084.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265068
2025-10-27T00:31:24.949Z,1761525084.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:24.952Z,1761525084.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:24.954Z,1761525084.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 162.482773 m,
      bearing: 207.443144 deg,
      approach rate: -0.575036 m/s,
      LOS rate: 0.015739 deg/s,
      cmd heading: 204.826390 deg,
      new cmd heading: 204.848662 deg.

2025-10-27T00:31:24.959Z,1761525084.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575284 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:25.136Z,1761525085.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517167
2025-10-27T00:31:25.272Z,1761525085.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905863,0.408501,0.111981],[-0.420627,-0.898678,-0.124298],[0.049859,-0.159699,0.985906]]
2025-10-27T00:31:25.289Z,1761525085.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:25.292Z,1761525085.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 162.257187 m,
      bearing: 207.449088 deg,
      approach rate: -0.667574 m/s,
      LOS rate: 0.017615 deg/s,
      cmd heading: 204.848657 deg,
      new cmd heading: 204.866514 deg.

2025-10-27T00:31:25.293Z,1761525085.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575595 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:25.389Z,1761525085.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769912
2025-10-27T00:31:25.640Z,1761525085.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021135
2025-10-27T00:31:25.681Z,1761525085.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904583,0.411253,0.112253],[-0.423343,-0.897559,-0.123158],[0.050104,-0.158928,0.986018]]
2025-10-27T00:31:25.710Z,1761525085.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:25.714Z,1761525085.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 162.002045 m,
      bearing: 207.455563 deg,
      approach rate: -0.606973 m/s,
      LOS rate: 0.015428 deg/s,
      cmd heading: 204.866511 deg,
      new cmd heading: 204.885966 deg.

2025-10-27T00:31:25.716Z,1761525085.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575935 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:25.892Z,1761525085.892 [DAT](INFO): DAT read: Rx Time:00:31:26.7195

2025-10-27T00:31:25.892Z,1761525085.892 [DAT](INFO): Rx dataTimestamp_ set to:1761525085.892080
2025-10-27T00:31:25.893Z,1761525085.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274162
2025-10-27T00:31:26.128Z,1761525086.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.47 m.
2025-10-27T00:31:26.131Z,1761525086.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.470535 m,
      nav range: 161.749924 m,
      bearing: 207.467703 deg,
      approach rate: -0.602800 m/s,
      LOS rate: 0.029072 deg/s,
      cmd heading: 204.885963 deg,
      new cmd heading: 204.922441 deg.

2025-10-27T00:31:26.132Z,1761525086.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576571 target range: 201.470535 and range: 202.30 m.
2025-10-27T00:31:26.163Z,1761525086.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544409
2025-10-27T00:31:26.401Z,1761525086.401 [DAT](INFO): DAT read: 00:31:26.7195 LVL= 32752, 32753, 32754, 30691, AGC= 66, IDX= 423, 0.29, 3.126, 2.010, 3.087, 2.004, PHS= 1.224, 0.051, 1.039, RAW= 141.5, -36.8, CAL= 142.8, -36.3, ROT=   7.2,  36.3

2025-10-27T00:31:26.402Z,1761525086.402 [DAT](INFO): got valid direction response:
 00:31:26.7195 LVL= 32752, 32753, 32754, 30691, AGC= 66, IDX= 423, 0.29, 3.126, 2.010, 3.087, 2.004, PHS= 1.224, 0.051, 1.039, RAW= 141.5, -36.8, CAL= 142.8, -36.3, ROT=   7.2,  36.3

2025-10-27T00:31:26.403Z,1761525086.403 [DAT](INFO): DAT read: Bearing 306.6,  13.1 (Local)

2025-10-27T00:31:26.404Z,1761525086.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.6,  13.1 (Local)

2025-10-27T00:31:26.405Z,1761525086.405 [DAT](INFO): DAT read: Range 11 to 50 : 201.2 m  (Round-trip  268.3 ms) speed -0.2 m/s

2025-10-27T00:31:26.407Z,1761525086.407 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:26.409Z,1761525086.409 [DAT](INFO): direction in FSK: [0.799573,0.101010,-0.592013]
2025-10-27T00:31:26.410Z,1761525086.410 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:26.434Z,1761525086.434 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:26.434Z,1761525086.434 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:26.435Z,1761525086.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:26.592Z,1761525086.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900675,0.419917,0.111604],[-0.431461,-0.894679,-0.115724],[0.051255,-0.152383,0.986992]]
2025-10-27T00:31:26.636Z,1761525086.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 201.199997 m,
      deltaT: 4.031873 s,
      deltaX: -1.100006 m,
      approachRate: -0.272828 m/s,
      rangeRepo size: 4

2025-10-27T00:31:26.638Z,1761525086.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 200.377197 m,
      bearing: 206.252379 deg,
      lat: 36.779268 deg,
      lon: -121.859738 deg,
      deltaT: 4.031873 s,
      deltaX: -1.093338 m,
      approachRate: -0.271174 m/s,
      posRepo size: 4

2025-10-27T00:31:26.643Z,1761525086.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:26.646Z,1761525086.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 165.097061 m,
      bearing: 206.825741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029072 deg/s,
      cmd heading: 204.922436 deg,
      new cmd heading: 204.966723 deg.

2025-10-27T00:31:26.648Z,1761525086.648 [DAT](INFO): DAT read: user:162>

2025-10-27T00:31:26.649Z,1761525086.649 [DAT](INFO): DAT read: Tx time:00:31:28.0970

2025-10-27T00:31:26.649Z,1761525086.649 [DAT](INFO): Ping request sent.
2025-10-27T00:31:26.649Z,1761525086.649 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:26.649Z,1761525086.649 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:26.650Z,1761525086.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-27T00:31:26.651Z,1761525086.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577344 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:26.900Z,1761525086.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250901
2025-10-27T00:31:27.007Z,1761525087.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899754,0.421734,0.112177],[-0.433348,-0.893780,-0.115616],[0.051502,-0.152638,0.986939]]
2025-10-27T00:31:27.053Z,1761525087.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:27.056Z,1761525087.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:27.058Z,1761525087.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 164.823090 m,
      bearing: 206.839234 deg,
      approach rate: -0.652766 m/s,
      LOS rate: 0.032202 deg/s,
      cmd heading: 204.966723 deg,
      new cmd heading: 205.007270 deg.

2025-10-27T00:31:27.059Z,1761525087.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578052 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:27.152Z,1761525087.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502850
2025-10-27T00:31:27.405Z,1761525087.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755653
2025-10-27T00:31:27.430Z,1761525087.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898774,0.423805,0.112222],[-0.435400,-0.892815,-0.115365],[0.051301,-0.152549,0.986964]]
2025-10-27T00:31:27.452Z,1761525087.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:27.454Z,1761525087.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 164.573074 m,
      bearing: 206.851385 deg,
      approach rate: -0.631191 m/s,
      LOS rate: 0.030723 deg/s,
      cmd heading: 205.007267 deg,
      new cmd heading: 205.043776 deg.

2025-10-27T00:31:27.455Z,1761525087.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578689 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:27.656Z,1761525087.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006618
2025-10-27T00:31:27.817Z,1761525087.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897874,0.425725,0.112159],[-0.437338,-0.891765,-0.116152],[0.050571,-0.153342,0.986878]]
2025-10-27T00:31:27.857Z,1761525087.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:27.892Z,1761525087.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 164.329178 m,
      bearing: 206.863087 deg,
      approach rate: -0.604469 m/s,
      LOS rate: 0.029046 deg/s,
      cmd heading: 205.043782 deg,
      new cmd heading: 205.078940 deg.

2025-10-27T00:31:27.909Z,1761525087.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259817
2025-10-27T00:31:27.912Z,1761525087.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579303 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:28.160Z,1761525088.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510686
2025-10-27T00:31:28.224Z,1761525088.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897220,0.427217,0.111725],[-0.438842,-0.890791,-0.117939],[0.049138,-0.154847,0.986716]]
2025-10-27T00:31:28.282Z,1761525088.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:28.288Z,1761525088.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 164.064270 m,
      bearing: 206.871174 deg,
      approach rate: -0.621180 m/s,
      LOS rate: 0.018993 deg/s,
      cmd heading: 205.078943 deg,
      new cmd heading: 205.103243 deg.

2025-10-27T00:31:28.289Z,1761525088.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579727 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:28.412Z,1761525088.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762839
2025-10-27T00:31:28.629Z,1761525088.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896949,0.427940,0.111133],[-0.439585,-0.890100,-0.120362],[0.047412,-0.156811,0.986490]]
2025-10-27T00:31:28.647Z,1761525088.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:28.649Z,1761525088.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 163.835907 m,
      bearing: 206.878104 deg,
      approach rate: -0.625686 m/s,
      LOS rate: 0.019012 deg/s,
      cmd heading: 205.103245 deg,
      new cmd heading: 205.124062 deg.

2025-10-27T00:31:28.650Z,1761525088.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580090 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:28.664Z,1761525088.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014739
2025-10-27T00:31:28.917Z,1761525088.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267986
2025-10-27T00:31:29.030Z,1761525089.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897132,0.427809,0.110153],[-0.439355,-0.890056,-0.121519],[0.046055,-0.157415,0.986458]]
2025-10-27T00:31:29.088Z,1761525089.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:29.090Z,1761525089.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:29.093Z,1761525089.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 163.555618 m,
      bearing: 206.879104 deg,
      approach rate: -0.632239 m/s,
      LOS rate: 0.002260 deg/s,
      cmd heading: 205.124064 deg,
      new cmd heading: 205.127069 deg.

2025-10-27T00:31:29.094Z,1761525089.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580143 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:29.169Z,1761525089.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519596
2025-10-27T00:31:29.421Z,1761525089.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771397
2025-10-27T00:31:29.448Z,1761525089.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897603,0.426968,0.109575],[-0.438522,-0.890190,-0.123532],[0.044798,-0.158934,0.986272]]
2025-10-27T00:31:29.466Z,1761525089.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:29.469Z,1761525089.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 163.317184 m,
      bearing: 206.880045 deg,
      approach rate: -0.633907 m/s,
      LOS rate: 0.002505 deg/s,
      cmd heading: 205.127069 deg,
      new cmd heading: 205.129896 deg.

2025-10-27T00:31:29.470Z,1761525089.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580192 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:29.673Z,1761525089.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023294
2025-10-27T00:31:29.838Z,1761525089.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898057,0.426045,0.109449],[-0.437732,-0.890121,-0.126786],[0.043407,-0.161770,0.985873]]
2025-10-27T00:31:29.910Z,1761525089.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:29.928Z,1761525089.928 [DAT](INFO): DAT read: Rx Time:00:31:30.6971

2025-10-27T00:31:29.930Z,1761525089.930 [DAT](INFO): Rx dataTimestamp_ set to:1761525089.929299
2025-10-27T00:31:29.932Z,1761525089.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282995
2025-10-27T00:31:29.937Z,1761525089.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 163.062805 m,
      bearing: 206.881148 deg,
      approach rate: -0.575251 m/s,
      LOS rate: 0.002498 deg/s,
      cmd heading: 205.129897 deg,
      new cmd heading: 205.133211 deg.

2025-10-27T00:31:29.938Z,1761525089.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.580250 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:30.179Z,1761525090.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529465
2025-10-27T00:31:30.260Z,1761525090.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898766,0.424757,0.108634],[-0.436418,-0.890448,-0.129001],[0.041939,-0.163352,0.985676]]
2025-10-27T00:31:30.312Z,1761525090.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:30.315Z,1761525090.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 162.785858 m,
      bearing: 206.873015 deg,
      approach rate: -0.685646 m/s,
      LOS rate: -0.020167 deg/s,
      cmd heading: 205.133216 deg,
      new cmd heading: 205.108778 deg.

2025-10-27T00:31:30.316Z,1761525090.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579823 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:30.435Z,1761525090.435 [DAT](INFO): DAT read: 00:31:30.6971 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 196,-0.43,-0.273,-2.000,-0.190,-0.477, PHS= 0.306,-1.478, 0.243, RAW= 148.2,  10.6, CAL= 147.9,  11.6, ROT=   2.1, -11.6

2025-10-27T00:31:30.437Z,1761525090.437 [DAT](INFO): got valid direction response:
 00:31:30.6971 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 196,-0.43,-0.273,-2.000,-0.190,-0.477, PHS= 0.306,-1.478, 0.243, RAW= 148.2,  10.6, CAL= 147.9,  11.6, ROT=   2.1, -11.6

2025-10-27T00:31:30.437Z,1761525090.437 [DAT](INFO): DAT read: Bearing 355.3,   2.7 (Local)

2025-10-27T00:31:30.438Z,1761525090.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,   2.7 (Local)

2025-10-27T00:31:30.439Z,1761525090.439 [DAT](INFO): DAT read: Range 11 to 50 : 146.9 m  (Round-trip  195.9 ms) speed  0.7 m/s

2025-10-27T00:31:30.440Z,1761525090.440 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:30.441Z,1761525090.441 [DAT](INFO): direction in FSK: [0.978917,0.035895,0.201078]
2025-10-27T00:31:30.441Z,1761525090.441 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:30.453Z,1761525090.453 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:30.453Z,1761525090.453 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:30.453Z,1761525090.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:30.664Z,1761525090.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899895,0.422760,0.107066],[-0.434200,-0.891470,-0.129426],[0.040729,-0.162958,0.985792]]
2025-10-27T00:31:30.680Z,1761525090.680 [DAT](INFO): DAT read: user:163>

2025-10-27T00:31:30.681Z,1761525090.681 [DAT](INFO): DAT read: Tx time:00:31:32.0970

2025-10-27T00:31:30.682Z,1761525090.682 [DAT](INFO): Ping request sent.
2025-10-27T00:31:30.682Z,1761525090.682 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:30.682Z,1761525090.682 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:30.683Z,1761525090.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001148
2025-10-27T00:31:30.697Z,1761525090.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 146.899994 m,
 deltaT: 4.032623 s,
 deltaX: -54.300003 m,
 approachRate: -13.465182 m/s,
 rangeRepo size: 4
2025-10-27T00:31:30.698Z,1761525090.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:30.702Z,1761525090.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 162.555069 m,
      bearing: 206.866418 deg,
      approach rate: -0.601021 m/s,
      LOS rate: -0.017205 deg/s,
      cmd heading: 205.108778 deg,
      new cmd heading: 205.088958 deg.

2025-10-27T00:31:30.720Z,1761525090.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.579478 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:30.932Z,1761525090.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250312
2025-10-27T00:31:31.065Z,1761525091.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901120,0.420588,0.105298],[-0.431760,-0.892655,-0.129420],[0.039562,-0.162087,0.985983]]
2025-10-27T00:31:31.114Z,1761525091.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:31.117Z,1761525091.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:31.119Z,1761525091.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 162.278946 m,
      bearing: 206.846707 deg,
      approach rate: -0.656863 m/s,
      LOS rate: -0.046970 deg/s,
      cmd heading: 205.088956 deg,
      new cmd heading: 205.029722 deg.

2025-10-27T00:31:31.120Z,1761525091.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578444 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:31.185Z,1761525091.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502775
2025-10-27T00:31:31.436Z,1761525091.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753910
2025-10-27T00:31:31.486Z,1761525091.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902423,0.418236,0.103499],[-0.429151,-0.893864,-0.129753],[0.038246,-0.161509,0.986130]]
2025-10-27T00:31:31.505Z,1761525091.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:31.508Z,1761525091.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 162.031403 m,
      bearing: 206.829235 deg,
      approach rate: -0.637556 m/s,
      LOS rate: -0.045068 deg/s,
      cmd heading: 205.029725 deg,
      new cmd heading: 204.977230 deg.

2025-10-27T00:31:31.509Z,1761525091.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577528 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:31.688Z,1761525091.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006506
2025-10-27T00:31:31.874Z,1761525091.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903869,0.415521,0.101804],[-0.426231,-0.895093,-0.130906],[0.036729,-0.161714,0.986154]]
2025-10-27T00:31:31.943Z,1761525091.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260387
2025-10-27T00:31:31.960Z,1761525091.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:31.968Z,1761525091.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 161.779434 m,
      bearing: 206.811697 deg,
      approach rate: -0.560901 m/s,
      LOS rate: -0.039103 deg/s,
      cmd heading: 204.977228 deg,
      new cmd heading: 204.924531 deg.

2025-10-27T00:31:31.969Z,1761525091.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.576608 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:32.193Z,1761525092.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511296
2025-10-27T00:31:32.279Z,1761525092.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905252,0.412712,0.100932],[-0.423402,-0.896050,-0.133512],[0.035338,-0.163597,0.985894]]
2025-10-27T00:31:32.330Z,1761525092.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:32.334Z,1761525092.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 161.498032 m,
      bearing: 206.788584 deg,
      approach rate: -0.748308 m/s,
      LOS rate: -0.061568 deg/s,
      cmd heading: 204.924526 deg,
      new cmd heading: 204.855068 deg.

2025-10-27T00:31:32.334Z,1761525092.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575395 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:32.449Z,1761525092.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767168
2025-10-27T00:31:32.683Z,1761525092.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906606,0.409955,0.100008],[-0.420600,-0.897034,-0.135741],[0.034063,-0.165127,0.985684]]
2025-10-27T00:31:32.701Z,1761525092.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018693
2025-10-27T00:31:32.720Z,1761525092.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:32.722Z,1761525092.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 161.244598 m,
      bearing: 206.768006 deg,
      approach rate: -0.650124 m/s,
      LOS rate: -0.052871 deg/s,
      cmd heading: 204.855063 deg,
      new cmd heading: 204.793233 deg.

2025-10-27T00:31:32.724Z,1761525092.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.574316 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:32.956Z,1761525092.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273475
2025-10-27T00:31:33.088Z,1761525093.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907867,0.407470,0.098721],[-0.417970,-0.898072,-0.136993],[0.032838,-0.165633,0.985641]]
2025-10-27T00:31:33.134Z,1761525093.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:33.136Z,1761525093.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:33.139Z,1761525093.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 160.969238 m,
      bearing: 206.743885 deg,
      approach rate: -0.661224 m/s,
      LOS rate: -0.058022 deg/s,
      cmd heading: 204.793237 deg,
      new cmd heading: 204.720748 deg.

2025-10-27T00:31:33.140Z,1761525093.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573051 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:33.204Z,1761525093.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522097
2025-10-27T00:31:33.456Z,1761525093.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773970
2025-10-27T00:31:33.495Z,1761525093.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908861,0.405589,0.097308],[-0.415855,-0.899147,-0.136379],[0.032180,-0.164415,0.985866]]
2025-10-27T00:31:33.513Z,1761525093.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:33.516Z,1761525093.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 160.721375 m,
      bearing: 206.722305 deg,
      approach rate: -0.658041 m/s,
      LOS rate: -0.057380 deg/s,
      cmd heading: 204.720755 deg,
      new cmd heading: 204.655914 deg.

2025-10-27T00:31:33.517Z,1761525093.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571919 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:33.714Z,1761525093.714 [DAT](INFO): DAT read: Rx Time:00:31:34.7274

2025-10-27T00:31:33.714Z,1761525093.714 [DAT](INFO): Rx dataTimestamp_ set to:1761525093.714029
2025-10-27T00:31:33.716Z,1761525093.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033656
2025-10-27T00:31:33.898Z,1761525093.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909542,0.404361,0.096054],[-0.414407,-0.899943,-0.135537],[0.031637,-0.163082,0.986105]]
2025-10-27T00:31:33.964Z,1761525093.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281389
2025-10-27T00:31:33.997Z,1761525093.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:34.004Z,1761525094.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 160.431747 m,
      bearing: 206.697164 deg,
      approach rate: -0.597809 m/s,
      LOS rate: -0.051986 deg/s,
      cmd heading: 204.655909 deg,
      new cmd heading: 204.580351 deg.

2025-10-27T00:31:34.005Z,1761525094.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570601 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:34.213Z,1761525094.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530851
2025-10-27T00:31:34.297Z,1761525094.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910187,0.403246,0.094619],[-0.413037,-0.900732,-0.134471],[0.031001,-0.161474,0.986390]]
2025-10-27T00:31:34.350Z,1761525094.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.38 m.
2025-10-27T00:31:34.353Z,1761525094.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.377197 m,
      nav range: 160.182861 m,
      bearing: 206.679279 deg,
      approach rate: -0.706172 m/s,
      LOS rate: -0.050823 deg/s,
      cmd heading: 204.580353 deg,
      new cmd heading: 204.526616 deg.

2025-10-27T00:31:34.354Z,1761525094.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569663 target range: 200.377197 and range: 201.20 m.
2025-10-27T00:31:34.469Z,1761525094.469 [DAT](INFO): DAT read: 00:31:34.7274 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 233,-0.24, 0.469,-1.088, 0.565, 0.388, PHS= 0.183,-1.431, 0.133, RAW= 148.5,  13.9, CAL= 148.4,  15.4, ROT=   1.6, -15.4

2025-10-27T00:31:34.470Z,1761525094.470 [DAT](INFO): got valid direction response:
 00:31:34.7274 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 233,-0.24, 0.469,-1.088, 0.565, 0.388, PHS= 0.183,-1.431, 0.133, RAW= 148.5,  13.9, CAL= 148.4,  15.4, ROT=   1.6, -15.4

2025-10-27T00:31:34.472Z,1761525094.472 [DAT](INFO): DAT read: Bearing 358.8,   0.5 (Local)

2025-10-27T00:31:34.472Z,1761525094.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   0.5 (Local)

2025-10-27T00:31:34.473Z,1761525094.473 [DAT](INFO): DAT read: Range 11 to 50 : 169.6 m  (Round-trip  226.2 ms) speed  0.4 m/s

2025-10-27T00:31:34.474Z,1761525094.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:34.475Z,1761525094.475 [DAT](INFO): direction in FSK: [0.963720,0.026919,0.265556]
2025-10-27T00:31:34.475Z,1761525094.475 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:34.479Z,1761525094.479 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:34.479Z,1761525094.479 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:34.479Z,1761525094.479 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:34.712Z,1761525094.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910514,0.402849,0.093154],[-0.412377,-0.901181,-0.133483],[0.030175,-0.159953,0.986663]]
2025-10-27T00:31:34.717Z,1761525094.717 [DAT](INFO): DAT read: user:164>

2025-10-27T00:31:34.718Z,1761525094.718 [DAT](INFO): DAT read: Tx time:00:31:36.0970

2025-10-27T00:31:34.718Z,1761525094.718 [DAT](INFO): Ping request sent.
2025-10-27T00:31:34.718Z,1761525094.718 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:34.718Z,1761525094.718 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:34.719Z,1761525094.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000851
2025-10-27T00:31:34.741Z,1761525094.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 169.600006 m,
      deltaT: 8.068072 s,
      deltaX: -31.599991 m,
      approachRate: -3.916672 m/s,
      rangeRepo size: 4

2025-10-27T00:31:34.744Z,1761525094.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.907684 m,
      bearing: 208.500448 deg,
      lat: 36.779274 deg,
      lon: -121.859726 deg,
      deltaT: 8.068072 s,
      deltaX: -31.469513 m,
      approachRate: -3.900500 m/s,
      posRepo size: 4

2025-10-27T00:31:34.745Z,1761525094.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:34.747Z,1761525094.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 158.840805 m,
      bearing: 206.459053 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050823 deg/s,
      cmd heading: 204.526613 deg,
      new cmd heading: 204.467073 deg.

2025-10-27T00:31:34.748Z,1761525094.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568624 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:34.972Z,1761525094.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253302
2025-10-27T00:31:35.109Z,1761525095.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910867,0.402416,0.091556],[-0.411641,-0.901770,-0.131765],[0.029538,-0.157709,0.987044]]
2025-10-27T00:31:35.164Z,1761525095.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:35.166Z,1761525095.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:35.172Z,1761525095.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 158.561615 m,
      bearing: 206.446552 deg,
      approach rate: -0.656726 m/s,
      LOS rate: -0.029458 deg/s,
      cmd heading: 204.467068 deg,
      new cmd heading: 204.429497 deg.

2025-10-27T00:31:35.173Z,1761525095.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567968 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:35.220Z,1761525095.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501780
2025-10-27T00:31:35.473Z,1761525095.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754422
2025-10-27T00:31:35.510Z,1761525095.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910972,0.402382,0.090660],[-0.411444,-0.901970,-0.131011],[0.029056,-0.156649,0.987227]]
2025-10-27T00:31:35.551Z,1761525095.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:35.553Z,1761525095.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 158.315659 m,
      bearing: 206.435518 deg,
      approach rate: -0.666227 m/s,
      LOS rate: -0.029933 deg/s,
      cmd heading: 204.429502 deg,
      new cmd heading: 204.396350 deg.

2025-10-27T00:31:35.554Z,1761525095.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567389 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:35.725Z,1761525095.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006623
2025-10-27T00:31:35.923Z,1761525095.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911010,0.402658,0.089032],[-0.411406,-0.902273,-0.129027],[0.028377,-0.154173,0.987636]]
2025-10-27T00:31:35.946Z,1761525095.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:35.948Z,1761525095.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 158.048279 m,
      bearing: 206.423482 deg,
      approach rate: -0.650825 m/s,
      LOS rate: -0.029346 deg/s,
      cmd heading: 204.396348 deg,
      new cmd heading: 204.360179 deg.

2025-10-27T00:31:35.949Z,1761525095.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566758 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:35.979Z,1761525095.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259884
2025-10-27T00:31:36.228Z,1761525096.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509751
2025-10-27T00:31:36.321Z,1761525096.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910926,0.403011,0.088301],[-0.411631,-0.902229,-0.128617],[0.027833,-0.153508,0.987755]]
2025-10-27T00:31:36.368Z,1761525096.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:36.371Z,1761525096.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 157.772339 m,
      bearing: 206.418882 deg,
      approach rate: -0.652641 m/s,
      LOS rate: -0.010899 deg/s,
      cmd heading: 204.360175 deg,
      new cmd heading: 204.346351 deg.

2025-10-27T00:31:36.372Z,1761525096.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566517 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:36.483Z,1761525096.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764607
2025-10-27T00:31:36.726Z,1761525096.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910531,0.404049,0.087623],[-0.412564,-0.901755,-0.128950],[0.026912,-0.153563,0.987772]]
2025-10-27T00:31:36.736Z,1761525096.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017832
2025-10-27T00:31:36.745Z,1761525096.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:36.764Z,1761525096.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 157.528641 m,
      bearing: 206.414717 deg,
      approach rate: -0.646239 m/s,
      LOS rate: -0.011064 deg/s,
      cmd heading: 204.346351 deg,
      new cmd heading: 204.333835 deg.

2025-10-27T00:31:36.765Z,1761525096.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566298 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:36.991Z,1761525096.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272116
2025-10-27T00:31:37.136Z,1761525097.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910112,0.405029,0.087449],[-0.413539,-0.901138,-0.130138],[0.026094,-0.154604,0.987632]]
2025-10-27T00:31:37.169Z,1761525097.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:37.187Z,1761525097.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:37.190Z,1761525097.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 157.252853 m,
      bearing: 206.419723 deg,
      approach rate: -0.623970 m/s,
      LOS rate: 0.011346 deg/s,
      cmd heading: 204.333838 deg,
      new cmd heading: 204.348883 deg.

2025-10-27T00:31:37.196Z,1761525097.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566561 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:37.240Z,1761525097.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521909
2025-10-27T00:31:37.492Z,1761525097.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773652
2025-10-27T00:31:37.529Z,1761525097.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909679,0.405885,0.087986],[-0.414554,-0.900202,-0.133348],[0.025081,-0.157779,0.987156]]
2025-10-27T00:31:37.564Z,1761525097.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:37.566Z,1761525097.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 157.008301 m,
      bearing: 206.424069 deg,
      approach rate: -0.649882 m/s,
      LOS rate: 0.011567 deg/s,
      cmd heading: 204.348878 deg,
      new cmd heading: 204.361936 deg.

2025-10-27T00:31:37.571Z,1761525097.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.566789 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:37.744Z,1761525097.744 [DAT](INFO): DAT read: Rx Time:00:31:38.7622

2025-10-27T00:31:37.745Z,1761525097.745 [DAT](INFO): Rx dataTimestamp_ set to:1761525097.744489
2025-10-27T00:31:37.745Z,1761525097.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027170
2025-10-27T00:31:37.934Z,1761525097.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909100,0.407256,0.087638],[-0.415875,-0.899480,-0.134104],[0.024214,-0.158360,0.987084]]
2025-10-27T00:31:37.971Z,1761525097.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:37.975Z,1761525097.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 156.746368 m,
      bearing: 206.428598 deg,
      approach rate: -0.646195 m/s,
      LOS rate: 0.011193 deg/s,
      cmd heading: 204.361937 deg,
      new cmd heading: 204.375549 deg.

2025-10-27T00:31:37.976Z,1761525097.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567026 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:37.999Z,1761525097.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279963
2025-10-27T00:31:38.251Z,1761525098.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532178
2025-10-27T00:31:38.339Z,1761525098.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908795,0.407982,0.087418],[-0.416606,-0.898839,-0.136120],[0.023040,-0.160124,0.986828]]
2025-10-27T00:31:38.403Z,1761525098.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:38.413Z,1761525098.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 156.477905 m,
      bearing: 206.437310 deg,
      approach rate: -0.625082 m/s,
      LOS rate: 0.020318 deg/s,
      cmd heading: 204.375543 deg,
      new cmd heading: 204.401722 deg.

2025-10-27T00:31:38.414Z,1761525098.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567483 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:38.505Z,1761525098.505 [DAT](INFO): DAT read: 00:31:38.7622 LVL= 32752, 32753, 32754, 31715, AGC= 69, IDX= 286,-0.20, 0.103,-1.222, 0.007,-1.289, PHS= 1.494, 0.112, 1.251, RAW= 140.5, -38.3, CAL= 141.9, -37.4, ROT=   8.1,  37.4

2025-10-27T00:31:38.507Z,1761525098.507 [DAT](INFO): got valid direction response:
 00:31:38.7622 LVL= 32752, 32753, 32754, 31715, AGC= 69, IDX= 286,-0.20, 0.103,-1.222, 0.007,-1.289, PHS= 1.494, 0.112, 1.251, RAW= 140.5, -38.3, CAL= 141.9, -37.4, ROT=   8.1,  37.4

2025-10-27T00:31:38.513Z,1761525098.513 [DAT](INFO): DAT read: Bearing 306.7,  13.1 (Local)

2025-10-27T00:31:38.513Z,1761525098.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.7,  13.1 (Local)

2025-10-27T00:31:38.514Z,1761525098.514 [DAT](INFO): DAT read: Range 11 to 50 : 195.8 m  (Round-trip  261.1 ms) speed  0.6 m/s

2025-10-27T00:31:38.515Z,1761525098.515 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:38.516Z,1761525098.516 [DAT](INFO): direction in FSK: [0.786489,0.111934,-0.607376]
2025-10-27T00:31:38.516Z,1761525098.516 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:38.525Z,1761525098.525 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:38.525Z,1761525098.525 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:38.526Z,1761525098.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:38.742Z,1761525098.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908184,0.409234,0.087917],[-0.417983,-0.897808,-0.138679],[0.022180,-0.162693,0.986427]]
2025-10-27T00:31:38.752Z,1761525098.752 [DAT](INFO): DAT read: user:165>

2025-10-27T00:31:38.753Z,1761525098.753 [DAT](INFO): DAT read: Tx time:00:31:40.1469

2025-10-27T00:31:38.753Z,1761525098.753 [DAT](INFO): Ping request sent.
2025-10-27T00:31:38.753Z,1761525098.753 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:38.753Z,1761525098.753 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:38.754Z,1761525098.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-27T00:31:38.809Z,1761525098.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 195.800003 m,
 deltaT: 4.036133 s,
 deltaX: 26.199997 m,
 approachRate: 6.491361 m/s,
 rangeRepo size: 4
2025-10-27T00:31:38.810Z,1761525098.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:38.817Z,1761525098.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 156.215652 m,
      bearing: 206.445692 deg,
      approach rate: -0.639800 m/s,
      LOS rate: 0.020484 deg/s,
      cmd heading: 204.401716 deg,
      new cmd heading: 204.426905 deg.

2025-10-27T00:31:38.818Z,1761525098.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567923 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:39.008Z,1761525099.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253590
2025-10-27T00:31:39.256Z,1761525099.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502842
2025-10-27T00:31:39.257Z,1761525099.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907549,0.410694,0.087666],[-0.419401,-0.897030,-0.139423],[0.021378,-0.163301,0.986345]]
2025-10-27T00:31:39.304Z,1761525099.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:39.306Z,1761525099.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:39.309Z,1761525099.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 155.881226 m,
      bearing: 206.458641 deg,
      approach rate: -0.672195 m/s,
      LOS rate: 0.026084 deg/s,
      cmd heading: 204.426906 deg,
      new cmd heading: 204.465838 deg.

2025-10-27T00:31:39.310Z,1761525099.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568602 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:39.508Z,1761525099.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754715
2025-10-27T00:31:39.666Z,1761525099.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907350,0.411337,0.086707],[-0.419872,-0.896874,-0.139011],[0.020585,-0.162538,0.986488]]
2025-10-27T00:31:39.706Z,1761525099.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:39.714Z,1761525099.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 155.637070 m,
      bearing: 206.468085 deg,
      approach rate: -0.611221 m/s,
      LOS rate: 0.023678 deg/s,
      cmd heading: 204.465838 deg,
      new cmd heading: 204.494213 deg.

2025-10-27T00:31:39.720Z,1761525099.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569097 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:39.763Z,1761525099.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010229
2025-10-27T00:31:40.012Z,1761525100.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259314
2025-10-27T00:31:40.103Z,1761525100.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907085,0.412145,0.085635],[-0.420482,-0.896696,-0.138317],[0.019782,-0.161474,0.986679]]
2025-10-27T00:31:40.148Z,1761525100.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:40.151Z,1761525100.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 155.349380 m,
      bearing: 206.479026 deg,
      approach rate: -0.649923 m/s,
      LOS rate: 0.024764 deg/s,
      cmd heading: 204.494211 deg,
      new cmd heading: 204.527096 deg.

2025-10-27T00:31:40.152Z,1761525100.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569671 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:40.265Z,1761525100.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511351
2025-10-27T00:31:40.505Z,1761525100.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906907,0.412677,0.084953],[-0.420900,-0.896489,-0.138387],[0.019050,-0.161261,0.986728]]
2025-10-27T00:31:40.516Z,1761525100.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762819
2025-10-27T00:31:40.524Z,1761525100.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:40.527Z,1761525100.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 155.114120 m,
      bearing: 206.487965 deg,
      approach rate: -0.625710 m/s,
      LOS rate: 0.023808 deg/s,
      cmd heading: 204.527091 deg,
      new cmd heading: 204.553946 deg.

2025-10-27T00:31:40.528Z,1761525100.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570140 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:40.769Z,1761525100.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015717
2025-10-27T00:31:40.915Z,1761525100.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906730,0.413238,0.084116],[-0.421322,-0.896261,-0.138578],[0.018124,-0.161092,0.986773]]
2025-10-27T00:31:40.949Z,1761525100.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:40.952Z,1761525100.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 154.858429 m,
      bearing: 206.497666 deg,
      approach rate: -0.602147 m/s,
      LOS rate: 0.022884 deg/s,
      cmd heading: 204.553948 deg,
      new cmd heading: 204.583100 deg.

2025-10-27T00:31:40.953Z,1761525100.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570649 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:41.023Z,1761525101.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268828
2025-10-27T00:31:41.272Z,1761525101.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518700
2025-10-27T00:31:41.317Z,1761525101.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906380,0.414088,0.083702],[-0.422111,-0.895761,-0.139411],[0.017249,-0.161691,0.986691]]
2025-10-27T00:31:41.370Z,1761525101.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:41.376Z,1761525101.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:41.385Z,1761525101.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 154.596191 m,
      bearing: 206.502967 deg,
      approach rate: -0.613971 m/s,
      LOS rate: 0.012432 deg/s,
      cmd heading: 204.583099 deg,
      new cmd heading: 204.599028 deg.

2025-10-27T00:31:41.393Z,1761525101.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570927 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:41.524Z,1761525101.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770969
2025-10-27T00:31:41.732Z,1761525101.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906175,0.414637,0.083209],[-0.422584,-0.895434,-0.140073],[0.016429,-0.162093,0.986639]]
2025-10-27T00:31:41.750Z,1761525101.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:41.766Z,1761525101.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 154.353729 m,
      bearing: 206.507838 deg,
      approach rate: -0.647939 m/s,
      LOS rate: 0.013038 deg/s,
      cmd heading: 204.599027 deg,
      new cmd heading: 204.613664 deg.

2025-10-27T00:31:41.771Z,1761525101.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571182 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:41.776Z,1761525101.776 [DAT](INFO): DAT read: Rx Time:00:31:42.7368

2025-10-27T00:31:41.777Z,1761525101.777 [DAT](INFO): Rx dataTimestamp_ set to:1761525101.776304
2025-10-27T00:31:41.777Z,1761525101.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023975
2025-10-27T00:31:42.029Z,1761525102.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275017
2025-10-27T00:31:42.130Z,1761525102.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906378,0.414432,0.082005],[-0.422179,-0.895698,-0.139604],[0.015596,-0.161155,0.986806]]
2025-10-27T00:31:42.174Z,1761525102.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.91 m.
2025-10-27T00:31:42.177Z,1761525102.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.907684 m,
      nav range: 154.089432 m,
      bearing: 206.509030 deg,
      approach rate: -0.622883 m/s,
      LOS rate: 0.002815 deg/s,
      cmd heading: 204.613657 deg,
      new cmd heading: 204.617240 deg.

2025-10-27T00:31:42.178Z,1761525102.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571244 target range: 168.907684 and range: 169.60 m.
2025-10-27T00:31:42.288Z,1761525102.288 [DAT](INFO): DAT read: 00:31:42.7368 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 186,-0.25, 1.363,-0.353, 1.444, 1.203, PHS= 0.262,-1.511, 0.197, RAW= 148.1,  12.1, CAL= 147.9,  13.2, ROT=   2.1, -13.2

2025-10-27T00:31:42.289Z,1761525102.289 [DAT](INFO): got valid direction response:
 00:31:42.7368 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 186,-0.25, 1.363,-0.353, 1.444, 1.203, PHS= 0.262,-1.511, 0.197, RAW= 148.1,  12.1, CAL= 147.9,  13.2, ROT=   2.1, -13.2

2025-10-27T00:31:42.290Z,1761525102.290 [DAT](INFO): DAT read: Bearing 356.9,   1.0 (Local)

2025-10-27T00:31:42.291Z,1761525102.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,   1.0 (Local)

2025-10-27T00:31:42.293Z,1761525102.293 [DAT](INFO): DAT read: Range 11 to 50 : 139.2 m  (Round-trip  185.7 ms) speed  0.4 m/s

2025-10-27T00:31:42.293Z,1761525102.293 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:31:42.295Z,1761525102.295 [DAT](INFO): direction in FSK: [0.972925,0.035676,0.228351]
2025-10-27T00:31:42.295Z,1761525102.295 [DAT](INFO): publishing direction and range info
2025-10-27T00:31:42.300Z,1761525102.300 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:31:42.300Z,1761525102.300 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:31:42.301Z,1761525102.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:42.532Z,1761525102.532 [DAT](INFO): DAT read: user:166>

2025-10-27T00:31:42.533Z,1761525102.533 [DAT](INFO): DAT read: Tx time:00:31:43.9469

2025-10-27T00:31:42.533Z,1761525102.533 [DAT](INFO): Ping request sent.
2025-10-27T00:31:42.533Z,1761525102.533 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:42.533Z,1761525102.533 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:42.534Z,1761525102.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-10-27T00:31:42.536Z,1761525102.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906436,0.414446,0.081295],[-0.422076,-0.895773,-0.139434],[0.015034,-0.160701,0.986889]]
2025-10-27T00:31:42.559Z,1761525102.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.199997 m,
      deltaT: 7.818531 s,
      deltaX: -30.400009 m,
      approachRate: -3.888200 m/s,
      rangeRepo size: 4

2025-10-27T00:31:42.567Z,1761525102.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 138.634079 m,
      bearing: 209.210821 deg,
      lat: 36.779274 deg,
      lon: -121.859706 deg,
      deltaT: 7.818531 s,
      deltaX: -30.273605 m,
      approachRate: -3.872032 m/s,
      posRepo size: 4

2025-10-27T00:31:42.568Z,1761525102.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:42.570Z,1761525102.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 153.061966 m,
      bearing: 205.910418 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002815 deg/s,
      cmd heading: 204.617236 deg,
      new cmd heading: 204.620479 deg.

2025-10-27T00:31:42.572Z,1761525102.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571301 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:42.784Z,1761525102.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250939
2025-10-27T00:31:42.934Z,1761525102.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906726,0.414053,0.080051],[-0.421478,-0.896161,-0.138755],[0.014286,-0.159552,0.987086]]
2025-10-27T00:31:42.976Z,1761525102.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:42.980Z,1761525102.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 152.799072 m,
      bearing: 205.910658 deg,
      approach rate: -0.629300 m/s,
      LOS rate: 0.000576 deg/s,
      cmd heading: 204.620474 deg,
      new cmd heading: 204.621196 deg.

2025-10-27T00:31:42.981Z,1761525102.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.571314 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:43.037Z,1761525103.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503861
2025-10-27T00:31:43.288Z,1761525103.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754983
2025-10-27T00:31:43.338Z,1761525103.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906798,0.413858,0.080240],[-0.421327,-0.896106,-0.139561],[0.014145,-0.160361,0.986957]]
2025-10-27T00:31:43.425Z,1761525103.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:43.431Z,1761525103.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:43.434Z,1761525103.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 152.522812 m,
      bearing: 205.902805 deg,
      approach rate: -0.612943 m/s,
      LOS rate: -0.017455 deg/s,
      cmd heading: 204.621198 deg,
      new cmd heading: 204.597596 deg.

2025-10-27T00:31:43.439Z,1761525103.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570902 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:43.545Z,1761525103.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011605
2025-10-27T00:31:43.756Z,1761525103.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907122,0.413327,0.079312],[-0.420649,-0.896472,-0.139253],[0.013544,-0.159682,0.987076]]
2025-10-27T00:31:43.779Z,1761525103.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:43.782Z,1761525103.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 152.297348 m,
      bearing: 205.896436 deg,
      approach rate: -0.640050 m/s,
      LOS rate: -0.018109 deg/s,
      cmd heading: 204.597593 deg,
      new cmd heading: 204.578456 deg.

2025-10-27T00:31:43.796Z,1761525103.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263005
2025-10-27T00:31:43.803Z,1761525103.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.570568 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:44.048Z,1761525104.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515030
2025-10-27T00:31:44.158Z,1761525104.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907405,0.412921,0.078177],[-0.420062,-0.896811,-0.138844],[0.012778,-0.158827,0.987224]]
2025-10-27T00:31:44.214Z,1761525104.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:44.229Z,1761525104.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 152.025375 m,
      bearing: 205.883561 deg,
      approach rate: -0.625409 m/s,
      LOS rate: -0.029660 deg/s,
      cmd heading: 204.578454 deg,
      new cmd heading: 204.539760 deg.

2025-10-27T00:31:44.230Z,1761525104.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569892 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:44.301Z,1761525104.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767607
2025-10-27T00:31:44.552Z,1761525104.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018987
2025-10-27T00:31:44.569Z,1761525104.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907873,0.412092,0.077115],[-0.419067,-0.897373,-0.138219],[0.012242,-0.157801,0.987395]]
2025-10-27T00:31:44.603Z,1761525104.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:44.606Z,1761525104.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 151.791840 m,
      bearing: 205.872561 deg,
      approach rate: -0.626331 m/s,
      LOS rate: -0.029545 deg/s,
      cmd heading: 204.539755 deg,
      new cmd heading: 204.506706 deg.

2025-10-27T00:31:44.607Z,1761525104.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569315 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:44.804Z,1761525104.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271464
2025-10-27T00:31:45.007Z,1761525105.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:45.010Z,1761525105.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 151.528656 m,
      bearing: 205.860124 deg,
      approach rate: -0.626416 m/s,
      LOS rate: -0.029653 deg/s,
      cmd heading: 204.506710 deg,
      new cmd heading: 204.469335 deg.

2025-10-27T00:31:45.011Z,1761525105.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568663 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:45.057Z,1761525105.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523721
2025-10-27T00:31:45.308Z,1761525105.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774929
2025-10-27T00:31:45.396Z,1761525105.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908885,0.410331,0.074546],[-0.416907,-0.898578,-0.136914],[0.010805,-0.155517,0.987774]]
2025-10-27T00:31:45.449Z,1761525105.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:45.456Z,1761525105.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:45.458Z,1761525105.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 151.248322 m,
      bearing: 205.842981 deg,
      approach rate: -0.625000 m/s,
      LOS rate: -0.038291 deg/s,
      cmd heading: 204.469335 deg,
      new cmd heading: 204.417810 deg.

2025-10-27T00:31:45.463Z,1761525105.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567764 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:45.561Z,1761525105.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028078
2025-10-27T00:31:45.778Z,1761525105.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909331,0.409481,0.073778],[-0.415942,-0.899101,-0.136413],[0.010475,-0.154732,0.987901]]
2025-10-27T00:31:45.797Z,1761525105.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:45.800Z,1761525105.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 151.010956 m,
      bearing: 205.828508 deg,
      approach rate: -0.694671 m/s,
      LOS rate: -0.042423 deg/s,
      cmd heading: 204.417808 deg,
      new cmd heading: 204.374321 deg.

2025-10-27T00:31:45.801Z,1761525105.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.567005 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:45.812Z,1761525105.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279009
2025-10-27T00:31:46.064Z,1761525106.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531053
2025-10-27T00:31:46.183Z,1761525106.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910016,0.408056,0.073220],[-0.414449,-0.899766,-0.136575],[0.010151,-0.154632,0.987920]]
2025-10-27T00:31:46.235Z,1761525106.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:46.238Z,1761525106.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 150.726669 m,
      bearing: 205.808185 deg,
      approach rate: -0.649324 m/s,
      LOS rate: -0.046507 deg/s,
      cmd heading: 204.374327 deg,
      new cmd heading: 204.313243 deg.

2025-10-27T00:31:46.239Z,1761525106.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565939 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:46.317Z,1761525106.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783606
2025-10-27T00:31:46.571Z,1761525106.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037614
2025-10-27T00:31:46.585Z,1761525106.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910533,0.406953,0.072928],[-0.413316,-0.900254,-0.136795],[0.009984,-0.154699,0.987911]]
2025-10-27T00:31:46.604Z,1761525106.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:46.606Z,1761525106.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 150.487976 m,
      bearing: 205.791179 deg,
      approach rate: -0.647530 m/s,
      LOS rate: -0.046208 deg/s,
      cmd heading: 204.313238 deg,
      new cmd heading: 204.262139 deg.

2025-10-27T00:31:46.607Z,1761525106.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.565047 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:46.820Z,1761525106.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287015
2025-10-27T00:31:46.985Z,1761525106.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911414,0.405025,0.072659],[-0.411372,-0.901080,-0.137218],[0.009895,-0.154952,0.987872]]
2025-10-27T00:31:47.014Z,1761525107.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:47.017Z,1761525107.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 150.228745 m,
      bearing: 205.772867 deg,
      approach rate: -0.631296 m/s,
      LOS rate: -0.044670 deg/s,
      cmd heading: 204.262135 deg,
      new cmd heading: 204.207106 deg.

2025-10-27T00:31:47.018Z,1761525107.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564086 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:47.073Z,1761525107.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540114
2025-10-27T00:31:47.324Z,1761525107.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790849
2025-10-27T00:31:47.405Z,1761525107.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912327,0.402926,0.072865],[-0.409345,-0.901763,-0.138780],[0.009789,-0.156439,0.987639]]
2025-10-27T00:31:47.448Z,1761525107.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:47.451Z,1761525107.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 149.934631 m,
      bearing: 205.752071 deg,
      approach rate: -0.677778 m/s,
      LOS rate: -0.048020 deg/s,
      cmd heading: 204.207111 deg,
      new cmd heading: 204.144598 deg.

2025-10-27T00:31:47.452Z,1761525107.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562995 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:47.576Z,1761525107.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042911
2025-10-27T00:31:47.790Z,1761525107.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913310,0.400737,0.072627],[-0.407154,-0.902589,-0.139854],[0.009508,-0.157301,0.987505]]
2025-10-27T00:31:47.817Z,1761525107.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:47.820Z,1761525107.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:47.822Z,1761525107.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 149.689789 m,
      bearing: 205.734933 deg,
      approach rate: -0.659333 m/s,
      LOS rate: -0.046226 deg/s,
      cmd heading: 204.144601 deg,
      new cmd heading: 204.093103 deg.

2025-10-27T00:31:47.823Z,1761525107.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.562097 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:47.828Z,1761525107.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295104
2025-10-27T00:31:48.080Z,1761525108.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547469
2025-10-27T00:31:48.213Z,1761525108.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914356,0.398342,0.072635],[-0.404803,-0.903410,-0.141370],[0.009305,-0.158665,0.987289]]
2025-10-27T00:31:48.261Z,1761525108.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:48.264Z,1761525108.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 149.389526 m,
      bearing: 205.715648 deg,
      approach rate: -0.680173 m/s,
      LOS rate: -0.043772 deg/s,
      cmd heading: 204.093101 deg,
      new cmd heading: 204.035131 deg.

2025-10-27T00:31:48.265Z,1761525108.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561085 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:48.332Z,1761525108.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799166
2025-10-27T00:31:48.584Z,1761525108.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050913
2025-10-27T00:31:48.599Z,1761525108.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915262,0.396095,0.073509],[-0.402749,-0.903911,-0.144006],[0.009405,-0.161409,0.986843]]
2025-10-27T00:31:48.633Z,1761525108.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:48.640Z,1761525108.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 149.146881 m,
      bearing: 205.700236 deg,
      approach rate: -0.652757 m/s,
      LOS rate: -0.041528 deg/s,
      cmd heading: 204.035127 deg,
      new cmd heading: 203.988816 deg.

2025-10-27T00:31:48.641Z,1761525108.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560277 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:48.836Z,1761525108.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302893
2025-10-27T00:31:49.004Z,1761525109.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916072,0.394218,0.073511],[-0.400907,-0.904528,-0.145268],[0.009225,-0.162547,0.986658]]
2025-10-27T00:31:49.023Z,1761525109.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:49.026Z,1761525109.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 148.872101 m,
      bearing: 205.682947 deg,
      approach rate: -0.704442 m/s,
      LOS rate: -0.044405 deg/s,
      cmd heading: 203.988818 deg,
      new cmd heading: 203.936855 deg.

2025-10-27T00:31:49.027Z,1761525109.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559370 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:49.088Z,1761525109.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555186
2025-10-27T00:31:49.340Z,1761525109.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806963
2025-10-27T00:31:49.408Z,1761525109.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916572,0.393083,0.073360],[-0.399772,-0.904848,-0.146396],[0.008834,-0.163510,0.986502]]
2025-10-27T00:31:49.452Z,1761525109.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:49.454Z,1761525109.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 148.583435 m,
      bearing: 205.671175 deg,
      approach rate: -0.673080 m/s,
      LOS rate: -0.027502 deg/s,
      cmd heading: 203.936854 deg,
      new cmd heading: 203.901469 deg.

2025-10-27T00:31:49.456Z,1761525109.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558752 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:49.592Z,1761525109.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058846
2025-10-27T00:31:49.759Z,1761525109.759 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:31:49.814Z,1761525109.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917326,0.391364,0.073129],[-0.398044,-0.905494,-0.147112],[0.008643,-0.164058,0.986413]]
2025-10-27T00:31:49.830Z,1761525109.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:49.832Z,1761525109.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:49.835Z,1761525109.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 148.326996 m,
      bearing: 205.660870 deg,
      approach rate: -0.673934 m/s,
      LOS rate: -0.027130 deg/s,
      cmd heading: 203.901473 deg,
      new cmd heading: 203.870504 deg.

2025-10-27T00:31:49.836Z,1761525109.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558212 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:49.844Z,1761525109.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311292
2025-10-27T00:31:50.096Z,1761525110.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562959
2025-10-27T00:31:50.251Z,1761525110.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918022,0.389700,0.073283],[-0.396439,-0.905968,-0.148520],[0.008514,-0.165397,0.986190]]
2025-10-27T00:31:50.306Z,1761525110.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:50.308Z,1761525110.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 148.018967 m,
      bearing: 205.652428 deg,
      approach rate: -0.650802 m/s,
      LOS rate: -0.017873 deg/s,
      cmd heading: 203.870505 deg,
      new cmd heading: 203.845127 deg.

2025-10-27T00:31:50.309Z,1761525110.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557769 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:50.349Z,1761525110.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816199
2025-10-27T00:31:50.600Z,1761525110.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066936
2025-10-27T00:31:50.622Z,1761525110.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918401,0.388821,0.073195],[-0.395565,-0.906217,-0.149329],[0.008269,-0.166097,0.986075]]
2025-10-27T00:31:50.640Z,1761525110.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:50.643Z,1761525110.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 147.801224 m,
      bearing: 205.646522 deg,
      approach rate: -0.650828 m/s,
      LOS rate: -0.017681 deg/s,
      cmd heading: 203.845124 deg,
      new cmd heading: 203.827378 deg.

2025-10-27T00:31:50.644Z,1761525110.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557459 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:50.763Z,1761525110.763 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:31:50.852Z,1761525110.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319210
2025-10-27T00:31:51.021Z,1761525111.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918464,0.388668,0.073217],[-0.395425,-0.906104,-0.150379],[0.007895,-0.167070,0.985913]]
2025-10-27T00:31:51.056Z,1761525111.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:51.058Z,1761525111.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 147.536026 m,
      bearing: 205.639321 deg,
      approach rate: -0.637878 m/s,
      LOS rate: -0.017350 deg/s,
      cmd heading: 203.827379 deg,
      new cmd heading: 203.805740 deg.

2025-10-27T00:31:51.064Z,1761525111.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557081 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:51.104Z,1761525111.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571121
2025-10-27T00:31:51.356Z,1761525111.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822975
2025-10-27T00:31:51.507Z,1761525111.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918469,0.388644,0.073280],[-0.395424,-0.905845,-0.151937],[0.007331,-0.168526,0.985670]]
2025-10-27T00:31:51.554Z,1761525111.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:51.557Z,1761525111.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 147.200668 m,
      bearing: 205.638224 deg,
      approach rate: -0.673309 m/s,
      LOS rate: -0.002208 deg/s,
      cmd heading: 203.805741 deg,
      new cmd heading: 203.802442 deg.

2025-10-27T00:31:51.558Z,1761525111.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557024 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:51.610Z,1761525111.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077134
2025-10-27T00:31:51.866Z,1761525111.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332362
2025-10-27T00:31:51.916Z,1761525111.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918266,0.389253,0.072588],[-0.395912,-0.905545,-0.152453],[0.006389,-0.168731,0.985641]]
2025-10-27T00:31:51.933Z,1761525111.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:51.935Z,1761525111.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:51.937Z,1761525111.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 146.948975 m,
      bearing: 205.637345 deg,
      approach rate: -0.661224 m/s,
      LOS rate: -0.002312 deg/s,
      cmd heading: 203.802436 deg,
      new cmd heading: 203.799795 deg.

2025-10-27T00:31:51.938Z,1761525111.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556978 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:52.117Z,1761525112.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583520
2025-10-27T00:31:52.369Z,1761525112.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836282
2025-10-27T00:31:52.409Z,1761525112.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918117,0.389947,0.070728],[-0.396279,-0.905512,-0.151694],[0.004893,-0.167301,0.985894]]
2025-10-27T00:31:52.453Z,1761525112.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:52.456Z,1761525112.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 146.615631 m,
      bearing: 205.645080 deg,
      approach rate: -0.643310 m/s,
      LOS rate: 0.014962 deg/s,
      cmd heading: 203.799799 deg,
      new cmd heading: 203.823057 deg.

2025-10-27T00:31:52.457Z,1761525112.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557384 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:52.620Z,1761525112.620 [DAT](INFO): Reached modem response timeout
2025-10-27T00:31:52.620Z,1761525112.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:31:52.621Z,1761525112.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:31:52.872Z,1761525112.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:31:52.871Z,1761525112.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917490,0.391698,0.069169],[-0.397745,-0.904877,-0.151643],[0.003191,-0.166643,0.986012]]
2025-10-27T00:31:52.912Z,1761525112.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:52.915Z,1761525112.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 146.328857 m,
      bearing: 205.651585 deg,
      approach rate: -0.624359 m/s,
      LOS rate: 0.014191 deg/s,
      cmd heading: 203.823063 deg,
      new cmd heading: 203.842617 deg.

2025-10-27T00:31:52.916Z,1761525112.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557725 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:53.124Z,1761525113.124 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:31:53.280Z,1761525113.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916720,0.394071,0.065829],[-0.399530,-0.904637,-0.148351],[0.001090,-0.162297,0.986741]]
2025-10-27T00:31:53.317Z,1761525113.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:53.320Z,1761525113.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 146.061661 m,
      bearing: 205.661086 deg,
      approach rate: -0.660281 m/s,
      LOS rate: 0.023520 deg/s,
      cmd heading: 203.842611 deg,
      new cmd heading: 203.871164 deg.

2025-10-27T00:31:53.321Z,1761525113.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558223 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:53.378Z,1761525113.378 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:31:53.628Z,1761525113.628 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:31:53.716Z,1761525113.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:53.738Z,1761525113.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 145.809982 m,
      bearing: 205.670067 deg,
      approach rate: -0.629916 m/s,
      LOS rate: 0.022516 deg/s,
      cmd heading: 203.871161 deg,
      new cmd heading: 203.898150 deg.

2025-10-27T00:31:53.739Z,1761525113.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558694 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:53.880Z,1761525113.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:31:54.073Z,1761525114.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915150,0.398537,0.060573],[-0.403100,-0.903451,-0.145901],[-0.003422,-0.157939,0.987443]]
2025-10-27T00:31:54.090Z,1761525114.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:54.092Z,1761525114.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:54.094Z,1761525114.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 145.567017 m,
      bearing: 205.678402 deg,
      approach rate: -0.646886 m/s,
      LOS rate: 0.022228 deg/s,
      cmd heading: 203.898154 deg,
      new cmd heading: 203.923200 deg.

2025-10-27T00:31:54.096Z,1761525114.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559131 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:54.132Z,1761525114.132 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:31:54.384Z,1761525114.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:31:54.477Z,1761525114.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914137,0.401319,0.057422],[-0.405364,-0.902776,-0.143788],[-0.005866,-0.154718,0.987941]]
2025-10-27T00:31:54.519Z,1761525114.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:54.522Z,1761525114.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 145.306656 m,
      bearing: 205.688049 deg,
      approach rate: -0.609900 m/s,
      LOS rate: 0.022639 deg/s,
      cmd heading: 203.923207 deg,
      new cmd heading: 203.952200 deg.

2025-10-27T00:31:54.522Z,1761525114.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559637 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:54.636Z,1761525114.636 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:31:54.888Z,1761525114.888 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:31:54.888Z,1761525114.888 [DAT](INFO): response not received
2025-10-27T00:31:54.889Z,1761525114.889 [DAT](INFO): DAT read: user:167>

2025-10-27T00:31:54.889Z,1761525114.889 [DAT](INFO): DAT read: Tx time:00:31:56.3968

2025-10-27T00:31:54.890Z,1761525114.890 [DAT](INFO): Ping request sent.
2025-10-27T00:31:54.890Z,1761525114.890 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:31:54.890Z,1761525114.890 [DAT](INFO): publishing transmit ping time
2025-10-27T00:31:54.891Z,1761525114.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-27T00:31:54.895Z,1761525114.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913063,0.404135,0.054687],[-0.407734,-0.901901,-0.142575],[-0.008297,-0.152478,0.988272]]
2025-10-27T00:31:54.913Z,1761525114.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:54.916Z,1761525114.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 145.066101 m,
      bearing: 205.696750 deg,
      approach rate: -0.609912 m/s,
      LOS rate: 0.022097 deg/s,
      cmd heading: 203.952194 deg,
      new cmd heading: 203.978341 deg.

2025-10-27T00:31:54.917Z,1761525114.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560094 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:55.141Z,1761525115.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250700
2025-10-27T00:31:55.305Z,1761525115.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912367,0.406129,0.051440],[-0.409235,-0.901565,-0.140380],[-0.010636,-0.149129,0.988761]]
2025-10-27T00:31:55.374Z,1761525115.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:55.400Z,1761525115.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509993
2025-10-27T00:31:55.427Z,1761525115.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 144.796432 m,
      bearing: 205.703929 deg,
      approach rate: -0.586771 m/s,
      LOS rate: 0.015651 deg/s,
      cmd heading: 203.978340 deg,
      new cmd heading: 203.999919 deg.

2025-10-27T00:31:55.428Z,1761525115.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560470 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:55.653Z,1761525115.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762595
2025-10-27T00:31:55.747Z,1761525115.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911408,0.408541,0.049279],[-0.411293,-0.900563,-0.140797],[-0.013142,-0.148592,0.988811]]
2025-10-27T00:31:55.774Z,1761525115.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:55.781Z,1761525115.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 144.540924 m,
      bearing: 205.710525 deg,
      approach rate: -0.637596 m/s,
      LOS rate: 0.016488 deg/s,
      cmd heading: 203.999924 deg,
      new cmd heading: 204.019746 deg.

2025-10-27T00:31:55.782Z,1761525115.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560816 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:55.904Z,1761525115.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014297
2025-10-27T00:31:56.149Z,1761525116.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910599,0.410583,0.047226],[-0.412998,-0.899704,-0.141298],[-0.015525,-0.148170,0.988840]]
2025-10-27T00:31:56.156Z,1761525116.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266215
2025-10-27T00:31:56.168Z,1761525116.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:56.170Z,1761525116.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:56.173Z,1761525116.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 144.295837 m,
      bearing: 205.716690 deg,
      approach rate: -0.618425 m/s,
      LOS rate: 0.015582 deg/s,
      cmd heading: 204.019745 deg,
      new cmd heading: 204.038270 deg.

2025-10-27T00:31:56.174Z,1761525116.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561140 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:56.408Z,1761525116.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518537
2025-10-27T00:31:56.554Z,1761525116.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910068,0.411965,0.045403],[-0.414079,-0.899065,-0.142203],[-0.017763,-0.148215,0.988796]]
2025-10-27T00:31:56.618Z,1761525116.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:56.623Z,1761525116.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 144.014832 m,
      bearing: 205.717338 deg,
      approach rate: -0.626415 m/s,
      LOS rate: 0.001447 deg/s,
      cmd heading: 204.038268 deg,
      new cmd heading: 204.040216 deg.

2025-10-27T00:31:56.625Z,1761525116.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561174 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:56.660Z,1761525116.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770165
2025-10-27T00:31:56.917Z,1761525116.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027193
2025-10-27T00:31:56.964Z,1761525116.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909602,0.413134,0.044095],[-0.415028,-0.898527,-0.142833],[-0.019389,-0.148221,0.988764]]
2025-10-27T00:31:56.987Z,1761525116.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:56.990Z,1761525116.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 143.774536 m,
      bearing: 205.717792 deg,
      approach rate: -0.651638 m/s,
      LOS rate: 0.001235 deg/s,
      cmd heading: 204.040222 deg,
      new cmd heading: 204.041588 deg.

2025-10-27T00:31:56.991Z,1761525116.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561198 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:57.168Z,1761525117.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277890
2025-10-27T00:31:57.420Z,1761525117.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530092
2025-10-27T00:31:57.437Z,1761525117.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:57.440Z,1761525117.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 143.478439 m,
      bearing: 205.708521 deg,
      approach rate: -0.658471 m/s,
      LOS rate: -0.020660 deg/s,
      cmd heading: 204.041588 deg,
      new cmd heading: 204.013718 deg.

2025-10-27T00:31:57.441Z,1761525117.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560711 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:57.672Z,1761525117.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782033
2025-10-27T00:31:57.767Z,1761525117.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909599,0.413397,0.041619],[-0.414875,-0.898261,-0.144937],[-0.022532,-0.149101,0.988565]]
2025-10-27T00:31:57.820Z,1761525117.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:57.822Z,1761525117.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 143.236862 m,
      bearing: 205.700946 deg,
      approach rate: -0.630947 m/s,
      LOS rate: -0.019819 deg/s,
      cmd heading: 204.013721 deg,
      new cmd heading: 203.990956 deg.

2025-10-27T00:31:57.828Z,1761525117.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.560314 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:57.925Z,1761525117.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035006
2025-10-27T00:31:58.176Z,1761525118.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286009
2025-10-27T00:31:58.218Z,1761525118.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:31:58.224Z,1761525118.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:58.227Z,1761525118.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 142.979080 m,
      bearing: 205.692834 deg,
      approach rate: -0.637170 m/s,
      LOS rate: -0.020087 deg/s,
      cmd heading: 203.990963 deg,
      new cmd heading: 203.966583 deg.

2025-10-27T00:31:58.228Z,1761525118.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559888 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:58.428Z,1761525118.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538118
2025-10-27T00:31:58.653Z,1761525118.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911009,0.410471,0.039688],[-0.411509,-0.898583,-0.152341],[-0.026869,-0.155116,0.987531]]
2025-10-27T00:31:58.681Z,1761525118.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790406
2025-10-27T00:31:58.682Z,1761525118.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:58.686Z,1761525118.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 142.669449 m,
      bearing: 205.683558 deg,
      approach rate: -0.676837 m/s,
      LOS rate: -0.020320 deg/s,
      cmd heading: 203.966579 deg,
      new cmd heading: 203.938691 deg.

2025-10-27T00:31:58.688Z,1761525118.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559402 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:58.932Z,1761525118.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042090
2025-10-27T00:31:59.054Z,1761525119.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911877,0.408670,0.038329],[-0.409527,-0.899515,-0.152186],[-0.027717,-0.154471,0.987608]]
2025-10-27T00:31:59.072Z,1761525119.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:59.075Z,1761525119.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 142.414062 m,
      bearing: 205.676095 deg,
      approach rate: -0.653612 m/s,
      LOS rate: -0.019134 deg/s,
      cmd heading: 203.938698 deg,
      new cmd heading: 203.916269 deg.

2025-10-27T00:31:59.076Z,1761525119.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559010 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:59.185Z,1761525119.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294603
2025-10-27T00:31:59.436Z,1761525119.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546013
2025-10-27T00:31:59.458Z,1761525119.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912858,0.406563,0.037385],[-0.407255,-0.900268,-0.153817],[-0.028880,-0.155638,0.987392]]
2025-10-27T00:31:59.495Z,1761525119.495 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,.00
2025-10-27T00:31:59.510Z,1761525119.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:59.513Z,1761525119.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 142.128845 m,
      bearing: 205.668023 deg,
      approach rate: -0.651474 m/s,
      LOS rate: -0.018474 deg/s,
      cmd heading: 203.916268 deg,
      new cmd heading: 203.892003 deg.

2025-10-27T00:31:59.514Z,1761525119.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558587 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:59.688Z,1761525119.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798279
2025-10-27T00:31:59.882Z,1761525119.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914012,0.404049,0.036428],[-0.404595,-0.901281,-0.154901],[-0.029756,-0.156320,0.987258]]
2025-10-27T00:31:59.909Z,1761525119.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:31:59.916Z,1761525119.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 141.874451 m,
      bearing: 205.661100 deg,
      approach rate: -0.637710 m/s,
      LOS rate: -0.017386 deg/s,
      cmd heading: 203.892007 deg,
      new cmd heading: 203.871200 deg.

2025-10-27T00:31:59.917Z,1761525119.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.558224 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:31:59.940Z,1761525119.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050178
2025-10-27T00:32:00.192Z,1761525120.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.301965
2025-10-27T00:32:00.271Z,1761525120.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915097,0.401688,0.035285],[-0.402072,-0.902320,-0.155426],[-0.030594,-0.156417,0.987217]]
2025-10-27T00:32:00.308Z,1761525120.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:00.310Z,1761525120.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:00.333Z,1761525120.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 141.622131 m,
      bearing: 205.654491 deg,
      approach rate: -0.628844 m/s,
      LOS rate: -0.016502 deg/s,
      cmd heading: 203.871202 deg,
      new cmd heading: 203.851338 deg.

2025-10-27T00:32:00.337Z,1761525120.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.557877 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:00.445Z,1761525120.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554413
2025-10-27T00:32:00.676Z,1761525120.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916083,0.399539,0.034073],[-0.399725,-0.903153,-0.156636],[-0.031809,-0.157112,0.987068]]
2025-10-27T00:32:00.697Z,1761525120.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806714
2025-10-27T00:32:00.749Z,1761525120.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:00.752Z,1761525120.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 141.297195 m,
      bearing: 205.623022 deg,
      approach rate: -0.740887 m/s,
      LOS rate: -0.071917 deg/s,
      cmd heading: 203.851340 deg,
      new cmd heading: 203.756717 deg.

2025-10-27T00:32:00.753Z,1761525120.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.556226 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:00.948Z,1761525120.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.057899
2025-10-27T00:32:01.082Z,1761525121.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917086,0.397299,0.033261],[-0.397309,-0.903790,-0.159090],[-0.033145,-0.159114,0.986704]]
2025-10-27T00:32:01.100Z,1761525121.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:01.103Z,1761525121.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 141.048859 m,
      bearing: 205.599168 deg,
      approach rate: -0.706651 m/s,
      LOS rate: -0.067996 deg/s,
      cmd heading: 203.756714 deg,
      new cmd heading: 203.685027 deg.

2025-10-27T00:32:01.104Z,1761525121.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554974 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:01.200Z,1761525121.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310245
2025-10-27T00:32:01.452Z,1761525121.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561971
2025-10-27T00:32:01.506Z,1761525121.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918096,0.395097,0.031592],[-0.394816,-0.904592,-0.160732],[-0.034926,-0.160040,0.986492]]
2025-10-27T00:32:01.546Z,1761525121.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:01.549Z,1761525121.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 140.731186 m,
      bearing: 205.567681 deg,
      approach rate: -0.712336 m/s,
      LOS rate: -0.070765 deg/s,
      cmd heading: 203.685025 deg,
      new cmd heading: 203.590350 deg.

2025-10-27T00:32:01.550Z,1761525121.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553322 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:01.705Z,1761525121.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814409
2025-10-27T00:32:01.956Z,1761525121.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066265
2025-10-27T00:32:01.976Z,1761525121.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919093,0.392887,0.030118],[-0.392394,-0.905599,-0.160992],[-0.035977,-0.159784,0.986496]]
2025-10-27T00:32:02.010Z,1761525122.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:02.017Z,1761525122.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 140.412567 m,
      bearing: 205.536303 deg,
      approach rate: -0.687284 m/s,
      LOS rate: -0.067838 deg/s,
      cmd heading: 203.590345 deg,
      new cmd heading: 203.495997 deg.

2025-10-27T00:32:02.018Z,1761525122.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.551675 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:02.209Z,1761525122.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318653
2025-10-27T00:32:02.439Z,1761525122.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919740,0.391472,0.028778],[-0.390767,-0.906211,-0.161503],[-0.037145,-0.159786,0.986453]]
2025-10-27T00:32:02.460Z,1761525122.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570159
2025-10-27T00:32:02.496Z,1761525122.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:02.498Z,1761525122.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:02.505Z,1761525122.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 140.067856 m,
      bearing: 205.514074 deg,
      approach rate: -0.706036 m/s,
      LOS rate: -0.045643 deg/s,
      cmd heading: 203.495992 deg,
      new cmd heading: 203.429139 deg.

2025-10-27T00:32:02.506Z,1761525122.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550508 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:02.713Z,1761525122.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823478
2025-10-27T00:32:02.891Z,1761525122.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920394,0.390064,0.026942],[-0.389114,-0.907045,-0.160811],[-0.038289,-0.158493,0.986617]]
2025-10-27T00:32:02.909Z,1761525122.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:02.912Z,1761525122.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 139.760391 m,
      bearing: 205.494370 deg,
      approach rate: -0.748583 m/s,
      LOS rate: -0.048078 deg/s,
      cmd heading: 203.429138 deg,
      new cmd heading: 203.369897 deg.

2025-10-27T00:32:02.913Z,1761525122.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.549474 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:02.965Z,1761525122.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074829
2025-10-27T00:32:03.216Z,1761525123.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.325976
2025-10-27T00:32:03.290Z,1761525123.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920787,0.389271,0.024868],[-0.388063,-0.907749,-0.159368],[-0.039464,-0.156395,0.986906]]
2025-10-27T00:32:03.308Z,1761525123.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:03.310Z,1761525123.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 139.476151 m,
      bearing: 205.476195 deg,
      approach rate: -0.712740 m/s,
      LOS rate: -0.045668 deg/s,
      cmd heading: 203.369893 deg,
      new cmd heading: 203.315257 deg.

2025-10-27T00:32:03.311Z,1761525123.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548521 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:03.469Z,1761525123.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579018
2025-10-27T00:32:03.720Z,1761525123.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829932
2025-10-27T00:32:03.755Z,1761525123.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:03.758Z,1761525123.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 139.173553 m,
      bearing: 205.464438 deg,
      approach rate: -0.676716 m/s,
      LOS rate: -0.026349 deg/s,
      cmd heading: 203.315252 deg,
      new cmd heading: 203.279906 deg.

2025-10-27T00:32:03.759Z,1761525123.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547904 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:03.972Z,1761525123.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082312
2025-10-27T00:32:04.098Z,1761525124.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920726,0.389585,0.022062],[-0.387982,-0.907975,-0.158277],[-0.041630,-0.154289,0.987148]]
2025-10-27T00:32:04.116Z,1761525124.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:04.119Z,1761525124.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 138.929443 m,
      bearing: 205.454918 deg,
      approach rate: -0.675606 m/s,
      LOS rate: -0.026396 deg/s,
      cmd heading: 203.279912 deg,
      new cmd heading: 203.251300 deg.

2025-10-27T00:32:04.120Z,1761525124.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547404 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:04.224Z,1761525124.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334533
2025-10-27T00:32:04.476Z,1761525124.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586044
2025-10-27T00:32:04.552Z,1761525124.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:04.554Z,1761525124.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:04.557Z,1761525124.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 138.634445 m,
      bearing: 205.456893 deg,
      approach rate: -0.674300 m/s,
      LOS rate: 0.004524 deg/s,
      cmd heading: 203.251294 deg,
      new cmd heading: 203.257232 deg.

2025-10-27T00:32:04.557Z,1761525124.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547508 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:04.728Z,1761525124.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837948
2025-10-27T00:32:04.914Z,1761525124.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920328,0.390619,0.020355],[-0.388755,-0.907709,-0.157907],[-0.043205,-0.153239,0.987244]]
2025-10-27T00:32:04.939Z,1761525124.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:04.942Z,1761525124.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 138.374298 m,
      bearing: 205.458550 deg,
      approach rate: -0.675384 m/s,
      LOS rate: 0.004312 deg/s,
      cmd heading: 203.257236 deg,
      new cmd heading: 203.262219 deg.

2025-10-27T00:32:04.943Z,1761525124.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547595 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:04.980Z,1761525124.980 [DAT](INFO): Reached modem response timeout
2025-10-27T00:32:04.980Z,1761525124.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:04.980Z,1761525124.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:05.232Z,1761525125.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:05.310Z,1761525125.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919757,0.391983,0.019921],[-0.390031,-0.907147,-0.157985],[-0.043856,-0.153078,0.987241]]
2025-10-27T00:32:05.328Z,1761525125.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:05.330Z,1761525125.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 138.112228 m,
      bearing: 205.460075 deg,
      approach rate: -0.674294 m/s,
      LOS rate: 0.003930 deg/s,
      cmd heading: 203.262222 deg,
      new cmd heading: 203.266804 deg.

2025-10-27T00:32:05.331Z,1761525125.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547675 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:05.484Z,1761525125.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:05.736Z,1761525125.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:05.780Z,1761525125.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:05.782Z,1761525125.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 137.821167 m,
      bearing: 205.470573 deg,
      approach rate: -0.643652 m/s,
      LOS rate: 0.023264 deg/s,
      cmd heading: 203.266799 deg,
      new cmd heading: 203.298358 deg.

2025-10-27T00:32:05.784Z,1761525125.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548226 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:05.988Z,1761525125.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:06.117Z,1761525126.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918312,0.395377,0.019515],[-0.393292,-0.905647,-0.158506],[-0.044996,-0.153233,0.987165]]
2025-10-27T00:32:06.136Z,1761525126.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:06.138Z,1761525126.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 137.591949 m,
      bearing: 205.478527 deg,
      approach rate: -0.644173 m/s,
      LOS rate: 0.022392 deg/s,
      cmd heading: 203.298354 deg,
      new cmd heading: 203.322258 deg.

2025-10-27T00:32:06.139Z,1761525126.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548643 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:06.240Z,1761525126.240 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:06.492Z,1761525126.492 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:06.532Z,1761525126.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917523,0.397196,0.019667],[-0.395030,-0.904585,-0.160239],[-0.045856,-0.154792,0.986882]]
2025-10-27T00:32:06.566Z,1761525126.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:06.568Z,1761525126.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:06.571Z,1761525126.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 137.317459 m,
      bearing: 205.493063 deg,
      approach rate: -0.634155 m/s,
      LOS rate: 0.033650 deg/s,
      cmd heading: 203.322260 deg,
      new cmd heading: 203.365956 deg.

2025-10-27T00:32:06.572Z,1761525126.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.549406 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:06.744Z,1761525126.744 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:06.925Z,1761525126.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916620,0.399279,0.019590],[-0.397047,-0.903607,-0.160770],[-0.046490,-0.155144,0.986797]]
2025-10-27T00:32:06.944Z,1761525126.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:06.946Z,1761525126.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 137.078720 m,
      bearing: 205.505528 deg,
      approach rate: -0.636098 m/s,
      LOS rate: 0.033268 deg/s,
      cmd heading: 203.365959 deg,
      new cmd heading: 203.403418 deg.

2025-10-27T00:32:06.948Z,1761525126.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550059 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:06.996Z,1761525126.996 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:07.248Z,1761525127.248 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:32:07.249Z,1761525127.249 [DAT](INFO): response not received
2025-10-27T00:32:07.249Z,1761525127.249 [DAT](INFO): DAT read: user:168>

2025-10-27T00:32:07.249Z,1761525127.249 [DAT](ERROR): No response from remote modem.
2025-10-27T00:32:07.249Z,1761525127.249 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:07.250Z,1761525127.250 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:07.335Z,1761525127.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915731,0.401298,0.019915],[-0.399008,-0.902443,-0.162448],[-0.047218,-0.156705,0.986516]]
2025-10-27T00:32:07.383Z,1761525127.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:07.386Z,1761525127.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 136.805984 m,
      bearing: 205.519564 deg,
      approach rate: -0.623320 m/s,
      LOS rate: 0.032142 deg/s,
      cmd heading: 203.403416 deg,
      new cmd heading: 203.445607 deg.

2025-10-27T00:32:07.395Z,1761525127.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550796 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:07.501Z,1761525127.501 [DAT](INFO): DAT read: Tx time:00:32:08.8468

2025-10-27T00:32:07.502Z,1761525127.502 [DAT](INFO): Ping request sent.
2025-10-27T00:32:07.502Z,1761525127.502 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:32:07.502Z,1761525127.502 [DAT](INFO): publishing transmit ping time
2025-10-27T00:32:07.503Z,1761525127.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001686
2025-10-27T00:32:07.752Z,1761525127.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250271
2025-10-27T00:32:07.761Z,1761525127.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914615,0.403823,0.020155],[-0.401512,-0.901252,-0.162886],[-0.047612,-0.157071,0.986439]]
2025-10-27T00:32:07.822Z,1761525127.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:07.830Z,1761525127.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 136.528580 m,
      bearing: 205.536065 deg,
      approach rate: -0.630158 m/s,
      LOS rate: 0.037561 deg/s,
      cmd heading: 203.445613 deg,
      new cmd heading: 203.495218 deg.

2025-10-27T00:32:07.834Z,1761525127.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.551661 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:08.004Z,1761525128.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502197
2025-10-27T00:32:08.181Z,1761525128.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913413,0.406544,0.019983],[-0.404182,-0.900116,-0.162566],[-0.048104,-0.156567,0.986495]]
2025-10-27T00:32:08.203Z,1761525128.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:08.206Z,1761525128.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 136.287476 m,
      bearing: 205.550161 deg,
      approach rate: -0.631978 m/s,
      LOS rate: 0.037012 deg/s,
      cmd heading: 203.495214 deg,
      new cmd heading: 203.537575 deg.

2025-10-27T00:32:08.207Z,1761525128.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552401 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:08.256Z,1761525128.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754493
2025-10-27T00:32:08.508Z,1761525128.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006308
2025-10-27T00:32:08.581Z,1761525128.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912452,0.408695,0.020016],[-0.406281,-0.899074,-0.163097],[-0.048661,-0.156951,0.986407]]
2025-10-27T00:32:08.629Z,1761525128.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:08.631Z,1761525128.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:08.634Z,1761525128.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 136.018921 m,
      bearing: 205.561233 deg,
      approach rate: -0.627375 m/s,
      LOS rate: 0.025916 deg/s,
      cmd heading: 203.537575 deg,
      new cmd heading: 203.570856 deg.

2025-10-27T00:32:08.651Z,1761525128.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552982 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:08.760Z,1761525128.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258570
2025-10-27T00:32:08.994Z,1761525128.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911906,0.409979,0.018579],[-0.407473,-0.899077,-0.160082],[-0.048926,-0.153550,0.986929]]
2025-10-27T00:32:09.012Z,1761525129.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510375
2025-10-27T00:32:09.014Z,1761525129.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:09.017Z,1761525129.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 135.779236 m,
      bearing: 205.571014 deg,
      approach rate: -0.625932 m/s,
      LOS rate: 0.025588 deg/s,
      cmd heading: 203.570851 deg,
      new cmd heading: 203.600246 deg.

2025-10-27T00:32:09.018Z,1761525129.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553495 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:09.264Z,1761525129.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762207
2025-10-27T00:32:09.399Z,1761525129.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910969,0.412109,0.017364],[-0.409521,-0.898614,-0.157437],[-0.049278,-0.150531,0.987376]]
2025-10-27T00:32:09.457Z,1761525129.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:09.484Z,1761525129.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 135.513306 m,
      bearing: 205.581647 deg,
      approach rate: -0.620276 m/s,
      LOS rate: 0.024852 deg/s,
      cmd heading: 203.600248 deg,
      new cmd heading: 203.632212 deg.

2025-10-27T00:32:09.492Z,1761525129.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554053 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:09.516Z,1761525129.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014351
2025-10-27T00:32:09.769Z,1761525129.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266655
2025-10-27T00:32:09.864Z,1761525129.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910860,0.412389,0.016415],[-0.409731,-0.898784,-0.155907],[-0.049540,-0.148735,0.987635]]
2025-10-27T00:32:09.921Z,1761525129.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:09.924Z,1761525129.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 135.206680 m,
      bearing: 205.583211 deg,
      approach rate: -0.640883 m/s,
      LOS rate: 0.003276 deg/s,
      cmd heading: 203.632214 deg,
      new cmd heading: 203.636916 deg.

2025-10-27T00:32:09.925Z,1761525129.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554135 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:10.020Z,1761525130.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518326
2025-10-27T00:32:10.261Z,1761525130.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911037,0.411987,0.016684],[-0.409331,-0.898814,-0.156787],[-0.049598,-0.149669,0.987491]]
2025-10-27T00:32:10.272Z,1761525130.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770250
2025-10-27T00:32:10.298Z,1761525130.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:10.305Z,1761525130.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 134.979416 m,
      bearing: 205.584422 deg,
      approach rate: -0.603823 m/s,
      LOS rate: 0.003222 deg/s,
      cmd heading: 203.636913 deg,
      new cmd heading: 203.640550 deg.

2025-10-27T00:32:10.306Z,1761525130.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554198 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:10.527Z,1761525130.527 [DAT](INFO): DAT read: Rx Time:00:32:11.4116

2025-10-27T00:32:10.529Z,1761525130.529 [DAT](INFO): Rx dataTimestamp_ set to:1761525130.527695
2025-10-27T00:32:10.530Z,1761525130.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028480
2025-10-27T00:32:10.667Z,1761525130.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911500,0.410941,0.017161],[-0.408294,-0.899019,-0.158304],[-0.049625,-0.151301,0.987241]]
2025-10-27T00:32:10.724Z,1761525130.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:10.726Z,1761525130.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:10.728Z,1761525130.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 134.702774 m,
      bearing: 205.577784 deg,
      approach rate: -0.646298 m/s,
      LOS rate: -0.015538 deg/s,
      cmd heading: 203.640546 deg,
      new cmd heading: 203.620594 deg.

2025-10-27T00:32:10.729Z,1761525130.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553850 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:10.776Z,1761525130.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274429
2025-10-27T00:32:11.034Z,1761525131.034 [DAT](INFO): DAT read: 00:32:11.4116 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 121, 0.31,-1.707, 2.757,-1.591,-1.865, PHS= 0.261,-1.616, 0.230, RAW= 149.2,  12.1, CAL= 149.1,  13.3, ROT=   0.9, -13.3

2025-10-27T00:32:11.035Z,1761525131.035 [DAT](INFO): got valid direction response:
 00:32:11.4116 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 121, 0.31,-1.707, 2.757,-1.591,-1.865, PHS= 0.261,-1.616, 0.230, RAW= 149.2,  12.1, CAL= 149.1,  13.3, ROT=   0.9, -13.3

2025-10-27T00:32:11.036Z,1761525131.036 [DAT](INFO): DAT read: $Error in header

2025-10-27T00:32:11.036Z,1761525131.036 [DAT](INFO): Received a bad header
2025-10-27T00:32:11.047Z,1761525131.047 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:32:11.048Z,1761525131.048 [DAT](INFO): direction in FSK: [0.973059,0.015286,0.230050]
2025-10-27T00:32:11.051Z,1761525131.051 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:11.051Z,1761525131.051 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:11.052Z,1761525131.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:11.082Z,1761525131.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912233,0.409235,0.018902],[-0.406700,-0.899104,-0.161884],[-0.049253,-0.155363,0.986629]]
2025-10-27T00:32:11.118Z,1761525131.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:11.121Z,1761525131.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 134.463089 m,
      bearing: 205.572221 deg,
      approach rate: -0.611237 m/s,
      LOS rate: -0.014213 deg/s,
      cmd heading: 203.620589 deg,
      new cmd heading: 203.603869 deg.

2025-10-27T00:32:11.122Z,1761525131.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553558 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:11.280Z,1761525131.280 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:11.280Z,1761525131.280 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:11.280Z,1761525131.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:11.532Z,1761525131.532 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:11.532Z,1761525131.532 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:11.532Z,1761525131.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:11.549Z,1761525131.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912902,0.407692,0.019904],[-0.405176,-0.899207,-0.165106],[-0.049414,-0.158790,0.986075]]
2025-10-27T00:32:11.576Z,1761525131.576 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  89.76,  72.08,  78.54
2025-10-27T00:32:11.607Z,1761525131.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:11.610Z,1761525131.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 134.152145 m,
      bearing: 205.565228 deg,
      approach rate: -0.635817 m/s,
      LOS rate: -0.014332 deg/s,
      cmd heading: 203.603868 deg,
      new cmd heading: 203.582841 deg.

2025-10-27T00:32:11.611Z,1761525131.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.553191 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:11.784Z,1761525131.784 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:11.784Z,1761525131.784 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:11.784Z,1761525131.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:11.911Z,1761525131.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913835,0.405569,0.020471],[-0.403067,-0.899755,-0.167267],[-0.049419,-0.161105,0.985699]]
2025-10-27T00:32:11.941Z,1761525131.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:11.944Z,1761525131.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 133.943863 m,
      bearing: 205.560746 deg,
      approach rate: -0.623462 m/s,
      LOS rate: -0.013436 deg/s,
      cmd heading: 203.582845 deg,
      new cmd heading: 203.569379 deg.

2025-10-27T00:32:11.945Z,1761525131.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552956 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:12.037Z,1761525132.037 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:12.037Z,1761525132.037 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:12.037Z,1761525132.037 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:12.288Z,1761525132.288 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:12.288Z,1761525132.288 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:12.288Z,1761525132.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:12.306Z,1761525132.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914981,0.402959,0.020810],[-0.400493,-0.900682,-0.168454],[-0.049137,-0.162466,0.985490]]
2025-10-27T00:32:12.357Z,1761525132.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:12.368Z,1761525132.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 133.704269 m,
      bearing: 205.555874 deg,
      approach rate: -0.575853 m/s,
      LOS rate: -0.011731 deg/s,
      cmd heading: 203.569376 deg,
      new cmd heading: 203.554733 deg.

2025-10-27T00:32:12.369Z,1761525132.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.552700 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:12.542Z,1761525132.542 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:12.542Z,1761525132.542 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:12.543Z,1761525132.543 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:12.719Z,1761525132.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916034,0.400517,0.021642],[-0.398095,-0.901249,-0.171087],[-0.049018,-0.165337,0.985018]]
2025-10-27T00:32:12.755Z,1761525132.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:12.757Z,1761525132.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:12.780Z,1761525132.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 133.421677 m,
      bearing: 205.534645 deg,
      approach rate: -0.706577 m/s,
      LOS rate: -0.053192 deg/s,
      cmd heading: 203.554732 deg,
      new cmd heading: 203.490910 deg.

2025-10-27T00:32:12.781Z,1761525132.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.551586 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:12.792Z,1761525132.792 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:12.792Z,1761525132.792 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:12.792Z,1761525132.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:13.044Z,1761525133.044 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:13.045Z,1761525133.045 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:13.045Z,1761525133.045 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:13.148Z,1761525133.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:13.151Z,1761525133.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 133.164795 m,
      bearing: 205.515270 deg,
      approach rate: -0.656412 m/s,
      LOS rate: -0.049606 deg/s,
      cmd heading: 203.490911 deg,
      new cmd heading: 203.432671 deg.

2025-10-27T00:32:13.152Z,1761525133.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.550570 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:13.296Z,1761525133.296 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:13.296Z,1761525133.296 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:13.296Z,1761525133.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:13.550Z,1761525133.550 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:13.551Z,1761525133.551 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:13.551Z,1761525133.551 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:13.576Z,1761525133.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918042,0.395934,0.020867],[-0.393425,-0.903171,-0.171751],[-0.049156,-0.165884,0.984919]]
2025-10-27T00:32:13.630Z,1761525133.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:13.633Z,1761525133.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 132.848724 m,
      bearing: 205.488705 deg,
      approach rate: -0.656271 m/s,
      LOS rate: -0.055289 deg/s,
      cmd heading: 203.432677 deg,
      new cmd heading: 203.352793 deg.

2025-10-27T00:32:13.634Z,1761525133.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.549176 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:13.800Z,1761525133.800 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:13.800Z,1761525133.800 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:13.800Z,1761525133.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:13.932Z,1761525133.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918990,0.393791,0.019656],[-0.391185,-0.904406,-0.170363],[-0.049311,-0.164251,0.985185]]
2025-10-27T00:32:13.966Z,1761525133.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:13.969Z,1761525133.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 132.627899 m,
      bearing: 205.470295 deg,
      approach rate: -0.657460 m/s,
      LOS rate: -0.054901 deg/s,
      cmd heading: 203.352791 deg,
      new cmd heading: 203.297471 deg.

2025-10-27T00:32:13.969Z,1761525133.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548210 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:14.052Z,1761525134.052 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:14.052Z,1761525134.052 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:14.052Z,1761525134.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:14.304Z,1761525134.304 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:14.304Z,1761525134.304 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:14.304Z,1761525134.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:14.349Z,1761525134.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919734,0.392049,0.019685],[-0.389390,-0.904855,-0.172086],[-0.049654,-0.165938,0.984885]]
2025-10-27T00:32:14.378Z,1761525134.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:14.382Z,1761525134.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 132.364227 m,
      bearing: 205.448478 deg,
      approach rate: -0.639926 m/s,
      LOS rate: -0.053056 deg/s,
      cmd heading: 203.297466 deg,
      new cmd heading: 203.231883 deg.

2025-10-27T00:32:14.384Z,1761525134.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547065 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:14.558Z,1761525134.558 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:14.558Z,1761525134.558 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:14.559Z,1761525134.559 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:14.739Z,1761525134.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920151,0.391084,0.019383],[-0.388335,-0.905100,-0.173175],[-0.050182,-0.166874,0.984700]]
2025-10-27T00:32:14.780Z,1761525134.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:14.782Z,1761525134.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:14.808Z,1761525134.808 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:14.808Z,1761525134.808 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:14.808Z,1761525134.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:14.809Z,1761525134.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 132.094086 m,
      bearing: 205.429089 deg,
      approach rate: -0.667796 m/s,
      LOS rate: -0.048027 deg/s,
      cmd heading: 203.231883 deg,
      new cmd heading: 203.173598 deg.

2025-10-27T00:32:14.810Z,1761525134.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546048 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:15.060Z,1761525135.060 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:15.060Z,1761525135.060 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:15.060Z,1761525135.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:15.142Z,1761525135.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920563,0.390168,0.018230],[-0.387281,-0.905697,-0.172415],[-0.050760,-0.165779,0.984856]]
2025-10-27T00:32:15.160Z,1761525135.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:15.162Z,1761525135.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 131.847931 m,
      bearing: 205.411466 deg,
      approach rate: -0.651991 m/s,
      LOS rate: -0.046766 deg/s,
      cmd heading: 203.173594 deg,
      new cmd heading: 203.120625 deg.

2025-10-27T00:32:15.164Z,1761525135.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545124 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:15.312Z,1761525135.312 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:15.312Z,1761525135.312 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:15.312Z,1761525135.312 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:15.566Z,1761525135.566 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:15.566Z,1761525135.566 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:15.566Z,1761525135.566 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:15.588Z,1761525135.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921074,0.389016,0.016993],[-0.386000,-0.906449,-0.171330],[-0.051247,-0.164367,0.985067]]
2025-10-27T00:32:15.648Z,1761525135.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:15.650Z,1761525135.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 131.528595 m,
      bearing: 205.396000 deg,
      approach rate: -0.654616 m/s,
      LOS rate: -0.031781 deg/s,
      cmd heading: 203.120619 deg,
      new cmd heading: 203.074109 deg.

2025-10-27T00:32:15.651Z,1761525135.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544312 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:15.817Z,1761525135.817 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:15.817Z,1761525135.817 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:15.817Z,1761525135.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:15.953Z,1761525135.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921140,0.388921,0.015563],[-0.385782,-0.906930,-0.169263],[-0.051715,-0.161919,0.985448]]
2025-10-27T00:32:16.003Z,1761525136.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:16.011Z,1761525136.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 131.309158 m,
      bearing: 205.385339 deg,
      approach rate: -0.619311 m/s,
      LOS rate: -0.030139 deg/s,
      cmd heading: 203.074105 deg,
      new cmd heading: 203.042068 deg.

2025-10-27T00:32:16.018Z,1761525136.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543753 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:16.068Z,1761525136.068 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:16.068Z,1761525136.068 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:16.068Z,1761525136.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:16.321Z,1761525136.321 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:16.321Z,1761525136.321 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:16.321Z,1761525136.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:16.363Z,1761525136.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921039,0.389214,0.014134],[-0.385965,-0.907289,-0.166907],[-0.052139,-0.159183,0.985871]]
2025-10-27T00:32:16.393Z,1761525136.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:16.402Z,1761525136.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 131.048569 m,
      bearing: 205.372593 deg,
      approach rate: -0.665794 m/s,
      LOS rate: -0.032631 deg/s,
      cmd heading: 203.042072 deg,
      new cmd heading: 203.003757 deg.

2025-10-27T00:32:16.407Z,1761525136.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543084 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:16.574Z,1761525136.574 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:16.575Z,1761525136.575 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:16.575Z,1761525136.575 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:16.809Z,1761525136.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:16.824Z,1761525136.824 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:16.824Z,1761525136.824 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:16.825Z,1761525136.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:16.833Z,1761525136.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:16.841Z,1761525136.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 130.780350 m,
      bearing: 205.365166 deg,
      approach rate: -0.642779 m/s,
      LOS rate: -0.017834 deg/s,
      cmd heading: 203.003754 deg,
      new cmd heading: 202.981429 deg.

2025-10-27T00:32:16.847Z,1761525136.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542694 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:17.077Z,1761525137.077 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:17.077Z,1761525137.077 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:17.077Z,1761525137.077 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:17.159Z,1761525137.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920951,0.389453,0.013216],[-0.386016,-0.907134,-0.167631],[-0.053296,-0.159482,0.985761]]
2025-10-27T00:32:17.178Z,1761525137.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:17.181Z,1761525137.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 130.548660 m,
      bearing: 205.358718 deg,
      approach rate: -0.630724 m/s,
      LOS rate: -0.017585 deg/s,
      cmd heading: 202.981433 deg,
      new cmd heading: 202.962054 deg.

2025-10-27T00:32:17.182Z,1761525137.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542356 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:17.329Z,1761525137.329 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:17.329Z,1761525137.329 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:17.329Z,1761525137.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:17.582Z,1761525137.582 [DAT](INFO): Reached modem response timeout
2025-10-27T00:32:17.582Z,1761525137.582 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:17.583Z,1761525137.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:17.666Z,1761525137.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:17.669Z,1761525137.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 130.241989 m,
      bearing: 205.359955 deg,
      approach rate: -0.628720 m/s,
      LOS rate: 0.002541 deg/s,
      cmd heading: 202.962049 deg,
      new cmd heading: 202.965768 deg.

2025-10-27T00:32:17.670Z,1761525137.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542421 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:17.832Z,1761525137.832 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:17.999Z,1761525137.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919862,0.392050,0.012239],[-0.388358,-0.905931,-0.168723],[-0.055060,-0.159955,0.985587]]
2025-10-27T00:32:18.038Z,1761525138.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:18.044Z,1761525138.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 130.020889 m,
      bearing: 205.360597 deg,
      approach rate: -0.594669 m/s,
      LOS rate: 0.001731 deg/s,
      cmd heading: 202.965765 deg,
      new cmd heading: 202.967695 deg.

2025-10-27T00:32:18.045Z,1761525138.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542454 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:18.084Z,1761525138.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:18.337Z,1761525138.337 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:18.487Z,1761525138.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:18.490Z,1761525138.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 129.729950 m,
      bearing: 205.361446 deg,
      approach rate: -0.646637 m/s,
      LOS rate: 0.001890 deg/s,
      cmd heading: 202.967691 deg,
      new cmd heading: 202.970242 deg.

2025-10-27T00:32:18.495Z,1761525138.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542499 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:18.590Z,1761525138.590 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:18.840Z,1761525138.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:18.910Z,1761525138.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:18.913Z,1761525138.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:18.915Z,1761525138.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 129.453217 m,
      bearing: 205.369269 deg,
      approach rate: -0.651088 m/s,
      LOS rate: 0.018445 deg/s,
      cmd heading: 202.970245 deg,
      new cmd heading: 202.993764 deg.

2025-10-27T00:32:18.916Z,1761525138.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542910 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:19.092Z,1761525139.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:19.272Z,1761525139.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917613,0.397384,0.008556],[-0.393195,-0.904369,-0.165874],[-0.058177,-0.155572,0.986110]]
2025-10-27T00:32:19.290Z,1761525139.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:19.310Z,1761525139.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 129.211807 m,
      bearing: 205.375560 deg,
      approach rate: -0.640236 m/s,
      LOS rate: 0.016716 deg/s,
      cmd heading: 202.993769 deg,
      new cmd heading: 203.012677 deg.

2025-10-27T00:32:19.320Z,1761525139.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543240 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:19.344Z,1761525139.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:19.598Z,1761525139.598 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:19.678Z,1761525139.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916865,0.399137,0.006923],[-0.394768,-0.903978,-0.164263],[-0.059305,-0.153340,0.986392]]
2025-10-27T00:32:19.751Z,1761525139.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:19.754Z,1761525139.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 128.931534 m,
      bearing: 205.390321 deg,
      approach rate: -0.607282 m/s,
      LOS rate: 0.032054 deg/s,
      cmd heading: 203.012675 deg,
      new cmd heading: 203.057055 deg.

2025-10-27T00:32:19.755Z,1761525139.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544014 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:19.848Z,1761525139.848 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:32:19.849Z,1761525139.849 [DAT](INFO): response not received
2025-10-27T00:32:19.849Z,1761525139.849 [DAT](INFO): DAT read: user:170>

2025-10-27T00:32:19.850Z,1761525139.850 [DAT](INFO): DAT read: Tx time:00:32:21.2967

2025-10-27T00:32:19.850Z,1761525139.850 [DAT](INFO): Ping request sent.
2025-10-27T00:32:19.850Z,1761525139.850 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:32:19.850Z,1761525139.850 [DAT](INFO): publishing transmit ping time
2025-10-27T00:32:19.851Z,1761525139.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000934
2025-10-27T00:32:20.078Z,1761525140.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916070,0.400972,0.006094],[-0.396455,-0.903254,-0.164182],[-0.060328,-0.152818,0.986411]]
2025-10-27T00:32:20.100Z,1761525140.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249814
2025-10-27T00:32:20.107Z,1761525140.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:20.110Z,1761525140.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 128.702774 m,
      bearing: 205.402227 deg,
      approach rate: -0.643113 m/s,
      LOS rate: 0.033530 deg/s,
      cmd heading: 203.057057 deg,
      new cmd heading: 203.092838 deg.

2025-10-27T00:32:20.111Z,1761525140.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544639 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:20.352Z,1761525140.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501910
2025-10-27T00:32:20.481Z,1761525140.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915167,0.403028,0.006079],[-0.398407,-0.902179,-0.165363],[-0.061161,-0.153757,0.986214]]
2025-10-27T00:32:20.527Z,1761525140.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:20.530Z,1761525140.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 128.451645 m,
      bearing: 205.415096 deg,
      approach rate: -0.598189 m/s,
      LOS rate: 0.030714 deg/s,
      cmd heading: 203.092834 deg,
      new cmd heading: 203.131517 deg.

2025-10-27T00:32:20.530Z,1761525140.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545314 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:20.606Z,1761525140.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756143
2025-10-27T00:32:20.856Z,1761525140.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005832
2025-10-27T00:32:20.911Z,1761525140.911 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:32:20.939Z,1761525140.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:20.941Z,1761525140.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:20.944Z,1761525140.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 128.173630 m,
      bearing: 205.429474 deg,
      approach rate: -0.670988 m/s,
      LOS rate: 0.034775 deg/s,
      cmd heading: 203.131520 deg,
      new cmd heading: 203.174745 deg.

2025-10-27T00:32:20.945Z,1761525140.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546068 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:21.108Z,1761525141.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258278
2025-10-27T00:32:21.290Z,1761525141.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913612,0.406531,0.006748],[-0.401786,-0.900158,-0.168176],[-0.062295,-0.156359,0.985734]]
2025-10-27T00:32:21.349Z,1761525141.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:21.356Z,1761525141.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 127.929764 m,
      bearing: 205.441716 deg,
      approach rate: -0.597444 m/s,
      LOS rate: 0.030050 deg/s,
      cmd heading: 203.174741 deg,
      new cmd heading: 203.211539 deg.

2025-10-27T00:32:21.360Z,1761525141.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509931
2025-10-27T00:32:21.363Z,1761525141.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546710 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:21.612Z,1761525141.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762069
2025-10-27T00:32:21.710Z,1761525141.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912998,0.407892,0.007694],[-0.403140,-0.899148,-0.170327],[-0.062557,-0.158610,0.985358]]
2025-10-27T00:32:21.763Z,1761525141.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:21.766Z,1761525141.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 127.654800 m,
      bearing: 205.454416 deg,
      approach rate: -0.664196 m/s,
      LOS rate: 0.030743 deg/s,
      cmd heading: 203.211542 deg,
      new cmd heading: 203.249723 deg.

2025-10-27T00:32:21.767Z,1761525141.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547377 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:21.864Z,1761525141.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013906
2025-10-27T00:32:21.915Z,1761525141.915 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:32:22.116Z,1761525142.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265824
2025-10-27T00:32:22.234Z,1761525142.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:22.237Z,1761525142.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 127.370651 m,
      bearing: 205.467598 deg,
      approach rate: -0.603788 m/s,
      LOS rate: 0.028073 deg/s,
      cmd heading: 203.249723 deg,
      new cmd heading: 203.289357 deg.

2025-10-27T00:32:22.238Z,1761525142.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548069 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:22.369Z,1761525142.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518177
2025-10-27T00:32:22.616Z,1761525142.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:22.620Z,1761525142.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769966
2025-10-27T00:32:22.619Z,1761525142.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 127.126053 m,
      bearing: 205.478993 deg,
      approach rate: -0.639806 m/s,
      LOS rate: 0.029863 deg/s,
      cmd heading: 203.289352 deg,
      new cmd heading: 203.323602 deg.

2025-10-27T00:32:22.621Z,1761525142.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548666 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:22.872Z,1761525142.872 [DAT](INFO): DAT read: Rx Time:00:32:23.8506

2025-10-27T00:32:22.873Z,1761525142.873 [DAT](INFO): Rx dataTimestamp_ set to:1761525142.872666
2025-10-27T00:32:22.874Z,1761525142.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023679
2025-10-27T00:32:23.115Z,1761525143.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911856,0.410357,0.011220],[-0.405884,-0.897151,-0.174294],[-0.061457,-0.163485,0.984630]]
2025-10-27T00:32:23.124Z,1761525143.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274113
2025-10-27T00:32:23.151Z,1761525143.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:23.153Z,1761525143.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:23.176Z,1761525143.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 126.776390 m,
      bearing: 205.484485 deg,
      approach rate: -0.651106 m/s,
      LOS rate: 0.010255 deg/s,
      cmd heading: 203.323598 deg,
      new cmd heading: 203.340119 deg.

2025-10-27T00:32:23.177Z,1761525143.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548954 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:23.398Z,1761525143.398 [DAT](INFO): DAT read: 00:32:23.8505 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 330, 0.15,-2.860, 1.669,-2.764,-3.032, PHS= 0.274,-1.537, 0.223, RAW= 148.6,  11.6, CAL= 148.4,  12.8, ROT=   1.6, -12.8

2025-10-27T00:32:23.399Z,1761525143.399 [DAT](INFO): got valid direction response:
 00:32:23.8505 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 330, 0.15,-2.860, 1.669,-2.764,-3.032, PHS= 0.274,-1.537, 0.223, RAW= 148.6,  11.6, CAL= 148.4,  12.8, ROT=   1.6, -12.8

2025-10-27T00:32:23.400Z,1761525143.400 [DAT](INFO): DAT read: $Error in header

2025-10-27T00:32:23.400Z,1761525143.400 [DAT](INFO): Received a bad header
2025-10-27T00:32:23.419Z,1761525143.419 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:32:23.420Z,1761525143.420 [DAT](INFO): direction in FSK: [0.974769,0.027228,0.221548]
2025-10-27T00:32:23.431Z,1761525143.431 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:23.432Z,1761525143.432 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:23.432Z,1761525143.432 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:23.526Z,1761525143.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911897,0.410248,0.011840],[-0.405854,-0.897091,-0.174672],[-0.061037,-0.164089,0.984555]]
2025-10-27T00:32:23.568Z,1761525143.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:23.570Z,1761525143.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 126.517746 m,
      bearing: 205.488574 deg,
      approach rate: -0.630847 m/s,
      LOS rate: 0.009995 deg/s,
      cmd heading: 203.340114 deg,
      new cmd heading: 203.352407 deg.

2025-10-27T00:32:23.576Z,1761525143.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.549169 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:23.631Z,1761525143.631 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:23.632Z,1761525143.632 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:23.632Z,1761525143.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:23.880Z,1761525143.880 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:23.880Z,1761525143.880 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:23.880Z,1761525143.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:23.918Z,1761525143.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912224,0.409489,0.012926],[-0.405251,-0.897252,-0.175244],[-0.060162,-0.165100,0.984440]]
2025-10-27T00:32:23.964Z,1761525143.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:23.966Z,1761525143.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 126.252563 m,
      bearing: 205.484906 deg,
      approach rate: -0.661539 m/s,
      LOS rate: -0.009170 deg/s,
      cmd heading: 203.352408 deg,
      new cmd heading: 203.341381 deg.

2025-10-27T00:32:23.968Z,1761525143.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548977 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:24.132Z,1761525144.132 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:24.132Z,1761525144.132 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:24.132Z,1761525144.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:24.333Z,1761525144.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912688,0.408407,0.014270],[-0.404314,-0.897363,-0.176832],[-0.059414,-0.167162,0.984138]]
2025-10-27T00:32:24.351Z,1761525144.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:24.354Z,1761525144.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 126.003815 m,
      bearing: 205.481583 deg,
      approach rate: -0.642891 m/s,
      LOS rate: -0.008606 deg/s,
      cmd heading: 203.341384 deg,
      new cmd heading: 203.331395 deg.

2025-10-27T00:32:24.355Z,1761525144.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548802 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:24.384Z,1761525144.384 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:24.384Z,1761525144.384 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:24.384Z,1761525144.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:24.637Z,1761525144.637 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:24.637Z,1761525144.637 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:24.637Z,1761525144.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:24.757Z,1761525144.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913334,0.406916,0.015530],[-0.402988,-0.897723,-0.178030],[-0.058501,-0.168859,0.983903]]
2025-10-27T00:32:24.793Z,1761525144.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:24.797Z,1761525144.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 125.721397 m,
      bearing: 205.470580 deg,
      approach rate: -0.638218 m/s,
      LOS rate: -0.024921 deg/s,
      cmd heading: 203.331398 deg,
      new cmd heading: 203.298315 deg.

2025-10-27T00:32:24.815Z,1761525144.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.548225 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:24.889Z,1761525144.889 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:24.889Z,1761525144.889 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:24.889Z,1761525144.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:25.130Z,1761525145.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914052,0.405297,0.015601],[-0.401450,-0.898551,-0.177324],[-0.057850,-0.168347,0.984029]]
2025-10-27T00:32:25.140Z,1761525145.140 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:25.140Z,1761525145.140 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:25.140Z,1761525145.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:25.149Z,1761525145.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:25.152Z,1761525145.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 125.494980 m,
      bearing: 205.461897 deg,
      approach rate: -0.636274 m/s,
      LOS rate: -0.024445 deg/s,
      cmd heading: 203.298313 deg,
      new cmd heading: 203.272217 deg.

2025-10-27T00:32:25.153Z,1761525145.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547770 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:25.393Z,1761525145.393 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:25.393Z,1761525145.393 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:25.393Z,1761525145.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:25.533Z,1761525145.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914875,0.403447,0.015287],[-0.399630,-0.899534,-0.176449],[-0.057437,-0.167538,0.984191]]
2025-10-27T00:32:25.565Z,1761525145.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:25.567Z,1761525145.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:25.570Z,1761525145.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 125.226738 m,
      bearing: 205.451810 deg,
      approach rate: -0.641438 m/s,
      LOS rate: -0.024173 deg/s,
      cmd heading: 203.272222 deg,
      new cmd heading: 203.241895 deg.

2025-10-27T00:32:25.571Z,1761525145.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.547240 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:25.644Z,1761525145.644 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:25.644Z,1761525145.644 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:25.644Z,1761525145.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:25.896Z,1761525145.896 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:25.896Z,1761525145.896 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:25.896Z,1761525145.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:25.947Z,1761525145.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915705,0.401543,0.015743],[-0.397839,-0.900342,-0.176375],[-0.056648,-0.167771,0.984197]]
2025-10-27T00:32:25.999Z,1761525145.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:26.002Z,1761525146.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 124.960770 m,
      bearing: 205.436608 deg,
      approach rate: -0.615943 m/s,
      LOS rate: -0.035280 deg/s,
      cmd heading: 203.241896 deg,
      new cmd heading: 203.196193 deg.

2025-10-27T00:32:26.003Z,1761525146.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546443 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:26.148Z,1761525146.148 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:26.148Z,1761525146.148 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:26.148Z,1761525146.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:26.342Z,1761525146.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916472,0.399777,0.016061],[-0.396160,-0.901097,-0.176301],[-0.056008,-0.167938,0.984205]]
2025-10-27T00:32:26.360Z,1761525146.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:26.363Z,1761525146.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 124.719635 m,
      bearing: 205.422980 deg,
      approach rate: -0.668404 m/s,
      LOS rate: -0.037848 deg/s,
      cmd heading: 203.196188 deg,
      new cmd heading: 203.155226 deg.

2025-10-27T00:32:26.364Z,1761525146.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545727 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:26.400Z,1761525146.400 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:26.400Z,1761525146.400 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:26.401Z,1761525146.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:26.652Z,1761525146.652 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:26.652Z,1761525146.652 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:26.652Z,1761525146.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:26.772Z,1761525146.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917399,0.397621,0.016633],[-0.394101,-0.901874,-0.176942],[-0.055355,-0.168882,0.984081]]
2025-10-27T00:32:26.848Z,1761525146.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:26.850Z,1761525146.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 124.415558 m,
      bearing: 205.400170 deg,
      approach rate: -0.623566 m/s,
      LOS rate: -0.046891 deg/s,
      cmd heading: 203.155221 deg,
      new cmd heading: 203.086622 deg.

2025-10-27T00:32:26.851Z,1761525146.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544530 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:26.904Z,1761525146.904 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:26.905Z,1761525146.905 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:26.905Z,1761525146.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:27.145Z,1761525147.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918545,0.394946,0.017099],[-0.391544,-0.902969,-0.177033],[-0.054478,-0.169308,0.984056]]
2025-10-27T00:32:27.156Z,1761525147.156 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:27.156Z,1761525147.156 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:27.156Z,1761525147.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:27.186Z,1761525147.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:27.189Z,1761525147.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 124.204170 m,
      bearing: 205.384532 deg,
      approach rate: -0.624328 m/s,
      LOS rate: -0.046264 deg/s,
      cmd heading: 203.086618 deg,
      new cmd heading: 203.039626 deg.

2025-10-27T00:32:27.190Z,1761525147.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543710 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:27.412Z,1761525147.412 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:27.412Z,1761525147.412 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:27.413Z,1761525147.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:27.550Z,1761525147.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919459,0.392772,0.018045],[-0.389501,-0.903610,-0.178265],[-0.053712,-0.170935,0.983817]]
2025-10-27T00:32:27.589Z,1761525147.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:27.595Z,1761525147.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:27.598Z,1761525147.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 123.961578 m,
      bearing: 205.366792 deg,
      approach rate: -0.599216 m/s,
      LOS rate: -0.043906 deg/s,
      cmd heading: 203.039626 deg,
      new cmd heading: 202.986301 deg.

2025-10-27T00:32:27.603Z,1761525147.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542779 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:27.661Z,1761525147.661 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:27.661Z,1761525147.661 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:27.661Z,1761525147.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:27.912Z,1761525147.912 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:27.912Z,1761525147.912 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:27.912Z,1761525147.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:27.970Z,1761525147.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920430,0.390451,0.018888],[-0.387321,-0.904391,-0.179053],[-0.052829,-0.172122,0.983658]]
2025-10-27T00:32:28.029Z,1761525148.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:28.032Z,1761525148.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 123.694107 m,
      bearing: 205.348217 deg,
      approach rate: -0.610650 m/s,
      LOS rate: -0.042500 deg/s,
      cmd heading: 202.986296 deg,
      new cmd heading: 202.930450 deg.

2025-10-27T00:32:28.033Z,1761525148.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541805 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:28.164Z,1761525148.164 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:28.164Z,1761525148.164 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:28.164Z,1761525148.164 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:28.358Z,1761525148.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920883,0.389339,0.019754],[-0.386299,-0.904533,-0.180538],[-0.052422,-0.173885,0.983370]]
2025-10-27T00:32:28.393Z,1761525148.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:28.402Z,1761525148.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 123.459518 m,
      bearing: 205.331995 deg,
      approach rate: -0.644671 m/s,
      LOS rate: -0.044665 deg/s,
      cmd heading: 202.930453 deg,
      new cmd heading: 202.881694 deg.

2025-10-27T00:32:28.403Z,1761525148.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540954 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:28.416Z,1761525148.416 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:28.416Z,1761525148.416 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:28.416Z,1761525148.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:28.668Z,1761525148.668 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:28.668Z,1761525148.668 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:28.668Z,1761525148.668 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:28.856Z,1761525148.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921257,0.388399,0.020756],[-0.385485,-0.904631,-0.181782],[-0.051828,-0.175469,0.983120]]
2025-10-27T00:32:28.912Z,1761525148.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:28.920Z,1761525148.920 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:28.920Z,1761525148.920 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:28.920Z,1761525148.920 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:28.920Z,1761525148.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 123.137466 m,
      bearing: 205.316927 deg,
      approach rate: -0.620400 m/s,
      LOS rate: -0.029101 deg/s,
      cmd heading: 202.881699 deg,
      new cmd heading: 202.836379 deg.

2025-10-27T00:32:28.921Z,1761525148.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540163 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:29.172Z,1761525149.172 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:29.172Z,1761525149.172 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:29.172Z,1761525149.172 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:29.368Z,1761525149.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921493,0.387790,0.021685],[-0.384986,-0.904596,-0.183005],[-0.051352,-0.176986,0.982873]]
2025-10-27T00:32:29.386Z,1761525149.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:29.389Z,1761525149.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 122.823799 m,
      bearing: 205.302266 deg,
      approach rate: -0.661692 m/s,
      LOS rate: -0.031008 deg/s,
      cmd heading: 202.836374 deg,
      new cmd heading: 202.792277 deg.

2025-10-27T00:32:29.390Z,1761525149.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539393 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:29.424Z,1761525149.424 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:29.424Z,1761525149.424 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:29.424Z,1761525149.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:29.676Z,1761525149.676 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:29.676Z,1761525149.676 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:29.676Z,1761525149.676 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:29.830Z,1761525149.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921738,0.387123,0.023115],[-0.384527,-0.904563,-0.184132],[-0.050373,-0.178610,0.982630]]
2025-10-27T00:32:29.872Z,1761525149.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:29.874Z,1761525149.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:29.877Z,1761525149.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 122.520088 m,
      bearing: 205.296032 deg,
      approach rate: -0.622840 m/s,
      LOS rate: -0.012816 deg/s,
      cmd heading: 202.792278 deg,
      new cmd heading: 202.773529 deg.

2025-10-27T00:32:29.877Z,1761525149.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539066 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:29.928Z,1761525149.928 [DAT](INFO): Reached modem response timeout
2025-10-27T00:32:29.929Z,1761525149.929 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:29.929Z,1761525149.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:30.180Z,1761525150.180 [DAT](INFO): DAT read: 

2025-10-27T00:32:30.180Z,1761525150.180 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:30.226Z,1761525150.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921037,0.388712,0.024357],[-0.386356,-0.903975,-0.183187],[-0.049188,-0.178133,0.982776]]
2025-10-27T00:32:30.256Z,1761525150.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:30.258Z,1761525150.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 122.281998 m,
      bearing: 205.290904 deg,
      approach rate: -0.623427 m/s,
      LOS rate: -0.013453 deg/s,
      cmd heading: 202.773536 deg,
      new cmd heading: 202.758122 deg.

2025-10-27T00:32:30.259Z,1761525150.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538797 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:30.432Z,1761525150.432 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:30.630Z,1761525150.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920282,0.390450,0.025076],[-0.388300,-0.903591,-0.180959],[-0.047997,-0.176271,0.983171]]
2025-10-27T00:32:30.648Z,1761525150.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:30.650Z,1761525150.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 122.036804 m,
      bearing: 205.285359 deg,
      approach rate: -0.624967 m/s,
      LOS rate: -0.014162 deg/s,
      cmd heading: 202.758127 deg,
      new cmd heading: 202.741459 deg.

2025-10-27T00:32:30.672Z,1761525150.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538506 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:30.684Z,1761525150.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:30.937Z,1761525150.937 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:31.031Z,1761525151.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919377,0.392531,0.025793],[-0.390600,-0.903144,-0.178224],[-0.046664,-0.173929,0.983652]]
2025-10-27T00:32:31.076Z,1761525151.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:31.080Z,1761525151.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 121.772781 m,
      bearing: 205.285664 deg,
      approach rate: -0.616673 m/s,
      LOS rate: 0.000715 deg/s,
      cmd heading: 202.741461 deg,
      new cmd heading: 202.742380 deg.

2025-10-27T00:32:31.081Z,1761525151.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538522 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:31.188Z,1761525151.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:31.435Z,1761525151.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918410,0.394766,0.026123],[-0.393067,-0.902967,-0.173635],[-0.044957,-0.169736,0.984464]]
2025-10-27T00:32:31.440Z,1761525151.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:31.454Z,1761525151.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:31.457Z,1761525151.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 121.539505 m,
      bearing: 205.285646 deg,
      approach rate: -0.617215 m/s,
      LOS rate: -0.000047 deg/s,
      cmd heading: 202.742377 deg,
      new cmd heading: 202.742323 deg.

2025-10-27T00:32:31.458Z,1761525151.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538521 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:31.692Z,1761525151.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:31.844Z,1761525151.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917557,0.396692,0.026920],[-0.395235,-0.902615,-0.170516],[-0.043344,-0.167097,0.984987]]
2025-10-27T00:32:31.879Z,1761525151.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:31.881Z,1761525151.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:31.884Z,1761525151.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 121.272041 m,
      bearing: 205.290513 deg,
      approach rate: -0.626364 m/s,
      LOS rate: 0.011423 deg/s,
      cmd heading: 202.742322 deg,
      new cmd heading: 202.756955 deg.

2025-10-27T00:32:31.885Z,1761525151.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538776 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:31.944Z,1761525151.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:32.196Z,1761525152.196 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:32:32.197Z,1761525152.197 [DAT](INFO): response not received
2025-10-27T00:32:32.197Z,1761525152.197 [DAT](INFO): DAT read: user:172>Tx time:00:32:33.7466

2025-10-27T00:32:32.198Z,1761525152.198 [DAT](ERROR): No response from remote modem.
2025-10-27T00:32:32.198Z,1761525152.198 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:32.198Z,1761525152.198 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:32.295Z,1761525152.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916733,0.398528,0.027863],[-0.397337,-0.902298,-0.167276],[-0.041523,-0.164419,0.985516]]
2025-10-27T00:32:32.324Z,1761525152.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:32.327Z,1761525152.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 120.993858 m,
      bearing: 205.295302 deg,
      approach rate: -0.627872 m/s,
      LOS rate: 0.010834 deg/s,
      cmd heading: 202.756952 deg,
      new cmd heading: 202.771352 deg.

2025-10-27T00:32:32.328Z,1761525152.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539028 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:32.448Z,1761525152.448 [DAT](INFO): DAT read: 

2025-10-27T00:32:32.448Z,1761525152.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:32.700Z,1761525152.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:32.731Z,1761525152.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:32.734Z,1761525152.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 120.749847 m,
      bearing: 205.299521 deg,
      approach rate: -0.599001 m/s,
      LOS rate: 0.010378 deg/s,
      cmd heading: 202.771350 deg,
      new cmd heading: 202.784033 deg.

2025-10-27T00:32:32.735Z,1761525152.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539249 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:32.953Z,1761525152.953 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:33.077Z,1761525153.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915515,0.401225,0.029161],[-0.400564,-0.902508,-0.158201],[-0.037156,-0.156516,0.986976]]
2025-10-27T00:32:33.124Z,1761525153.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:33.127Z,1761525153.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 120.487022 m,
      bearing: 205.304727 deg,
      approach rate: -0.669475 m/s,
      LOS rate: 0.013290 deg/s,
      cmd heading: 202.784027 deg,
      new cmd heading: 202.799679 deg.

2025-10-27T00:32:33.128Z,1761525153.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539522 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:33.204Z,1761525153.204 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:33.456Z,1761525153.456 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:33.481Z,1761525153.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915280,0.401634,0.030858],[-0.401293,-0.902476,-0.156528],[-0.035018,-0.155650,0.987191]]
2025-10-27T00:32:33.499Z,1761525153.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:33.501Z,1761525153.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 120.247284 m,
      bearing: 205.309407 deg,
      approach rate: -0.640139 m/s,
      LOS rate: 0.012521 deg/s,
      cmd heading: 202.799682 deg,
      new cmd heading: 202.813750 deg.

2025-10-27T00:32:33.502Z,1761525153.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539768 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:33.709Z,1761525153.709 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:33.881Z,1761525153.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915279,0.401478,0.032851],[-0.401464,-0.902474,-0.156099],[-0.033023,-0.156062,0.987195]]
2025-10-27T00:32:33.931Z,1761525153.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:33.933Z,1761525153.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:33.936Z,1761525153.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 119.965050 m,
      bearing: 205.314332 deg,
      approach rate: -0.649971 m/s,
      LOS rate: 0.011369 deg/s,
      cmd heading: 202.813752 deg,
      new cmd heading: 202.828562 deg.

2025-10-27T00:32:33.937Z,1761525153.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540026 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:33.973Z,1761525153.973 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:34.224Z,1761525154.224 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:34.297Z,1761525154.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915372,0.401051,0.035375],[-0.401426,-0.902423,-0.156495],[-0.030839,-0.157451,0.987045]]
2025-10-27T00:32:34.322Z,1761525154.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:34.325Z,1761525154.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 119.711586 m,
      bearing: 205.318788 deg,
      approach rate: -0.651419 m/s,
      LOS rate: 0.011474 deg/s,
      cmd heading: 202.828560 deg,
      new cmd heading: 202.841954 deg.

2025-10-27T00:32:34.326Z,1761525154.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540260 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:34.476Z,1761525154.476 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:34.694Z,1761525154.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915652,0.400134,0.038396],[-0.400964,-0.902421,-0.157681],[-0.028444,-0.159777,0.986743]]
2025-10-27T00:32:34.728Z,1761525154.728 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:34.730Z,1761525154.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:34.732Z,1761525154.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 119.447289 m,
      bearing: 205.323528 deg,
      approach rate: -0.648120 m/s,
      LOS rate: 0.011650 deg/s,
      cmd heading: 202.841947 deg,
      new cmd heading: 202.856199 deg.

2025-10-27T00:32:34.733Z,1761525154.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540509 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:34.980Z,1761525154.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:35.150Z,1761525155.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:35.153Z,1761525155.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 119.175911 m,
      bearing: 205.324624 deg,
      approach rate: -0.645976 m/s,
      LOS rate: 0.002616 deg/s,
      cmd heading: 202.856195 deg,
      new cmd heading: 202.859491 deg.

2025-10-27T00:32:35.154Z,1761525155.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540566 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:35.232Z,1761525155.232 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:35.484Z,1761525155.484 [DAT](INFO): DAT read: Rx Time:00:32:36.3334

2025-10-27T00:32:35.484Z,1761525155.484 [DAT](INFO): Rx dataTimestamp_ set to:1761525155.484097
2025-10-27T00:32:35.485Z,1761525155.485 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:35.534Z,1761525155.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:35.537Z,1761525155.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 118.928680 m,
      bearing: 205.325627 deg,
      approach rate: -0.643566 m/s,
      LOS rate: 0.002617 deg/s,
      cmd heading: 202.859487 deg,
      new cmd heading: 202.862503 deg.

2025-10-27T00:32:35.538Z,1761525155.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540619 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:35.736Z,1761525155.736 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:35.904Z,1761525155.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917403,0.395390,0.045149],[-0.397356,-0.903852,-0.158617],[-0.021907,-0.163456,0.986307]]
2025-10-27T00:32:35.946Z,1761525155.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:35.948Z,1761525155.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.63 m.
2025-10-27T00:32:35.951Z,1761525155.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.634079 m,
      nav range: 118.649284 m,
      bearing: 205.321896 deg,
      approach rate: -0.674495 m/s,
      LOS rate: -0.009028 deg/s,
      cmd heading: 202.862506 deg,
      new cmd heading: 202.851286 deg.

2025-10-27T00:32:35.952Z,1761525155.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540423 target range: 138.634079 and range: 139.20 m.
2025-10-27T00:32:35.997Z,1761525155.997 [DAT](INFO): DAT read: 00:32:36.3334 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 267,-0.26,-0.654,-2.472,-0.549,-0.852, PHS= 0.300,-1.575, 0.259, RAW= 148.9,  11.0, CAL= 148.7,  12.0, ROT=   1.3, -12.0

2025-10-27T00:32:35.998Z,1761525155.998 [DAT](INFO): got valid direction response:
 00:32:36.3334 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 267,-0.26,-0.654,-2.472,-0.549,-0.852, PHS= 0.300,-1.575, 0.259, RAW= 148.9,  11.0, CAL= 148.7,  12.0, ROT=   1.3, -12.0

2025-10-27T00:32:35.000Z,1761525156.000 [DAT](INFO): DAT read: Bearing 360.0,  -2.1 (Local)

2025-10-27T00:32:35.000Z,1761525156.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  -2.1 (Local)

2025-10-27T00:32:36.002Z,1761525156.002 [DAT](INFO): DAT read: Range 11 to 50 : 137.0 m  (Round-trip  182.7 ms) speed  0.4 m/s

2025-10-27T00:32:36.021Z,1761525156.021 [DAT](INFO): DAT read: Tx time:00:32:37.3966

2025-10-27T00:32:36.022Z,1761525156.022 [DAT](INFO): Ping request sent.
2025-10-27T00:32:36.022Z,1761525156.022 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:32:36.022Z,1761525156.022 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:32:36.028Z,1761525156.028 [DAT](INFO): direction in FSK: [0.977896,0.022192,0.207912]
2025-10-27T00:32:36.029Z,1761525156.029 [DAT](INFO): publishing transmit ping time
2025-10-27T00:32:36.029Z,1761525156.029 [DAT](INFO): publishing direction and range info
2025-10-27T00:32:36.037Z,1761525156.037 [DAT](INFO): publishing transmit ping time
2025-10-27T00:32:36.037Z,1761525156.037 [DAT](INFO): publishing direction and range info
2025-10-27T00:32:36.312Z,1761525156.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918256,0.393157,0.047268],[-0.395490,-0.904558,-0.159253],[-0.019855,-0.164929,0.986106]]
2025-10-27T00:32:36.340Z,1761525156.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.000000 m,
      deltaT: 53.706381 s,
      deltaX: -2.199997 m,
      approachRate: -0.040963 m/s,
      rangeRepo size: 4

2025-10-27T00:32:36.342Z,1761525156.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 136.442963 m,
      bearing: 206.577023 deg,
      lat: 36.779274 deg,
      lon: -121.859706 deg,
      deltaT: 53.706381 s,
      deltaX: -2.191116 m,
      approachRate: -0.040798 m/s,
      posRepo size: 4

2025-10-27T00:32:36.343Z,1761525156.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:36.361Z,1761525156.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 118.387642 m,
      bearing: 205.318655 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009028 deg/s,
      cmd heading: 202.851291 deg,
      new cmd heading: 202.840700 deg.

2025-10-27T00:32:36.362Z,1761525156.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540238 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:36.717Z,1761525156.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919079,0.390928,0.049690],[-0.393662,-0.905032,-0.161082],[-0.018000,-0.167608,0.985689]]
2025-10-27T00:32:36.739Z,1761525156.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:36.742Z,1761525156.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 118.114792 m,
      bearing: 205.315540 deg,
      approach rate: -0.682482 m/s,
      LOS rate: -0.007809 deg/s,
      cmd heading: 202.840704 deg,
      new cmd heading: 202.831338 deg.

2025-10-27T00:32:36.743Z,1761525156.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540075 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:37.176Z,1761525157.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:37.179Z,1761525157.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 117.817490 m,
      bearing: 205.308973 deg,
      approach rate: -0.679745 m/s,
      LOS rate: -0.015053 deg/s,
      cmd heading: 202.831333 deg,
      new cmd heading: 202.811582 deg.

2025-10-27T00:32:37.180Z,1761525157.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539730 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:37.517Z,1761525157.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920800,0.386050,0.055621],[-0.389801,-0.905894,-0.165563],[-0.013529,-0.174132,0.984629]]
2025-10-27T00:32:37.542Z,1761525157.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:37.545Z,1761525157.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 117.568619 m,
      bearing: 205.304007 deg,
      approach rate: -0.680092 m/s,
      LOS rate: -0.013600 deg/s,
      cmd heading: 202.811580 deg,
      new cmd heading: 202.796650 deg.

2025-10-27T00:32:37.546Z,1761525157.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539469 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:37.931Z,1761525157.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921416,0.384162,0.058417],[-0.388415,-0.906204,-0.167119],[-0.011263,-0.176676,0.984205]]
2025-10-27T00:32:37.974Z,1761525157.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:37.976Z,1761525157.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:37.979Z,1761525157.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 117.280258 m,
      bearing: 205.296091 deg,
      approach rate: -0.664850 m/s,
      LOS rate: -0.018295 deg/s,
      cmd heading: 202.796649 deg,
      new cmd heading: 202.772845 deg.

2025-10-27T00:32:37.980Z,1761525157.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539054 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:38.004Z,1761525158.004 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:38.004Z,1761525158.004 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:38.004Z,1761525158.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:38.256Z,1761525158.256 [DAT](INFO): DAT read: user:173>

2025-10-27T00:32:38.257Z,1761525158.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235057
2025-10-27T00:32:38.327Z,1761525158.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922021,0.382350,0.060706],[-0.387034,-0.906715,-0.167550],[-0.009020,-0.177980,0.983993]]
2025-10-27T00:32:38.351Z,1761525158.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:38.354Z,1761525158.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 117.029182 m,
      bearing: 205.289362 deg,
      approach rate: -0.669589 m/s,
      LOS rate: -0.017985 deg/s,
      cmd heading: 202.772839 deg,
      new cmd heading: 202.752608 deg.

2025-10-27T00:32:38.355Z,1761525158.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538701 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:38.508Z,1761525158.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485894
2025-10-27T00:32:38.730Z,1761525158.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922437,0.381083,0.062341],[-0.386089,-0.907380,-0.166125],[-0.006740,-0.177309,0.984132]]
2025-10-27T00:32:38.760Z,1761525158.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737914
2025-10-27T00:32:38.778Z,1761525158.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:38.790Z,1761525158.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 116.759682 m,
      bearing: 205.282241 deg,
      approach rate: -0.631518 m/s,
      LOS rate: -0.016725 deg/s,
      cmd heading: 202.752608 deg,
      new cmd heading: 202.731196 deg.

2025-10-27T00:32:38.796Z,1761525158.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538327 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:39.012Z,1761525159.012 [DAT](INFO): DAT read: Rx Time:00:32:39.9367

2025-10-27T00:32:39.012Z,1761525159.012 [DAT](INFO): Rx dataTimestamp_ set to:1761525159.012191
2025-10-27T00:32:39.013Z,1761525159.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990962
2025-10-27T00:32:39.140Z,1761525159.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922800,0.379974,0.063715],[-0.385253,-0.908081,-0.164222],[-0.004542,-0.176090,0.984364]]
2025-10-27T00:32:39.192Z,1761525159.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:39.199Z,1761525159.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 116.484573 m,
      bearing: 205.274683 deg,
      approach rate: -0.663574 m/s,
      LOS rate: -0.018274 deg/s,
      cmd heading: 202.731189 deg,
      new cmd heading: 202.708460 deg.

2025-10-27T00:32:39.204Z,1761525159.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537930 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:39.265Z,1761525159.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242693
2025-10-27T00:32:39.521Z,1761525159.521 [DAT](INFO): DAT read: 00:32:39.9367 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 221,-0.47,-2.753, 1.875,-2.687,-2.895, PHS= 0.245,-1.467, 0.165, RAW= 147.6,  12.6, CAL= 147.4,  13.8, ROT=   2.6, -13.8

2025-10-27T00:32:39.527Z,1761525159.527 [DAT](INFO): got valid direction response:
 00:32:39.9367 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 221,-0.47,-2.753, 1.875,-2.687,-2.895, PHS= 0.245,-1.467, 0.165, RAW= 147.6,  12.6, CAL= 147.4,  13.8, ROT=   2.6, -13.8

2025-10-27T00:32:39.528Z,1761525159.528 [DAT](INFO): DAT read: Bearing   0.9,  -0.1 (Local)

2025-10-27T00:32:39.529Z,1761525159.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  -0.1 (Local)

2025-10-27T00:32:39.530Z,1761525159.530 [DAT](INFO): DAT read: Range 11 to 50 : 101.9 m  (Round-trip  135.9 ms) speed  0.8 m/s

2025-10-27T00:32:39.531Z,1761525159.531 [DAT](INFO): DAT read: Tx time:00:32:40.9966

2025-10-27T00:32:39.531Z,1761525159.532 [DAT](INFO): Ping request sent.
2025-10-27T00:32:39.532Z,1761525159.532 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:32:39.532Z,1761525159.532 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:32:39.533Z,1761525159.533 [DAT](INFO): direction in FSK: [0.970135,0.044054,0.238533]
2025-10-27T00:32:39.533Z,1761525159.533 [DAT](INFO): publishing transmit ping time
2025-10-27T00:32:39.533Z,1761525159.533 [DAT](INFO): publishing direction and range info
2025-10-27T00:32:39.537Z,1761525159.537 [DAT](INFO): publishing transmit ping time
2025-10-27T00:32:39.537Z,1761525159.537 [DAT](INFO): publishing direction and range info
2025-10-27T00:32:39.657Z,1761525159.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 101.900002 m,
 deltaT: 3.527011 s,
 deltaX: -35.099998 m,
 approachRate: -9.951769 m/s,
 rangeRepo size: 4
2025-10-27T00:32:39.657Z,1761525159.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:39.664Z,1761525159.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 116.189278 m,
      bearing: 205.266529 deg,
      approach rate: -0.636593 m/s,
      LOS rate: -0.017621 deg/s,
      cmd heading: 202.708458 deg,
      new cmd heading: 202.683936 deg.

2025-10-27T00:32:39.665Z,1761525159.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537502 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:39.996Z,1761525159.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922772,0.379631,0.066116],[-0.385344,-0.908525,-0.161532],[-0.001255,-0.174534,0.984650]]
2025-10-27T00:32:40.031Z,1761525160.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:40.033Z,1761525160.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:40.036Z,1761525160.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 115.930504 m,
      bearing: 205.258609 deg,
      approach rate: -0.685953 m/s,
      LOS rate: -0.021041 deg/s,
      cmd heading: 202.683938 deg,
      new cmd heading: 202.660124 deg.

2025-10-27T00:32:40.037Z,1761525160.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537086 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:40.273Z,1761525160.273 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:40.273Z,1761525160.273 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:40.273Z,1761525160.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:40.397Z,1761525160.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922781,0.379625,0.066023],[-0.385323,-0.909443,-0.156334],[0.000696,-0.169703,0.985495]]
2025-10-27T00:32:40.415Z,1761525160.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:40.418Z,1761525160.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 115.686165 m,
      bearing: 205.251089 deg,
      approach rate: -0.640400 m/s,
      LOS rate: -0.019752 deg/s,
      cmd heading: 202.660127 deg,
      new cmd heading: 202.637519 deg.

2025-10-27T00:32:40.419Z,1761525160.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536692 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:40.524Z,1761525160.524 [DAT](INFO): DAT read: user:174>

2025-10-27T00:32:40.525Z,1761525160.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992913
2025-10-27T00:32:40.776Z,1761525160.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244540
2025-10-27T00:32:40.804Z,1761525160.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922418,0.380400,0.066645],[-0.386188,-0.909525,-0.153700],[0.002148,-0.167513,0.985868]]
2025-10-27T00:32:40.834Z,1761525160.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:40.841Z,1761525160.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 115.426033 m,
      bearing: 205.242920 deg,
      approach rate: -0.620680 m/s,
      LOS rate: -0.019536 deg/s,
      cmd heading: 202.637520 deg,
      new cmd heading: 202.612957 deg.

2025-10-27T00:32:40.842Z,1761525160.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536263 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:41.028Z,1761525161.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496554
2025-10-27T00:32:41.202Z,1761525161.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922129,0.381026,0.067062],[-0.386864,-0.909855,-0.150003],[0.003862,-0.164266,0.986409]]
2025-10-27T00:32:41.245Z,1761525161.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:41.248Z,1761525161.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 115.156952 m,
      bearing: 205.236151 deg,
      approach rate: -0.654839 m/s,
      LOS rate: -0.016510 deg/s,
      cmd heading: 202.612958 deg,
      new cmd heading: 202.592606 deg.

2025-10-27T00:32:41.249Z,1761525161.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535908 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:41.281Z,1761525161.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749519
2025-10-27T00:32:41.532Z,1761525161.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000298
2025-10-27T00:32:41.610Z,1761525161.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921885,0.381517,0.067623],[-0.387425,-0.910115,-0.146942],[0.005483,-0.161662,0.986831]]
2025-10-27T00:32:41.757Z,1761525161.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:41.760Z,1761525161.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 114.831985 m,
      bearing: 205.227827 deg,
      approach rate: -0.634430 m/s,
      LOS rate: -0.016297 deg/s,
      cmd heading: 202.592604 deg,
      new cmd heading: 202.567561 deg.

2025-10-27T00:32:41.761Z,1761525161.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535471 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:41.784Z,1761525161.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252401
2025-10-27T00:32:42.028Z,1761525162.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921644,0.381958,0.068416],[-0.387973,-0.910258,-0.144596],[0.007047,-0.159809,0.987123]]
2025-10-27T00:32:42.036Z,1761525162.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504300
2025-10-27T00:32:42.083Z,1761525162.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:42.085Z,1761525162.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:42.088Z,1761525162.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 114.624947 m,
      bearing: 205.225363 deg,
      approach rate: -0.630824 m/s,
      LOS rate: -0.007521 deg/s,
      cmd heading: 202.567565 deg,
      new cmd heading: 202.560159 deg.

2025-10-27T00:32:42.089Z,1761525162.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535342 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:42.290Z,1761525162.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757910
2025-10-27T00:32:42.430Z,1761525162.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921216,0.382705,0.069987],[-0.388951,-0.910058,-0.143218],[0.008882,-0.159156,0.987213]]
2025-10-27T00:32:42.456Z,1761525162.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:42.458Z,1761525162.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 114.391541 m,
      bearing: 205.222449 deg,
      approach rate: -0.630178 m/s,
      LOS rate: -0.007884 deg/s,
      cmd heading: 202.560161 deg,
      new cmd heading: 202.551400 deg.

2025-10-27T00:32:42.460Z,1761525162.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535189 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:42.540Z,1761525162.540 [DAT](INFO): DAT read: Rx Time:00:32:43.5776

2025-10-27T00:32:42.540Z,1761525162.540 [DAT](INFO): Rx dataTimestamp_ set to:1761525162.540088
2025-10-27T00:32:42.541Z,1761525162.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009279
2025-10-27T00:32:42.792Z,1761525162.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260571
2025-10-27T00:32:42.840Z,1761525162.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921199,0.382565,0.070973],[-0.388943,-0.910457,-0.140681],[0.010798,-0.157199,0.987508]]
2025-10-27T00:32:42.858Z,1761525162.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:42.861Z,1761525162.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 114.138710 m,
      bearing: 205.219276 deg,
      approach rate: -0.628166 m/s,
      LOS rate: -0.007902 deg/s,
      cmd heading: 202.551405 deg,
      new cmd heading: 202.541864 deg.

2025-10-27T00:32:42.862Z,1761525162.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535022 target range: 136.442963 and range: 137.00 m.
2025-10-27T00:32:43.045Z,1761525163.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512835
2025-10-27T00:32:43.237Z,1761525163.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921076,0.382641,0.072145],[-0.389180,-0.910633,-0.138874],[0.012559,-0.155990,0.987679]]
2025-10-27T00:32:43.302Z,1761525163.302 [DAT](INFO): DAT read: 00:32:43.5776 LVL= 32752, 32577, 32754, 22003, AGC= 73, IDX= 100, 0.01,-1.680,-2.732,-1.754,-2.912, PHS= 1.333, 0.225, 1.114, RAW= 139.2, -42.9, CAL= 141.1, -41.2, ROT=   8.9,  41.2

2025-10-27T00:32:43.303Z,1761525163.303 [DAT](INFO): got valid direction response:
 00:32:43.5776 LVL= 32752, 32577, 32754, 22003, AGC= 73, IDX= 100, 0.01,-1.680,-2.732,-1.754,-2.912, PHS= 1.333, 0.225, 1.114, RAW= 139.2, -42.9, CAL= 141.1, -41.2, ROT=   8.9,  41.2

2025-10-27T00:32:43.304Z,1761525163.304 [DAT](INFO): DAT read: Bearing 306.7,  13.6 (Local)

2025-10-27T00:32:43.304Z,1761525163.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.7,  13.6 (Local)

2025-10-27T00:32:43.306Z,1761525163.306 [DAT](INFO): DAT read: Range 11 to 50 : 132.6 m  (Round-trip  176.9 ms) speed  0.7 m/s

2025-10-27T00:32:43.315Z,1761525163.315 [DAT](INFO): DAT read: user:175>Tx time:00:32:44.6465

2025-10-27T00:32:43.315Z,1761525163.315 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:32:43.316Z,1761525163.316 [DAT](INFO): direction in FSK: [0.743356,0.116406,-0.658689]
2025-10-27T00:32:43.317Z,1761525163.317 [DAT](INFO): publishing direction and range info
2025-10-27T00:32:43.324Z,1761525163.324 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:43.324Z,1761525163.324 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:43.325Z,1761525163.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:43.329Z,1761525163.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.600006 m,
      deltaT: 7.307147 s,
      deltaX: -4.399994 m,
      approachRate: -0.602149 m/s,
      rangeRepo size: 4

2025-10-27T00:32:43.330Z,1761525163.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:43.336Z,1761525163.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 113.858337 m,
      bearing: 205.217103 deg,
      approach rate: -0.596331 m/s,
      LOS rate: -0.004632 deg/s,
      cmd heading: 202.541870 deg,
      new cmd heading: 202.535337 deg.

2025-10-27T00:32:43.337Z,1761525163.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534909 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:43.550Z,1761525163.550 [DAT](INFO): DAT read: 

2025-10-27T00:32:43.551Z,1761525163.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019656
2025-10-27T00:32:43.651Z,1761525163.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921185,0.382146,0.073368],[-0.388877,-0.910824,-0.138471],[0.013909,-0.156088,0.987645]]
2025-10-27T00:32:43.694Z,1761525163.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:43.702Z,1761525163.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 113.610741 m,
      bearing: 205.215217 deg,
      approach rate: -0.678085 m/s,
      LOS rate: -0.005178 deg/s,
      cmd heading: 202.535340 deg,
      new cmd heading: 202.529667 deg.

2025-10-27T00:32:43.708Z,1761525163.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534810 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:43.800Z,1761525163.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268461
2025-10-27T00:32:44.052Z,1761525164.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.520317
2025-10-27T00:32:44.061Z,1761525164.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921215,0.381658,0.075504],[-0.388744,-0.910733,-0.139438],[0.015546,-0.157804,0.987348]]
2025-10-27T00:32:44.128Z,1761525164.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:44.130Z,1761525164.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:44.141Z,1761525164.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 113.336647 m,
      bearing: 205.213401 deg,
      approach rate: -0.628003 m/s,
      LOS rate: -0.004171 deg/s,
      cmd heading: 202.529671 deg,
      new cmd heading: 202.524209 deg.

2025-10-27T00:32:44.142Z,1761525164.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534714 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:44.304Z,1761525164.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772274
2025-10-27T00:32:44.463Z,1761525164.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921364,0.381038,0.076800],[-0.388331,-0.910960,-0.139105],[0.016957,-0.157990,0.987295]]
2025-10-27T00:32:44.481Z,1761525164.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:44.484Z,1761525164.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 113.093834 m,
      bearing: 205.211839 deg,
      approach rate: -0.691163 m/s,
      LOS rate: -0.004456 deg/s,
      cmd heading: 202.524207 deg,
      new cmd heading: 202.519511 deg.

2025-10-27T00:32:44.485Z,1761525164.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534632 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:44.556Z,1761525164.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024459
2025-10-27T00:32:44.808Z,1761525164.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.276216
2025-10-27T00:32:44.865Z,1761525164.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921544,0.380130,0.079110],[-0.387830,-0.910923,-0.140734],[0.018566,-0.160373,0.986882]]
2025-10-27T00:32:44.899Z,1761525164.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:44.902Z,1761525164.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 112.827194 m,
      bearing: 205.210191 deg,
      approach rate: -0.638803 m/s,
      LOS rate: -0.003957 deg/s,
      cmd heading: 202.519508 deg,
      new cmd heading: 202.514552 deg.

2025-10-27T00:32:44.902Z,1761525164.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534546 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:45.060Z,1761525165.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528362
2025-10-27T00:32:45.280Z,1761525165.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921701,0.379224,0.081580],[-0.387386,-0.910715,-0.143287],[0.019959,-0.163671,0.986313]]
2025-10-27T00:32:45.312Z,1761525165.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.780371
2025-10-27T00:32:45.329Z,1761525165.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:45.332Z,1761525165.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 112.541870 m,
      bearing: 205.210476 deg,
      approach rate: -0.663517 m/s,
      LOS rate: 0.000665 deg/s,
      cmd heading: 202.514549 deg,
      new cmd heading: 202.515406 deg.

2025-10-27T00:32:45.333Z,1761525165.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534561 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:45.564Z,1761525165.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.032811
2025-10-27T00:32:45.681Z,1761525165.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921755,0.378689,0.083440],[-0.387183,-0.910661,-0.144172],[0.021389,-0.165197,0.986029]]
2025-10-27T00:32:45.740Z,1761525165.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:45.743Z,1761525165.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 112.268913 m,
      bearing: 205.210782 deg,
      approach rate: -0.663704 m/s,
      LOS rate: 0.000747 deg/s,
      cmd heading: 202.515409 deg,
      new cmd heading: 202.516331 deg.

2025-10-27T00:32:45.744Z,1761525165.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534577 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:45.816Z,1761525165.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284519
2025-10-27T00:32:46.068Z,1761525166.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.536185
2025-10-27T00:32:46.130Z,1761525166.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:46.132Z,1761525166.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:46.135Z,1761525166.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 112.011642 m,
      bearing: 205.212137 deg,
      approach rate: -0.655667 m/s,
      LOS rate: 0.003460 deg/s,
      cmd heading: 202.516325 deg,
      new cmd heading: 202.520398 deg.

2025-10-27T00:32:46.136Z,1761525166.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534648 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:46.320Z,1761525166.320 [DAT](INFO): DAT read: Rx Time:00:32:47.2720

2025-10-27T00:32:46.320Z,1761525166.320 [DAT](INFO): Rx dataTimestamp_ set to:1761525166.320070
2025-10-27T00:32:46.321Z,1761525166.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.789255
2025-10-27T00:32:46.543Z,1761525166.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:46.546Z,1761525166.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 111.741463 m,
      bearing: 205.213566 deg,
      approach rate: -0.657727 m/s,
      LOS rate: 0.003488 deg/s,
      cmd heading: 202.520395 deg,
      new cmd heading: 202.524694 deg.

2025-10-27T00:32:46.547Z,1761525166.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534723 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:46.572Z,1761525166.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.040519
2025-10-27T00:32:46.620Z,1761525166.620 [CTD_Seabird](ERROR): Failed to parse device response: 65.95.24
2025-10-27T00:32:46.830Z,1761525166.830 [DAT](INFO): DAT read: 00:32:47.2720 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 394, 0.16,-1.596,-2.452,-1.617,-2.849, PHS= 1.355, 0.441, 1.188, RAW= 140.1, -51.4, CAL= 143.6, -48.8, ROT=   6.4,  48.8

2025-10-27T00:32:46.831Z,1761525166.831 [DAT](INFO): got valid direction response:
 00:32:47.2720 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 394, 0.16,-1.596,-2.452,-1.617,-2.849, PHS= 1.355, 0.441, 1.188, RAW= 140.1, -51.4, CAL= 143.6, -48.8, ROT=   6.4,  48.8

2025-10-27T00:32:46.832Z,1761525166.832 [DAT](INFO): DAT read: Bearing 297.9,  12.4 (Local)

2025-10-27T00:32:46.833Z,1761525166.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.9,  12.4 (Local)

2025-10-27T00:32:46.834Z,1761525166.834 [DAT](INFO): DAT read: Range 11 to 50 : 165.9 m  (Round-trip  221.3 ms) speed  0.5 m/s

2025-10-27T00:32:46.835Z,1761525166.835 [DAT](INFO): DAT read: user:176>Tx time:00:32:48.3465

2025-10-27T00:32:46.836Z,1761525166.836 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:32:46.837Z,1761525166.837 [DAT](INFO): direction in FSK: [0.654584,0.073423,-0.752415]
2025-10-27T00:32:46.837Z,1761525166.837 [DAT](INFO): publishing direction and range info
2025-10-27T00:32:46.841Z,1761525166.841 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:46.841Z,1761525166.841 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:46.841Z,1761525166.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:46.909Z,1761525166.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921753,0.377849,0.087183],[-0.386958,-0.910865,-0.143487],[0.025196,-0.165996,0.985804]]
2025-10-27T00:32:46.957Z,1761525166.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 165.899994 m,
 deltaT: 3.528004 s,
 deltaX: 33.299988 m,
 approachRate: 9.438762 m/s,
 rangeRepo size: 4
2025-10-27T00:32:46.958Z,1761525166.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:46.964Z,1761525166.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 111.481316 m,
      bearing: 205.214979 deg,
      approach rate: -0.629675 m/s,
      LOS rate: 0.003427 deg/s,
      cmd heading: 202.524698 deg,
      new cmd heading: 202.528946 deg.

2025-10-27T00:32:46.965Z,1761525166.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534797 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:47.076Z,1761525167.076 [DAT](INFO): DAT read: 

2025-10-27T00:32:47.077Z,1761525167.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.545553
2025-10-27T00:32:47.328Z,1761525167.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.796340
2025-10-27T00:32:47.340Z,1761525167.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:47.343Z,1761525167.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 111.218384 m,
      bearing: 205.212938 deg,
      approach rate: -0.686841 m/s,
      LOS rate: -0.005345 deg/s,
      cmd heading: 202.528947 deg,
      new cmd heading: 202.522809 deg.

2025-10-27T00:32:47.344Z,1761525167.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534690 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:47.580Z,1761525167.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.048374
2025-10-27T00:32:47.706Z,1761525167.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921702,0.377669,0.088493],[-0.386897,-0.911460,-0.139827],[0.027850,-0.163117,0.986214]]
2025-10-27T00:32:47.748Z,1761525167.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:47.757Z,1761525167.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 110.962326 m,
      bearing: 205.210936 deg,
      approach rate: -0.625657 m/s,
      LOS rate: -0.004901 deg/s,
      cmd heading: 202.522813 deg,
      new cmd heading: 202.516796 deg.

2025-10-27T00:32:47.764Z,1761525167.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534585 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:47.835Z,1761525167.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303064
2025-10-27T00:32:48.084Z,1761525168.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.552461
2025-10-27T00:32:48.109Z,1761525168.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921546,0.378031,0.088579],[-0.387204,-0.911677,-0.137542],[0.028760,-0.161050,0.986527]]
2025-10-27T00:32:48.143Z,1761525168.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:48.145Z,1761525168.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:48.148Z,1761525168.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 110.686584 m,
      bearing: 205.206306 deg,
      approach rate: -0.694490 m/s,
      LOS rate: -0.011691 deg/s,
      cmd heading: 202.516789 deg,
      new cmd heading: 202.502864 deg.

2025-10-27T00:32:48.149Z,1761525168.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534342 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:48.337Z,1761525168.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.804940
2025-10-27T00:32:48.588Z,1761525168.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.056220
2025-10-27T00:32:48.593Z,1761525168.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921319,0.378470,0.089066],[-0.387664,-0.911745,-0.135786],[0.029814,-0.159630,0.986727]]
2025-10-27T00:32:48.611Z,1761525168.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:48.614Z,1761525168.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 110.378174 m,
      bearing: 205.201009 deg,
      approach rate: -0.662680 m/s,
      LOS rate: -0.011414 deg/s,
      cmd heading: 202.502869 deg,
      new cmd heading: 202.486933 deg.

2025-10-27T00:32:48.615Z,1761525168.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534064 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:48.840Z,1761525168.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.308567
2025-10-27T00:32:49.095Z,1761525169.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562810
2025-10-27T00:32:49.111Z,1761525169.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921282,0.378506,0.089293],[-0.387635,-0.912237,-0.132525],[0.031295,-0.156706,0.987149]]
2025-10-27T00:32:49.167Z,1761525169.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:49.169Z,1761525169.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 110.011292 m,
      bearing: 205.193410 deg,
      approach rate: -0.660256 m/s,
      LOS rate: -0.013721 deg/s,
      cmd heading: 202.486928 deg,
      new cmd heading: 202.464054 deg.

2025-10-27T00:32:49.170Z,1761525169.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533664 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:49.344Z,1761525169.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.812513
2025-10-27T00:32:49.571Z,1761525169.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921398,0.378067,0.089947],[-0.387308,-0.912354,-0.132674],[0.031904,-0.157083,0.987070]]
2025-10-27T00:32:49.589Z,1761525169.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:49.592Z,1761525169.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 109.732315 m,
      bearing: 205.187651 deg,
      approach rate: -0.660698 m/s,
      LOS rate: -0.013673 deg/s,
      cmd heading: 202.464060 deg,
      new cmd heading: 202.446739 deg.

2025-10-27T00:32:49.593Z,1761525169.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533362 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:49.596Z,1761525169.596 [DAT](INFO): Reached modem response timeout
2025-10-27T00:32:49.596Z,1761525169.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:49.596Z,1761525169.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:49.848Z,1761525169.848 [DAT](INFO): DAT read: Rx Time:00:32:50.8772

2025-10-27T00:32:49.848Z,1761525169.848 [DAT](INFO): Rx dataTimestamp_ set to:1761525169.848155
2025-10-27T00:32:49.849Z,1761525169.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:49.970Z,1761525169.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921285,0.378224,0.090443],[-0.387568,-0.912127,-0.133476],[0.032011,-0.158022,0.986917]]
2025-10-27T00:32:50.004Z,1761525170.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:50.007Z,1761525170.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 109.468742 m,
      bearing: 205.182150 deg,
      approach rate: -0.634566 m/s,
      LOS rate: -0.013275 deg/s,
      cmd heading: 202.446739 deg,
      new cmd heading: 202.430196 deg.

2025-10-27T00:32:50.008Z,1761525170.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533073 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:50.101Z,1761525170.101 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:50.352Z,1761525170.352 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:32:50.433Z,1761525170.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921474,0.377686,0.090775],[-0.387094,-0.912298,-0.133680],[0.032325,-0.158321,0.986859]]
2025-10-27T00:32:50.507Z,1761525170.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:50.509Z,1761525170.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:50.512Z,1761525170.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 109.121490 m,
      bearing: 205.172487 deg,
      approach rate: -0.687481 m/s,
      LOS rate: -0.019191 deg/s,
      cmd heading: 202.430196 deg,
      new cmd heading: 202.401116 deg.

2025-10-27T00:32:50.513Z,1761525170.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532566 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:50.610Z,1761525170.610 [DAT](INFO): DAT read: 00:32:50.8772 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 492,-0.37,-0.702,-2.490,-0.642,-0.870, PHS= 0.270,-1.575, 0.183, RAW= 147.6,  12.4, CAL= 147.4,  13.6, ROT=   2.6, -13.6

2025-10-27T00:32:50.611Z,1761525170.611 [DAT](INFO): got valid direction response:
 00:32:50.8772 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 492,-0.37,-0.702,-2.490,-0.642,-0.870, PHS= 0.270,-1.575, 0.183, RAW= 147.6,  12.4, CAL= 147.4,  13.6, ROT=   2.6, -13.6

2025-10-27T00:32:50.612Z,1761525170.612 [DAT](INFO): DAT read: Bearing 359.8,   2.5 (Local)

2025-10-27T00:32:50.613Z,1761525170.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,   2.5 (Local)

2025-10-27T00:32:50.614Z,1761525170.614 [DAT](INFO): DAT read: Range 11 to 50 : 94.8 m  (Round-trip  126.5 ms) speed  0.6 m/s

2025-10-27T00:32:50.615Z,1761525170.615 [DAT](INFO): DAT read: user:177>

2025-10-27T00:32:50.616Z,1761525170.616 [DAT](INFO): DAT read: Tx time:00:32:51.9465

2025-10-27T00:32:50.616Z,1761525170.616 [DAT](INFO): Ping request sent.
2025-10-27T00:32:50.616Z,1761525170.616 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:32:50.616Z,1761525170.616 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:32:50.617Z,1761525170.617 [DAT](INFO): direction in FSK: [0.970960,0.044091,0.235142]
2025-10-27T00:32:50.618Z,1761525170.618 [DAT](INFO): publishing transmit ping time
2025-10-27T00:32:50.618Z,1761525170.618 [DAT](INFO): publishing direction and range info
2025-10-27T00:32:50.621Z,1761525170.621 [DAT](INFO): publishing transmit ping time
2025-10-27T00:32:50.622Z,1761525170.622 [DAT](INFO): publishing direction and range info
2025-10-27T00:32:50.790Z,1761525170.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921375,0.377825,0.091197],[-0.387321,-0.912105,-0.134342],[0.032424,-0.159101,0.986730]]
2025-10-27T00:32:50.834Z,1761525170.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 94.800003 m,
 deltaT: 7.308049 s,
 deltaX: -37.800003 m,
 approachRate: -5.172379 m/s,
 rangeRepo size: 4
2025-10-27T00:32:50.834Z,1761525170.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:50.841Z,1761525170.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 108.913834 m,
      bearing: 205.166657 deg,
      approach rate: -0.640930 m/s,
      LOS rate: -0.018029 deg/s,
      cmd heading: 202.401113 deg,
      new cmd heading: 202.383589 deg.

2025-10-27T00:32:50.842Z,1761525170.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532260 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:51.238Z,1761525171.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:51.241Z,1761525171.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 108.645569 m,
      bearing: 205.157597 deg,
      approach rate: -0.662405 m/s,
      LOS rate: -0.022428 deg/s,
      cmd heading: 202.383587 deg,
      new cmd heading: 202.356338 deg.

2025-10-27T00:32:51.242Z,1761525171.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531784 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:51.586Z,1761525171.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921661,0.377213,0.090834],[-0.386576,-0.912778,-0.131889],[0.033161,-0.156671,0.987094]]
2025-10-27T00:32:51.623Z,1761525171.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:51.626Z,1761525171.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 108.410477 m,
      bearing: 205.149704 deg,
      approach rate: -0.611394 m/s,
      LOS rate: -0.020572 deg/s,
      cmd heading: 202.356334 deg,
      new cmd heading: 202.332604 deg.

2025-10-27T00:32:51.626Z,1761525171.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531370 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:52.004Z,1761525172.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922074,0.376362,0.090173],[-0.385528,-0.913649,-0.128893],[0.033876,-0.153614,0.987550]]
2025-10-27T00:32:52.035Z,1761525172.035 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:32:52.052Z,1761525172.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:52.064Z,1761525172.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 108.137367 m,
      bearing: 205.140632 deg,
      approach rate: -0.668761 m/s,
      LOS rate: -0.022270 deg/s,
      cmd heading: 202.332606 deg,
      new cmd heading: 202.305323 deg.

2025-10-27T00:32:52.076Z,1761525172.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530894 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:52.444Z,1761525172.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922359,0.375559,0.090599],[-0.384778,-0.914046,-0.128316],[0.034622,-0.153214,0.987586]]
2025-10-27T00:32:52.487Z,1761525172.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:52.490Z,1761525172.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 107.839844 m,
      bearing: 205.130760 deg,
      approach rate: -0.652328 m/s,
      LOS rate: -0.021704 deg/s,
      cmd heading: 202.305326 deg,
      new cmd heading: 202.275629 deg.

2025-10-27T00:32:52.491Z,1761525172.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530376 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:52.848Z,1761525172.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922569,0.374849,0.091404],[-0.384216,-0.914212,-0.128818],[0.035275,-0.153962,0.987447]]
2025-10-27T00:32:52.866Z,1761525172.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:52.868Z,1761525172.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:52.870Z,1761525172.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 107.592796 m,
      bearing: 205.122605 deg,
      approach rate: -0.648991 m/s,
      LOS rate: -0.021473 deg/s,
      cmd heading: 202.275629 deg,
      new cmd heading: 202.251107 deg.

2025-10-27T00:32:52.872Z,1761525172.872 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:52.872Z,1761525172.872 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:52.872Z,1761525172.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:32:52.875Z,1761525172.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529948 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:53.040Z,1761525173.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:32:53.128Z,1761525173.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511560
2025-10-27T00:32:53.261Z,1761525173.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922808,0.374055,0.092245],[-0.383605,-0.914293,-0.130063],[0.035688,-0.155409,0.987205]]
2025-10-27T00:32:53.315Z,1761525173.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:53.317Z,1761525173.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 107.293434 m,
      bearing: 205.114512 deg,
      approach rate: -0.669937 m/s,
      LOS rate: -0.018161 deg/s,
      cmd heading: 202.251108 deg,
      new cmd heading: 202.226762 deg.

2025-10-27T00:32:53.318Z,1761525173.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529523 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:53.377Z,1761525173.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760333
2025-10-27T00:32:53.628Z,1761525173.628 [DAT](INFO): DAT read: Rx Time:00:32:54.4741

2025-10-27T00:32:53.628Z,1761525173.628 [DAT](INFO): Rx dataTimestamp_ set to:1761525173.628150
2025-10-27T00:32:53.629Z,1761525173.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012785
2025-10-27T00:32:53.666Z,1761525173.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923121,0.372980,0.093452],[-0.382820,-0.914261,-0.132569],[0.035994,-0.158152,0.986759]]
2025-10-27T00:32:53.718Z,1761525173.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:53.725Z,1761525173.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 107.031006 m,
      bearing: 205.107511 deg,
      approach rate: -0.650017 m/s,
      LOS rate: -0.017383 deg/s,
      cmd heading: 202.226766 deg,
      new cmd heading: 202.205712 deg.

2025-10-27T00:32:53.726Z,1761525173.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529155 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:53.880Z,1761525173.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264081
2025-10-27T00:32:54.083Z,1761525174.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923468,0.371759,0.094884],[-0.381931,-0.914277,-0.135005],[0.036561,-0.160912,0.986291]]
2025-10-27T00:32:54.164Z,1761525174.164 [DAT](INFO): DAT read: 00:32:54.4741 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.12,-1.437, 3.099,-1.382,-1.641, PHS= 0.306,-1.498, 0.215, RAW= 147.4,  11.1, CAL= 147.1,  12.1, ROT=   2.9, -12.1

2025-10-27T00:32:54.165Z,1761525174.165 [DAT](INFO): got valid direction response:
 00:32:54.4741 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.12,-1.437, 3.099,-1.382,-1.641, PHS= 0.306,-1.498, 0.215, RAW= 147.4,  11.1, CAL= 147.1,  12.1, ROT=   2.9, -12.1

2025-10-27T00:32:54.166Z,1761525174.166 [DAT](INFO): DAT read: $Error in header

2025-10-27T00:32:54.166Z,1761525174.166 [DAT](INFO): Received a bad header
2025-10-27T00:32:54.170Z,1761525174.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:54.177Z,1761525174.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 106.765564 m,
      bearing: 205.100543 deg,
      approach rate: -0.587759 m/s,
      LOS rate: -0.015466 deg/s,
      cmd heading: 202.205715 deg,
      new cmd heading: 202.184760 deg.

2025-10-27T00:32:54.178Z,1761525174.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528790 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:54.179Z,1761525174.179 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:32:54.180Z,1761525174.180 [DAT](INFO): direction in FSK: [0.976531,0.049469,0.209619]
2025-10-27T00:32:54.183Z,1761525174.183 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:54.183Z,1761525174.183 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:54.183Z,1761525174.183 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:54.384Z,1761525174.384 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:54.384Z,1761525174.384 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:54.384Z,1761525174.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:54.505Z,1761525174.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923549,0.371243,0.096101],[-0.381683,-0.914121,-0.136753],[0.037079,-0.162978,0.985933]]
2025-10-27T00:32:54.542Z,1761525174.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:54.544Z,1761525174.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 106.470955 m,
      bearing: 205.097775 deg,
      approach rate: -0.793154 m/s,
      LOS rate: -0.007474 deg/s,
      cmd heading: 202.184760 deg,
      new cmd heading: 202.176431 deg.

2025-10-27T00:32:54.545Z,1761525174.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528644 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:54.639Z,1761525174.639 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:54.640Z,1761525174.640 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:54.640Z,1761525174.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:54.888Z,1761525174.888 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:54.888Z,1761525174.888 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:54.888Z,1761525174.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:54.905Z,1761525174.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923759,0.370679,0.096261],[-0.381144,-0.914371,-0.136583],[0.037390,-0.162859,0.985941]]
2025-10-27T00:32:54.922Z,1761525174.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:54.924Z,1761525174.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:54.926Z,1761525174.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 106.214172 m,
      bearing: 205.095429 deg,
      approach rate: -0.671692 m/s,
      LOS rate: -0.006151 deg/s,
      cmd heading: 202.176427 deg,
      new cmd heading: 202.169373 deg.

2025-10-27T00:32:54.927Z,1761525174.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528521 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:55.142Z,1761525175.142 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:55.142Z,1761525175.142 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:55.145Z,1761525175.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:55.314Z,1761525175.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923918,0.370079,0.097044],[-0.380735,-0.914322,-0.138047],[0.037641,-0.164492,0.985660]]
2025-10-27T00:32:55.377Z,1761525175.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:55.384Z,1761525175.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 105.926140 m,
      bearing: 205.095955 deg,
      approach rate: -0.635271 m/s,
      LOS rate: 0.001164 deg/s,
      cmd heading: 202.169378 deg,
      new cmd heading: 202.170961 deg.

2025-10-27T00:32:55.385Z,1761525175.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528549 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:55.392Z,1761525175.392 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:55.392Z,1761525175.392 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:55.392Z,1761525175.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:55.644Z,1761525175.644 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:55.644Z,1761525175.644 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:55.644Z,1761525175.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:55.732Z,1761525175.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923830,0.370123,0.097711],[-0.380922,-0.914114,-0.138904],[0.037907,-0.165544,0.985474]]
2025-10-27T00:32:55.778Z,1761525175.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:55.785Z,1761525175.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 105.661690 m,
      bearing: 205.096410 deg,
      approach rate: -0.659352 m/s,
      LOS rate: 0.001138 deg/s,
      cmd heading: 202.170963 deg,
      new cmd heading: 202.172332 deg.

2025-10-27T00:32:55.786Z,1761525175.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528573 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:55.896Z,1761525175.896 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:55.896Z,1761525175.896 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:55.896Z,1761525175.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:56.125Z,1761525176.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923655,0.370394,0.098339],[-0.381333,-0.913789,-0.139908],[0.038040,-0.166727,0.985269]]
2025-10-27T00:32:56.150Z,1761525176.150 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:56.150Z,1761525176.150 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:56.151Z,1761525176.151 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:56.207Z,1761525176.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:56.210Z,1761525176.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 105.377510 m,
      bearing: 205.096833 deg,
      approach rate: -0.668708 m/s,
      LOS rate: 0.000996 deg/s,
      cmd heading: 202.172329 deg,
      new cmd heading: 202.173599 deg.

2025-10-27T00:32:56.219Z,1761525176.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528595 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:56.400Z,1761525176.400 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:56.400Z,1761525176.400 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:56.400Z,1761525176.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:56.601Z,1761525176.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:56.604Z,1761525176.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 105.112938 m,
      bearing: 205.103134 deg,
      approach rate: -0.664343 m/s,
      LOS rate: 0.015863 deg/s,
      cmd heading: 202.173599 deg,
      new cmd heading: 202.192551 deg.

2025-10-27T00:32:56.605Z,1761525176.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528926 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:56.654Z,1761525176.654 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:56.654Z,1761525176.654 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:56.654Z,1761525176.654 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:56.904Z,1761525176.904 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:56.904Z,1761525176.904 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:56.904Z,1761525176.904 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:56.946Z,1761525176.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923491,0.370636,0.098957],[-0.381725,-0.913435,-0.141150],[0.038076,-0.168126,0.985030]]
2025-10-27T00:32:56.982Z,1761525176.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:56.988Z,1761525176.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:56.995Z,1761525176.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 104.865952 m,
      bearing: 205.108985 deg,
      approach rate: -0.638190 m/s,
      LOS rate: 0.015153 deg/s,
      cmd heading: 202.192546 deg,
      new cmd heading: 202.210139 deg.

2025-10-27T00:32:56.996Z,1761525176.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529233 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:57.159Z,1761525177.159 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:57.160Z,1761525177.160 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:57.160Z,1761525177.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:57.404Z,1761525177.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:57.408Z,1761525177.408 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:57.408Z,1761525177.408 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:57.408Z,1761525177.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:57.407Z,1761525177.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 104.593048 m,
      bearing: 205.115554 deg,
      approach rate: -0.656705 m/s,
      LOS rate: 0.015851 deg/s,
      cmd heading: 202.210141 deg,
      new cmd heading: 202.229902 deg.

2025-10-27T00:32:57.409Z,1761525177.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529578 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:57.660Z,1761525177.660 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:57.661Z,1761525177.661 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:57.661Z,1761525177.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:57.768Z,1761525177.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923223,0.371100,0.099724],[-0.382381,-0.912887,-0.142905],[0.038005,-0.170066,0.984700]]
2025-10-27T00:32:57.790Z,1761525177.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:57.793Z,1761525177.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 104.344727 m,
      bearing: 205.121462 deg,
      approach rate: -0.643709 m/s,
      LOS rate: 0.015350 deg/s,
      cmd heading: 202.229908 deg,
      new cmd heading: 202.247672 deg.

2025-10-27T00:32:57.794Z,1761525177.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529888 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:57.912Z,1761525177.912 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:57.912Z,1761525177.912 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:57.912Z,1761525177.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:58.166Z,1761525178.166 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:58.167Z,1761525178.167 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:58.167Z,1761525178.167 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:58.179Z,1761525178.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923033,0.371459,0.100143],[-0.382828,-0.912622,-0.143402],[0.038125,-0.170703,0.984585]]
2025-10-27T00:32:58.286Z,1761525178.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:58.305Z,1761525178.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 104.027481 m,
      bearing: 205.127063 deg,
      approach rate: -0.639394 m/s,
      LOS rate: 0.011323 deg/s,
      cmd heading: 202.247666 deg,
      new cmd heading: 202.264521 deg.

2025-10-27T00:32:58.306Z,1761525178.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530182 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:58.416Z,1761525178.416 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:58.416Z,1761525178.416 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:58.416Z,1761525178.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:58.633Z,1761525178.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922951,0.371617,0.100314],[-0.383015,-0.912533,-0.143467],[0.038225,-0.170834,0.984558]]
2025-10-27T00:32:58.656Z,1761525178.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:58.658Z,1761525178.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 103.787704 m,
      bearing: 205.131292 deg,
      approach rate: -0.648809 m/s,
      LOS rate: 0.011470 deg/s,
      cmd heading: 202.264523 deg,
      new cmd heading: 202.277240 deg.

2025-10-27T00:32:58.659Z,1761525178.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530404 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:58.668Z,1761525178.668 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:58.668Z,1761525178.668 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:58.668Z,1761525178.668 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:58.920Z,1761525178.920 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:58.920Z,1761525178.920 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:58.920Z,1761525178.920 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:59.060Z,1761525179.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922602,0.372652,0.099679],[-0.383829,-0.912600,-0.140841],[0.038482,-0.168200,0.985001]]
2025-10-27T00:32:59.077Z,1761525179.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:32:59.100Z,1761525179.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:59.102Z,1761525179.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 103.515350 m,
      bearing: 205.135984 deg,
      approach rate: -0.613286 m/s,
      LOS rate: 0.010593 deg/s,
      cmd heading: 202.277241 deg,
      new cmd heading: 202.291353 deg.

2025-10-27T00:32:59.104Z,1761525179.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530650 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:59.173Z,1761525179.173 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:59.174Z,1761525179.174 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:59.174Z,1761525179.174 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:59.424Z,1761525179.424 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:59.424Z,1761525179.424 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:59.424Z,1761525179.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:59.456Z,1761525179.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922526,0.372780,0.099902],[-0.383993,-0.912530,-0.140849],[0.038657,-0.168298,0.984978]]
2025-10-27T00:32:59.526Z,1761525179.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:59.533Z,1761525179.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 103.213188 m,
      bearing: 205.144558 deg,
      approach rate: -0.709050 m/s,
      LOS rate: 0.020180 deg/s,
      cmd heading: 202.291352 deg,
      new cmd heading: 202.317151 deg.

2025-10-27T00:32:59.534Z,1761525179.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531101 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:59.676Z,1761525179.676 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:59.676Z,1761525179.676 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:59.676Z,1761525179.676 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:32:59.861Z,1761525179.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922495,0.372799,0.100123],[-0.384048,-0.912514,-0.140803],[0.038872,-0.168342,0.984962]]
2025-10-27T00:32:59.879Z,1761525179.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:32:59.882Z,1761525179.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 102.959114 m,
      bearing: 205.151798 deg,
      approach rate: -0.719608 m/s,
      LOS rate: 0.020557 deg/s,
      cmd heading: 202.317156 deg,
      new cmd heading: 202.338930 deg.

2025-10-27T00:32:59.883Z,1761525179.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531481 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:32:59.928Z,1761525179.928 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:32:59.929Z,1761525179.929 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:32:59.929Z,1761525179.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:33:00.180Z,1761525180.180 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:33:00.180Z,1761525180.180 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:33:00.180Z,1761525180.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:33:00.344Z,1761525180.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:00.346Z,1761525180.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 102.667313 m,
      bearing: 205.155557 deg,
      approach rate: -0.627504 m/s,
      LOS rate: 0.008106 deg/s,
      cmd heading: 202.338931 deg,
      new cmd heading: 202.350239 deg.

2025-10-27T00:33:00.352Z,1761525180.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531678 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:00.432Z,1761525180.432 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:33:00.432Z,1761525180.432 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:33:00.432Z,1761525180.432 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:33:00.664Z,1761525180.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922445,0.372781,0.100649],[-0.384119,-0.912485,-0.140799],[0.039353,-0.168541,0.984909]]
2025-10-27T00:33:00.684Z,1761525180.684 [DAT](INFO): Reached modem response timeout
2025-10-27T00:33:00.684Z,1761525180.684 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:00.685Z,1761525180.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:33:00.688Z,1761525180.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:00.708Z,1761525180.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 102.437134 m,
      bearing: 205.158527 deg,
      approach rate: -0.679304 m/s,
      LOS rate: 0.008784 deg/s,
      cmd heading: 202.350242 deg,
      new cmd heading: 202.359171 deg.

2025-10-27T00:33:00.710Z,1761525180.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531834 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:00.936Z,1761525180.936 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:01.065Z,1761525181.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922512,0.372647,0.100530],[-0.383926,-0.912722,-0.139785],[0.039665,-0.167549,0.985065]]
2025-10-27T00:33:01.092Z,1761525181.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:01.094Z,1761525181.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:01.097Z,1761525181.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 102.169289 m,
      bearing: 205.162027 deg,
      approach rate: -0.650572 m/s,
      LOS rate: 0.008524 deg/s,
      cmd heading: 202.359176 deg,
      new cmd heading: 202.369703 deg.

2025-10-27T00:33:01.098Z,1761525181.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532018 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:01.188Z,1761525181.188 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:01.440Z,1761525181.440 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:01.470Z,1761525181.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922667,0.372344,0.100225],[-0.383522,-0.913089,-0.138489],[0.039949,-0.166218,0.985280]]
2025-10-27T00:33:01.551Z,1761525181.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:01.554Z,1761525181.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 101.886520 m,
      bearing: 205.160100 deg,
      approach rate: -0.625230 m/s,
      LOS rate: -0.004272 deg/s,
      cmd heading: 202.369708 deg,
      new cmd heading: 202.363911 deg.

2025-10-27T00:33:01.554Z,1761525181.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531917 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:01.692Z,1761525181.692 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:01.886Z,1761525181.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922980,0.371653,0.099905],[-0.382758,-0.913511,-0.137819],[0.040043,-0.165444,0.985406]]
2025-10-27T00:33:01.904Z,1761525181.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:01.906Z,1761525181.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 101.628738 m,
      bearing: 205.158450 deg,
      approach rate: -0.721989 m/s,
      LOS rate: -0.004634 deg/s,
      cmd heading: 202.363916 deg,
      new cmd heading: 202.358953 deg.

2025-10-27T00:33:01.907Z,1761525181.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531830 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:01.944Z,1761525181.944 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:02.196Z,1761525182.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:02.292Z,1761525182.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923132,0.371309,0.099784],[-0.382384,-0.913716,-0.137496],[0.040121,-0.165083,0.985463]]
2025-10-27T00:33:02.342Z,1761525182.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:02.345Z,1761525182.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 101.338753 m,
      bearing: 205.155867 deg,
      approach rate: -0.661372 m/s,
      LOS rate: -0.005907 deg/s,
      cmd heading: 202.358957 deg,
      new cmd heading: 202.351187 deg.

2025-10-27T00:33:02.346Z,1761525182.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531694 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:02.448Z,1761525182.448 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:02.700Z,1761525182.700 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:02.702Z,1761525182.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923227,0.371127,0.099584],[-0.382162,-0.913842,-0.137277],[0.040057,-0.164795,0.985514]]
2025-10-27T00:33:02.750Z,1761525182.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:02.763Z,1761525182.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 101.084587 m,
      bearing: 205.153624 deg,
      approach rate: -0.623473 m/s,
      LOS rate: -0.005515 deg/s,
      cmd heading: 202.351184 deg,
      new cmd heading: 202.344440 deg.

2025-10-27T00:33:02.764Z,1761525182.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531577 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:02.952Z,1761525182.952 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:33:02.952Z,1761525182.952 [DAT](INFO): response not received
2025-10-27T00:33:02.953Z,1761525182.953 [DAT](INFO): DAT read: user:179>

2025-10-27T00:33:02.953Z,1761525182.953 [DAT](INFO): DAT read: Tx time:00:33:04.3964

2025-10-27T00:33:02.954Z,1761525182.954 [DAT](INFO): Ping request sent.
2025-10-27T00:33:02.954Z,1761525182.954 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:33:02.954Z,1761525182.954 [DAT](INFO): publishing transmit ping time
2025-10-27T00:33:02.955Z,1761525182.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-10-27T00:33:03.094Z,1761525183.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923164,0.371297,0.099537],[-0.382331,-0.913740,-0.137486],[0.039903,-0.164978,0.985490]]
2025-10-27T00:33:03.120Z,1761525183.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:03.122Z,1761525183.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:03.124Z,1761525183.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 100.823441 m,
      bearing: 205.151283 deg,
      approach rate: -0.702292 m/s,
      LOS rate: -0.006314 deg/s,
      cmd heading: 202.344436 deg,
      new cmd heading: 202.337393 deg.

2025-10-27T00:33:03.125Z,1761525183.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531454 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:03.205Z,1761525183.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251015
2025-10-27T00:33:03.456Z,1761525183.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502159
2025-10-27T00:33:03.555Z,1761525183.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:03.558Z,1761525183.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 100.539375 m,
      bearing: 205.145773 deg,
      approach rate: -0.655816 m/s,
      LOS rate: -0.012755 deg/s,
      cmd heading: 202.337387 deg,
      new cmd heading: 202.320813 deg.

2025-10-27T00:33:03.559Z,1761525183.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531164 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:03.708Z,1761525183.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754350
2025-10-27T00:33:03.902Z,1761525183.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923675,0.370336,0.098367],[-0.381122,-0.914487,-0.135868],[0.039638,-0.162988,0.985832]]
2025-10-27T00:33:03.931Z,1761525183.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:03.934Z,1761525183.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 100.292969 m,
      bearing: 205.141146 deg,
      approach rate: -0.654819 m/s,
      LOS rate: -0.012328 deg/s,
      cmd heading: 202.320817 deg,
      new cmd heading: 202.306901 deg.

2025-10-27T00:33:03.935Z,1761525183.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530921 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:03.960Z,1761525183.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006202
2025-10-27T00:33:04.212Z,1761525184.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258272
2025-10-27T00:33:04.373Z,1761525184.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:04.376Z,1761525184.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 99.998360 m,
      bearing: 205.135203 deg,
      approach rate: -0.667072 m/s,
      LOS rate: -0.013495 deg/s,
      cmd heading: 202.306897 deg,
      new cmd heading: 202.289018 deg.

2025-10-27T00:33:04.377Z,1761525184.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530609 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:04.464Z,1761525184.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510219
2025-10-27T00:33:04.717Z,1761525184.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763536
2025-10-27T00:33:04.735Z,1761525184.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924140,0.369351,0.097697],[-0.380056,-0.914858,-0.136353],[0.039017,-0.163140,0.985831]]
2025-10-27T00:33:04.781Z,1761525184.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:04.788Z,1761525184.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 99.740135 m,
      bearing: 205.130140 deg,
      approach rate: -0.632342 m/s,
      LOS rate: -0.012432 deg/s,
      cmd heading: 202.289016 deg,
      new cmd heading: 202.273785 deg.

2025-10-27T00:33:04.789Z,1761525184.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530344 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:04.969Z,1761525184.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015256
2025-10-27T00:33:05.116Z,1761525185.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924231,0.369209,0.097377],[-0.379888,-0.914832,-0.136994],[0.038504,-0.163606,0.985774]]
2025-10-27T00:33:05.133Z,1761525185.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:05.135Z,1761525185.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:05.137Z,1761525185.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 99.490456 m,
      bearing: 205.125247 deg,
      approach rate: -0.706173 m/s,
      LOS rate: -0.013872 deg/s,
      cmd heading: 202.273785 deg,
      new cmd heading: 202.259071 deg.

2025-10-27T00:33:05.138Z,1761525185.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530087 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:05.222Z,1761525185.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267586
2025-10-27T00:33:05.472Z,1761525185.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518101
2025-10-27T00:33:05.518Z,1761525185.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924242,0.369251,0.097112],[-0.379895,-0.914795,-0.137219],[0.038169,-0.163716,0.985769]]
2025-10-27T00:33:05.560Z,1761525185.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:05.564Z,1761525185.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 99.215942 m,
      bearing: 205.122910 deg,
      approach rate: -0.645341 m/s,
      LOS rate: -0.005510 deg/s,
      cmd heading: 202.259072 deg,
      new cmd heading: 202.252041 deg.

2025-10-27T00:33:05.565Z,1761525185.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529964 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:05.725Z,1761525185.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771158
2025-10-27T00:33:05.921Z,1761525185.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924097,0.369678,0.096865],[-0.380303,-0.914527,-0.137880],[0.037615,-0.164253,0.985701]]
2025-10-27T00:33:05.939Z,1761525185.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:05.942Z,1761525185.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 98.971687 m,
      bearing: 205.120758 deg,
      approach rate: -0.644763 m/s,
      LOS rate: -0.005694 deg/s,
      cmd heading: 202.252037 deg,
      new cmd heading: 202.245566 deg.

2025-10-27T00:33:05.943Z,1761525185.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529851 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:05.976Z,1761525185.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022351
2025-10-27T00:33:06.229Z,1761525186.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274604
2025-10-27T00:33:06.351Z,1761525186.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924108,0.369690,0.096710],[-0.380306,-0.914455,-0.138343],[0.037293,-0.164623,0.985651]]
2025-10-27T00:33:06.408Z,1761525186.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:06.415Z,1761525186.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 98.685219 m,
      bearing: 205.120987 deg,
      approach rate: -0.610657 m/s,
      LOS rate: 0.000489 deg/s,
      cmd heading: 202.245562 deg,
      new cmd heading: 202.246251 deg.

2025-10-27T00:33:06.416Z,1761525186.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529863 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:06.481Z,1761525186.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527007
2025-10-27T00:33:06.733Z,1761525186.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779540
2025-10-27T00:33:06.761Z,1761525186.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924434,0.369045,0.096060],[-0.379549,-0.914818,-0.138026],[0.036940,-0.164055,0.985759]]
2025-10-27T00:33:06.778Z,1761525186.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:06.781Z,1761525186.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 98.435982 m,
      bearing: 205.121307 deg,
      approach rate: -0.673081 m/s,
      LOS rate: 0.000867 deg/s,
      cmd heading: 202.246245 deg,
      new cmd heading: 202.247209 deg.

2025-10-27T00:33:06.782Z,1761525186.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529880 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:06.985Z,1761525186.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031116
2025-10-27T00:33:07.170Z,1761525187.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924468,0.368948,0.096104],[-0.379488,-0.914729,-0.138778],[0.036707,-0.164766,0.985649]]
2025-10-27T00:33:07.186Z,1761525187.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:07.188Z,1761525187.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:07.191Z,1761525187.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 98.174713 m,
      bearing: 205.121655 deg,
      approach rate: -0.637468 m/s,
      LOS rate: 0.000851 deg/s,
      cmd heading: 202.247215 deg,
      new cmd heading: 202.248261 deg.

2025-10-27T00:33:07.192Z,1761525187.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529898 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:07.237Z,1761525187.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282619
2025-10-27T00:33:07.488Z,1761525187.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534095
2025-10-27T00:33:07.570Z,1761525187.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924195,0.369440,0.096840],[-0.380166,-0.914165,-0.140625],[0.036575,-0.166780,0.985315]]
2025-10-27T00:33:07.612Z,1761525187.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:07.615Z,1761525187.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 97.896538 m,
      bearing: 205.125461 deg,
      approach rate: -0.656181 m/s,
      LOS rate: 0.009005 deg/s,
      cmd heading: 202.248267 deg,
      new cmd heading: 202.259719 deg.

2025-10-27T00:33:07.616Z,1761525187.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530098 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:07.741Z,1761525187.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786959
2025-10-27T00:33:07.992Z,1761525187.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038189
2025-10-27T00:33:08.050Z,1761525188.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924070,0.369805,0.096639],[-0.380509,-0.913953,-0.141075],[0.036153,-0.167136,0.985271]]
2025-10-27T00:33:08.074Z,1761525188.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:08.077Z,1761525188.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 97.593513 m,
      bearing: 205.129568 deg,
      approach rate: -0.655621 m/s,
      LOS rate: 0.008912 deg/s,
      cmd heading: 202.259714 deg,
      new cmd heading: 202.272072 deg.

2025-10-27T00:33:08.078Z,1761525188.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530314 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:08.245Z,1761525188.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291207
2025-10-27T00:33:08.477Z,1761525188.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923888,0.370371,0.096212],[-0.380991,-0.913783,-0.140880],[0.035739,-0.166813,0.985341]]
2025-10-27T00:33:08.496Z,1761525188.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542189
2025-10-27T00:33:08.516Z,1761525188.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:08.518Z,1761525188.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 97.303917 m,
      bearing: 205.133428 deg,
      approach rate: -0.655803 m/s,
      LOS rate: 0.008768 deg/s,
      cmd heading: 202.272077 deg,
      new cmd heading: 202.283693 deg.

2025-10-27T00:33:08.540Z,1761525188.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530516 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:08.748Z,1761525188.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794620
2025-10-27T00:33:08.878Z,1761525188.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923812,0.370734,0.095538],[-0.381233,-0.913700,-0.140761],[0.035109,-0.166459,0.985423]]
2025-10-27T00:33:08.914Z,1761525188.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:08.917Z,1761525188.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 97.043015 m,
      bearing: 205.136887 deg,
      approach rate: -0.655549 m/s,
      LOS rate: 0.008714 deg/s,
      cmd heading: 202.283688 deg,
      new cmd heading: 202.294093 deg.

2025-10-27T00:33:08.918Z,1761525188.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530698 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:09.000Z,1761525189.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046223
2025-10-27T00:33:09.252Z,1761525189.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298410
2025-10-27T00:33:09.282Z,1761525189.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923487,0.371801,0.094530],[-0.382106,-0.913400,-0.140342],[0.034164,-0.165724,0.985580]]
2025-10-27T00:33:09.326Z,1761525189.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:09.329Z,1761525189.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:09.331Z,1761525189.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 96.785446 m,
      bearing: 205.140178 deg,
      approach rate: -0.621127 m/s,
      LOS rate: 0.007957 deg/s,
      cmd heading: 202.294098 deg,
      new cmd heading: 202.303997 deg.

2025-10-27T00:33:09.332Z,1761525189.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530871 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:09.504Z,1761525189.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550185
2025-10-27T00:33:09.756Z,1761525189.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802206
2025-10-27T00:33:09.787Z,1761525189.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:09.790Z,1761525189.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 96.492119 m,
      bearing: 205.144277 deg,
      approach rate: -0.668760 m/s,
      LOS rate: 0.009373 deg/s,
      cmd heading: 202.304001 deg,
      new cmd heading: 202.316335 deg.

2025-10-27T00:33:09.794Z,1761525189.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531086 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:10.008Z,1761525190.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054086
2025-10-27T00:33:10.124Z,1761525190.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922733,0.374217,0.092331],[-0.384085,-0.912782,-0.138952],[0.032280,-0.163678,0.985986]]
2025-10-27T00:33:10.142Z,1761525190.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:10.146Z,1761525190.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 96.252678 m,
      bearing: 205.147338 deg,
      approach rate: -0.638742 m/s,
      LOS rate: 0.008185 deg/s,
      cmd heading: 202.316337 deg,
      new cmd heading: 202.325542 deg.

2025-10-27T00:33:10.147Z,1761525190.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531247 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:10.261Z,1761525190.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306740
2025-10-27T00:33:10.512Z,1761525190.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558034
2025-10-27T00:33:10.527Z,1761525190.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922500,0.375143,0.090896],[-0.384727,-0.912700,-0.137711],[0.031299,-0.162009,0.986293]]
2025-10-27T00:33:10.575Z,1761525190.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:10.578Z,1761525190.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 95.968307 m,
      bearing: 205.152861 deg,
      approach rate: -0.656534 m/s,
      LOS rate: 0.012790 deg/s,
      cmd heading: 202.325544 deg,
      new cmd heading: 202.342163 deg.

2025-10-27T00:33:10.579Z,1761525190.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531537 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:10.768Z,1761525190.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814697
2025-10-27T00:33:10.940Z,1761525190.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922414,0.375806,0.089008],[-0.385018,-0.912865,-0.135787],[0.030222,-0.159521,0.986732]]
2025-10-27T00:33:10.958Z,1761525190.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:10.961Z,1761525190.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 95.716118 m,
      bearing: 205.157739 deg,
      approach rate: -0.658572 m/s,
      LOS rate: 0.012772 deg/s,
      cmd heading: 202.342169 deg,
      new cmd heading: 202.356841 deg.

2025-10-27T00:33:10.962Z,1761525190.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531793 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:11.016Z,1761525191.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062313
2025-10-27T00:33:11.268Z,1761525191.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314445
2025-10-27T00:33:11.334Z,1761525191.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922433,0.376117,0.087484],[-0.385038,-0.913078,-0.134292],[0.029370,-0.157560,0.987073]]
2025-10-27T00:33:11.371Z,1761525191.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:11.378Z,1761525191.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:11.430Z,1761525191.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 95.448105 m,
      bearing: 205.162947 deg,
      approach rate: -0.640192 m/s,
      LOS rate: 0.012476 deg/s,
      cmd heading: 202.356840 deg,
      new cmd heading: 202.372509 deg.

2025-10-27T00:33:11.436Z,1761525191.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532067 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:11.520Z,1761525191.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566156
2025-10-27T00:33:11.757Z,1761525191.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922334,0.376344,0.087548],[-0.385357,-0.912519,-0.137148],[0.028274,-0.160234,0.986674]]
2025-10-27T00:33:11.772Z,1761525191.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818230
2025-10-27T00:33:11.821Z,1761525191.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:11.828Z,1761525191.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 95.138512 m,
      bearing: 205.169884 deg,
      approach rate: -0.696996 m/s,
      LOS rate: 0.015667 deg/s,
      cmd heading: 202.372508 deg,
      new cmd heading: 202.393385 deg.

2025-10-27T00:33:11.829Z,1761525191.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532431 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:12.024Z,1761525192.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070450
2025-10-27T00:33:12.246Z,1761525192.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922372,0.376275,0.087450],[-0.385329,-0.912227,-0.139154],[0.027414,-0.162049,0.986402]]
2025-10-27T00:33:12.269Z,1761525192.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:12.272Z,1761525192.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 94.821800 m,
      bearing: 205.177040 deg,
      approach rate: -0.707217 m/s,
      LOS rate: 0.016033 deg/s,
      cmd heading: 202.393381 deg,
      new cmd heading: 202.414921 deg.

2025-10-27T00:33:12.272Z,1761525192.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532807 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:12.276Z,1761525192.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322232
2025-10-27T00:33:12.529Z,1761525192.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575125
2025-10-27T00:33:12.638Z,1761525192.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922426,0.376273,0.086887],[-0.385230,-0.912299,-0.138951],[0.026984,-0.161643,0.986480]]
2025-10-27T00:33:12.698Z,1761525192.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:12.703Z,1761525192.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 94.540100 m,
      bearing: 205.175277 deg,
      approach rate: -0.656166 m/s,
      LOS rate: -0.004119 deg/s,
      cmd heading: 202.414924 deg,
      new cmd heading: 202.409618 deg.

2025-10-27T00:33:12.704Z,1761525192.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532714 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:12.781Z,1761525192.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827021
2025-10-27T00:33:13.032Z,1761525193.032 [DAT](INFO): Reached modem response timeout
2025-10-27T00:33:13.032Z,1761525193.032 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:13.032Z,1761525193.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:33:13.045Z,1761525193.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922654,0.375859,0.086258],[-0.384718,-0.912524,-0.138894],[0.026508,-0.161336,0.986543]]
2025-10-27T00:33:13.095Z,1761525193.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:13.098Z,1761525193.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 94.281914 m,
      bearing: 205.173738 deg,
      approach rate: -0.657326 m/s,
      LOS rate: -0.003927 deg/s,
      cmd heading: 202.409623 deg,
      new cmd heading: 202.404996 deg.

2025-10-27T00:33:13.099Z,1761525193.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532634 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:13.284Z,1761525193.284 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:13.477Z,1761525193.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923051,0.375217,0.084788],[-0.383861,-0.912795,-0.139483],[0.025058,-0.161297,0.986588]]
2025-10-27T00:33:13.511Z,1761525193.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:13.513Z,1761525193.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:13.516Z,1761525193.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 93.986389 m,
      bearing: 205.170840 deg,
      approach rate: -0.699697 m/s,
      LOS rate: -0.006883 deg/s,
      cmd heading: 202.404993 deg,
      new cmd heading: 202.396271 deg.

2025-10-27T00:33:13.517Z,1761525193.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532481 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:13.536Z,1761525193.536 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:13.788Z,1761525193.788 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:13.880Z,1761525193.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:13.883Z,1761525193.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 93.733589 m,
      bearing: 205.168346 deg,
      approach rate: -0.688564 m/s,
      LOS rate: -0.006810 deg/s,
      cmd heading: 202.396277 deg,
      new cmd heading: 202.388776 deg.

2025-10-27T00:33:13.884Z,1761525193.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532351 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:14.040Z,1761525194.040 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:14.251Z,1761525194.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923349,0.374742,0.083639],[-0.383210,-0.913036,-0.139699],[0.024015,-0.161042,0.986655]]
2025-10-27T00:33:14.273Z,1761525194.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:14.276Z,1761525194.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 93.463402 m,
      bearing: 205.165784 deg,
      approach rate: -0.687286 m/s,
      LOS rate: -0.006538 deg/s,
      cmd heading: 202.388778 deg,
      new cmd heading: 202.381067 deg.

2025-10-27T00:33:14.277Z,1761525194.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532216 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:14.292Z,1761525194.292 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:14.544Z,1761525194.544 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:14.655Z,1761525194.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923797,0.373936,0.082284],[-0.382210,-0.913355,-0.140347],[0.022674,-0.161102,0.986677]]
2025-10-27T00:33:14.722Z,1761525194.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:14.735Z,1761525194.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 93.173965 m,
      bearing: 205.161550 deg,
      approach rate: -0.646150 m/s,
      LOS rate: -0.009482 deg/s,
      cmd heading: 202.381073 deg,
      new cmd heading: 202.368331 deg.

2025-10-27T00:33:14.736Z,1761525194.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531994 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:14.797Z,1761525194.797 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:15.048Z,1761525195.048 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:15.067Z,1761525195.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924491,0.372774,0.079729],[-0.380663,-0.913912,-0.140931],[0.020330,-0.160639,0.986804]]
2025-10-27T00:33:15.104Z,1761525195.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:15.107Z,1761525195.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 92.913559 m,
      bearing: 205.157988 deg,
      approach rate: -0.680492 m/s,
      LOS rate: -0.009333 deg/s,
      cmd heading: 202.368328 deg,
      new cmd heading: 202.357614 deg.

2025-10-27T00:33:15.108Z,1761525195.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531807 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:15.300Z,1761525195.300 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:33:15.301Z,1761525195.301 [DAT](INFO): response not received
2025-10-27T00:33:15.301Z,1761525195.301 [DAT](INFO): DAT read: user:180>

2025-10-27T00:33:15.302Z,1761525195.302 [DAT](INFO): DAT read: Tx time:00:33:16.8464

2025-10-27T00:33:15.303Z,1761525195.303 [DAT](INFO): Ping request sent.
2025-10-27T00:33:15.303Z,1761525195.303 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:33:15.303Z,1761525195.303 [DAT](INFO): publishing transmit ping time
2025-10-27T00:33:15.304Z,1761525195.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001098
2025-10-27T00:33:15.517Z,1761525195.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924928,0.371964,0.078435],[-0.379650,-0.914358,-0.140763],[0.019359,-0.159974,0.986932]]
2025-10-27T00:33:15.552Z,1761525195.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248782
2025-10-27T00:33:15.588Z,1761525195.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:15.590Z,1761525195.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:15.593Z,1761525195.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 92.584724 m,
      bearing: 205.153171 deg,
      approach rate: -0.676845 m/s,
      LOS rate: -0.009950 deg/s,
      cmd heading: 202.357618 deg,
      new cmd heading: 202.343116 deg.

2025-10-27T00:33:15.594Z,1761525195.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531554 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:15.804Z,1761525195.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501055
2025-10-27T00:33:15.882Z,1761525195.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925319,0.371333,0.076787],[-0.378752,-0.914823,-0.140165],[0.018199,-0.158780,0.987146]]
2025-10-27T00:33:15.906Z,1761525195.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:15.909Z,1761525195.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 92.378181 m,
      bearing: 205.150252 deg,
      approach rate: -0.652467 m/s,
      LOS rate: -0.009242 deg/s,
      cmd heading: 202.343111 deg,
      new cmd heading: 202.334334 deg.

2025-10-27T00:33:15.910Z,1761525195.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531400 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:16.056Z,1761525196.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752593
2025-10-27T00:33:16.274Z,1761525196.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925709,0.370739,0.074937],[-0.377854,-0.915347,-0.139161],[0.017001,-0.157137,0.987430]]
2025-10-27T00:33:16.293Z,1761525196.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:16.308Z,1761525196.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004762
2025-10-27T00:33:16.316Z,1761525196.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 92.126450 m,
      bearing: 205.146828 deg,
      approach rate: -0.651721 m/s,
      LOS rate: -0.008889 deg/s,
      cmd heading: 202.334341 deg,
      new cmd heading: 202.324041 deg.

2025-10-27T00:33:16.317Z,1761525196.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531221 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:16.560Z,1761525196.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256628
2025-10-27T00:33:16.738Z,1761525196.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925978,0.370220,0.074180],[-0.377237,-0.915459,-0.140096],[0.016042,-0.157709,0.987355]]
2025-10-27T00:33:16.812Z,1761525196.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508977
2025-10-27T00:33:16.813Z,1761525196.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:16.820Z,1761525196.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 91.804321 m,
      bearing: 205.145256 deg,
      approach rate: -0.626304 m/s,
      LOS rate: -0.003066 deg/s,
      cmd heading: 202.324041 deg,
      new cmd heading: 202.319310 deg.

2025-10-27T00:33:16.821Z,1761525196.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531138 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:17.065Z,1761525197.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761930
2025-10-27T00:33:17.140Z,1761525197.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926473,0.368960,0.074269],[-0.376040,-0.915623,-0.142224],[0.015527,-0.159695,0.987044]]
2025-10-27T00:33:17.176Z,1761525197.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:17.178Z,1761525197.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 91.566833 m,
      bearing: 205.144288 deg,
      approach rate: -0.643921 m/s,
      LOS rate: -0.002631 deg/s,
      cmd heading: 202.319315 deg,
      new cmd heading: 202.316403 deg.

2025-10-27T00:33:17.180Z,1761525197.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531087 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:17.316Z,1761525197.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012612
2025-10-27T00:33:17.542Z,1761525197.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926552,0.368911,0.073521],[-0.375889,-0.915509,-0.143357],[0.014424,-0.160464,0.986936]]
2025-10-27T00:33:17.568Z,1761525197.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264678
2025-10-27T00:33:17.609Z,1761525197.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:17.615Z,1761525197.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:17.618Z,1761525197.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 91.287621 m,
      bearing: 205.145660 deg,
      approach rate: -0.642084 m/s,
      LOS rate: 0.003164 deg/s,
      cmd heading: 202.316405 deg,
      new cmd heading: 202.320533 deg.

2025-10-27T00:33:17.618Z,1761525197.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531159 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:17.820Z,1761525197.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516639
2025-10-27T00:33:17.957Z,1761525197.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926662,0.368710,0.073146],[-0.375655,-0.915326,-0.145128],[0.013442,-0.161962,0.986705]]
2025-10-27T00:33:17.975Z,1761525197.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:17.978Z,1761525197.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 91.053368 m,
      bearing: 205.146857 deg,
      approach rate: -0.642759 m/s,
      LOS rate: 0.003293 deg/s,
      cmd heading: 202.320530 deg,
      new cmd heading: 202.324131 deg.

2025-10-27T00:33:17.979Z,1761525197.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531222 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:18.072Z,1761525198.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768723
2025-10-27T00:33:18.324Z,1761525198.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020534
2025-10-27T00:33:18.350Z,1761525198.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926830,0.368418,0.072495],[-0.375274,-0.915314,-0.146180],[0.012501,-0.162689,0.986598]]
2025-10-27T00:33:18.368Z,1761525198.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:18.371Z,1761525198.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 90.807228 m,
      bearing: 205.148187 deg,
      approach rate: -0.626341 m/s,
      LOS rate: 0.003394 deg/s,
      cmd heading: 202.324137 deg,
      new cmd heading: 202.328138 deg.

2025-10-27T00:33:18.372Z,1761525198.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531292 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:18.576Z,1761525198.576 [DAT](INFO): DAT read: Rx Time:00:33:19.3518

2025-10-27T00:33:18.576Z,1761525198.576 [DAT](INFO): Rx dataTimestamp_ set to:1761525198.576168
2025-10-27T00:33:18.577Z,1761525198.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273716
2025-10-27T00:33:18.755Z,1761525198.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926731,0.368810,0.071757],[-0.375558,-0.914978,-0.147553],[0.011237,-0.163690,0.986448]]
2025-10-27T00:33:18.812Z,1761525198.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.44 m.
2025-10-27T00:33:18.814Z,1761525198.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.442963 m,
      nav range: 90.543114 m,
      bearing: 205.151416 deg,
      approach rate: -0.595489 m/s,
      LOS rate: 0.007301 deg/s,
      cmd heading: 202.328139 deg,
      new cmd heading: 202.337854 deg.

2025-10-27T00:33:18.819Z,1761525198.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531462 target range: 136.442963 and range: 132.60 m.
2025-10-27T00:33:18.828Z,1761525198.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524671
2025-10-27T00:33:19.085Z,1761525199.085 [DAT](INFO): DAT read: 00:33:19.3518 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 186,-0.09,-0.751,-2.507,-0.695,-0.871, PHS= 0.222,-1.590, 0.132, RAW= 147.5,  13.9, CAL= 147.4,  15.3, ROT=   2.6, -15.3

2025-10-27T00:33:19.086Z,1761525199.086 [DAT](INFO): got valid direction response:
 00:33:19.3518 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 186,-0.09,-0.751,-2.507,-0.695,-0.871, PHS= 0.222,-1.590, 0.132, RAW= 147.5,  13.9, CAL= 147.4,  15.3, ROT=   2.6, -15.3

2025-10-27T00:33:19.087Z,1761525199.087 [DAT](INFO): DAT read: Bearing   0.8,   0.8 (Local)

2025-10-27T00:33:19.088Z,1761525199.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,   0.8 (Local)

2025-10-27T00:33:19.089Z,1761525199.089 [DAT](INFO): DAT read: Range 11 to 50 : 75.9 m  (Round-trip  101.3 ms) speed  0.5 m/s

2025-10-27T00:33:19.089Z,1761525199.089 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:33:19.090Z,1761525199.090 [DAT](INFO): direction in FSK: [0.963564,0.043755,0.263873]
2025-10-27T00:33:19.091Z,1761525199.091 [DAT](INFO): publishing direction and range info
2025-10-27T00:33:19.094Z,1761525199.094 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:33:19.094Z,1761525199.094 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:33:19.094Z,1761525199.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:33:19.240Z,1761525199.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926728,0.369033,0.070638],[-0.375596,-0.914956,-0.147595],[0.010163,-0.163311,0.986522]]
2025-10-27T00:33:19.294Z,1761525199.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.900002 m,
      deltaT: 35.783844 s,
      deltaX: -56.700005 m,
      approachRate: -1.584514 m/s,
      rangeRepo size: 4

2025-10-27T00:33:19.300Z,1761525199.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.591034 m,
      bearing: 207.191998 deg,
      lat: 36.779426 deg,
      lon: -121.859650 deg,
      deltaT: 43.090991 s,
      deltaX: -60.851929 m,
      approachRate: -1.412173 m/s,
      posRepo size: 4

2025-10-27T00:33:19.301Z,1761525199.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.59 m.
2025-10-27T00:33:19.308Z,1761525199.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.591034 m,
      nav range: 72.930717 m,
      bearing: 207.192201 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007301 deg/s,
      cmd heading: 202.337852 deg,
      new cmd heading: 202.348397 deg.

2025-10-27T00:33:19.309Z,1761525199.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531646 target range: 75.591034 and range: 75.90 m.
2025-10-27T00:33:19.332Z,1761525199.332 [DAT](INFO): DAT read: user:181>

2025-10-27T00:33:19.333Z,1761525199.333 [DAT](INFO): DAT read: Tx time:00:33:20.7463

2025-10-27T00:33:19.333Z,1761525199.333 [DAT](INFO): Ping request sent.
2025-10-27T00:33:19.333Z,1761525199.333 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:33:19.333Z,1761525199.333 [DAT](INFO): publishing transmit ping time
2025-10-27T00:33:19.334Z,1761525199.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-10-27T00:33:19.584Z,1761525199.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251062
2025-10-27T00:33:19.622Z,1761525199.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926793,0.369125,0.069294],[-0.375465,-0.915041,-0.147398],[0.008999,-0.162625,0.986647]]
2025-10-27T00:33:19.657Z,1761525199.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:19.659Z,1761525199.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.59 m.
2025-10-27T00:33:19.677Z,1761525199.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.591034 m,
      nav range: 72.704788 m,
      bearing: 207.206573 deg,
      approach rate: -0.618307 m/s,
      LOS rate: 0.039455 deg/s,
      cmd heading: 202.348398 deg,
      new cmd heading: 202.391649 deg.

2025-10-27T00:33:19.678Z,1761525199.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532401 target range: 75.591034 and range: 75.90 m.
2025-10-27T00:33:19.836Z,1761525199.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502700
2025-10-27T00:33:20.015Z,1761525200.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926835,0.369278,0.067897],[-0.375387,-0.915122,-0.147093],[0.007816,-0.161818,0.986790]]
2025-10-27T00:33:20.053Z,1761525200.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.59 m.
2025-10-27T00:33:20.056Z,1761525200.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.591034 m,
      nav range: 72.482445 m,
      bearing: 207.220820 deg,
      approach rate: -0.564223 m/s,
      LOS rate: 0.036263 deg/s,
      cmd heading: 202.391646 deg,
      new cmd heading: 202.434517 deg.

2025-10-27T00:33:20.056Z,1761525200.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533149 target range: 75.591034 and range: 75.90 m.
2025-10-27T00:33:20.089Z,1761525200.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755324
2025-10-27T00:33:20.340Z,1761525200.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006773
2025-10-27T00:33:20.417Z,1761525200.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926792,0.369799,0.065618],[-0.375522,-0.915365,-0.145226],[0.006360,-0.159235,0.987220]]
2025-10-27T00:33:20.436Z,1761525200.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.59 m.
2025-10-27T00:33:20.438Z,1761525200.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.591034 m,
      nav range: 72.243416 m,
      bearing: 207.236203 deg,
      approach rate: -0.623839 m/s,
      LOS rate: 0.040282 deg/s,
      cmd heading: 202.434513 deg,
      new cmd heading: 202.480816 deg.

2025-10-27T00:33:20.439Z,1761525200.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533957 target range: 75.591034 and range: 75.90 m.
2025-10-27T00:33:20.592Z,1761525200.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258962
2025-10-27T00:33:20.826Z,1761525200.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926554,0.370671,0.064035],[-0.376127,-0.915248,-0.144392],[0.005086,-0.157873,0.987446]]
2025-10-27T00:33:20.844Z,1761525200.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510862
2025-10-27T00:33:20.890Z,1761525200.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.59 m.
2025-10-27T00:33:20.893Z,1761525200.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.591034 m,
      nav range: 71.981987 m,
      bearing: 207.247368 deg,
      approach rate: -0.574966 m/s,
      LOS rate: 0.024645 deg/s,
      cmd heading: 202.480821 deg,
      new cmd heading: 202.514438 deg.

2025-10-27T00:33:20.894Z,1761525200.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534544 target range: 75.591034 and range: 75.90 m.
2025-10-27T00:33:21.096Z,1761525201.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762724
2025-10-27T00:33:21.234Z,1761525201.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926391,0.371325,0.062594],[-0.376543,-0.915162,-0.143850],[0.003869,-0.156831,0.987618]]
2025-10-27T00:33:21.251Z,1761525201.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.59 m.
2025-10-27T00:33:21.254Z,1761525201.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.591034 m,
      nav range: 71.752808 m,
      bearing: 207.257138 deg,
      approach rate: -0.635601 m/s,
      LOS rate: 0.027182 deg/s,
      cmd heading: 202.514440 deg,
      new cmd heading: 202.543842 deg.

2025-10-27T00:33:21.255Z,1761525201.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535057 target range: 75.591034 and range: 75.90 m.
2025-10-27T00:33:21.348Z,1761525201.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015221
2025-10-27T00:33:21.600Z,1761525201.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801
2025-10-27T00:33:21.629Z,1761525201.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926016,0.372509,0.061084],[-0.377475,-0.914867,-0.143287],[0.002508,-0.155744,0.987794]]
2025-10-27T00:33:21.661Z,1761525201.661 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3268,V
2025-10-27T00:33:21.675Z,1761525201.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:21.677Z,1761525201.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.59 m.
2025-10-27T00:33:21.680Z,1761525201.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.591034 m,
      nav range: 71.497116 m,
      bearing: 207.267902 deg,
      approach rate: -0.600464 m/s,
      LOS rate: 0.025369 deg/s,
      cmd heading: 202.543837 deg,
      new cmd heading: 202.576245 deg.

2025-10-27T00:33:21.681Z,1761525201.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535622 target range: 75.591034 and range: 75.90 m.
2025-10-27T00:33:21.852Z,1761525201.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518716
2025-10-27T00:33:22.034Z,1761525202.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925865,0.373108,0.059693],[-0.377851,-0.914811,-0.142653],[0.001383,-0.154633,0.987971]]
2025-10-27T00:33:22.052Z,1761525202.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.59 m.
2025-10-27T00:33:22.055Z,1761525202.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.591034 m,
      nav range: 71.271187 m,
      bearing: 207.277401 deg,
      approach rate: -0.602234 m/s,
      LOS rate: 0.025399 deg/s,
      cmd heading: 202.576239 deg,
      new cmd heading: 202.604825 deg.

2025-10-27T00:33:22.056Z,1761525202.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536121 target range: 75.591034 and range: 75.90 m.
2025-10-27T00:33:22.105Z,1761525202.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771241
2025-10-27T00:33:22.356Z,1761525202.356 [DAT](INFO): DAT read: Rx Time:00:33:23.2488

2025-10-27T00:33:22.356Z,1761525202.356 [DAT](INFO): Rx dataTimestamp_ set to:1761525202.356172
2025-10-27T00:33:22.357Z,1761525202.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023866
2025-10-27T00:33:22.438Z,1761525202.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925559,0.374002,0.058853],[-0.378604,-0.914372,-0.143467],[0.000157,-0.155069,0.987904]]
2025-10-27T00:33:22.470Z,1761525202.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.59 m.
2025-10-27T00:33:22.473Z,1761525202.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.591034 m,
      nav range: 71.021683 m,
      bearing: 207.287798 deg,
      approach rate: -0.601428 m/s,
      LOS rate: 0.025150 deg/s,
      cmd heading: 202.604830 deg,
      new cmd heading: 202.636131 deg.

2025-10-27T00:33:22.474Z,1761525202.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536668 target range: 75.591034 and range: 75.90 m.
2025-10-27T00:33:22.608Z,1761525202.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274872
2025-10-27T00:33:22.842Z,1761525202.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925240,0.375046,0.057193],[-0.379380,-0.914275,-0.142026],[-0.000976,-0.153106,0.988209]]
2025-10-27T00:33:22.865Z,1761525202.865 [DAT](INFO): DAT read: 00:33:23.2488 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.11,-1.629, 2.879,-1.599,-1.800, PHS= 0.274,-1.559, 0.157, RAW= 146.7,  12.7, CAL= 146.5,  13.9, ROT=   3.5, -13.9

2025-10-27T00:33:22.867Z,1761525202.867 [DAT](INFO): got valid direction response:
 00:33:23.2488 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.11,-1.629, 2.879,-1.599,-1.800, PHS= 0.274,-1.559, 0.157, RAW= 146.7,  12.7, CAL= 146.5,  13.9, ROT=   3.5, -13.9

2025-10-27T00:33:22.868Z,1761525202.868 [DAT](INFO): DAT read: Bearing 359.4,   1.6 (Local)

2025-10-27T00:33:22.868Z,1761525202.868 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,   1.6 (Local)

2025-10-27T00:33:22.870Z,1761525202.870 [DAT](INFO): DAT read: Range 11 to 50 : 73.7 m  (Round-trip  98.3 ms) speed  0.4 m/s

2025-10-27T00:33:22.870Z,1761525202.870 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:33:22.907Z,1761525202.907 [DAT](INFO): direction in FSK: [0.968906,0.059261,0.240228]
2025-10-27T00:33:22.908Z,1761525202.908 [DAT](INFO): publishing direction and range info
2025-10-27T00:33:22.912Z,1761525202.912 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:33:22.912Z,1761525202.912 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:33:22.912Z,1761525202.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:33:22.967Z,1761525202.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.699997 m,
      deltaT: 3.780405 s,
      deltaX: -2.200005 m,
      approachRate: -0.581949 m/s,
      rangeRepo size: 4

2025-10-27T00:33:22.988Z,1761525202.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.396744 m,
      bearing: 207.913973 deg,
      lat: 36.779423 deg,
      lon: -121.859650 deg,
      deltaT: 3.780405 s,
      deltaX: -2.194290 m,
      approachRate: -0.580438 m/s,
      posRepo size: 4

2025-10-27T00:33:22.988Z,1761525202.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:22.991Z,1761525202.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 71.000008 m,
      bearing: 207.182866 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025150 deg/s,
      cmd heading: 202.636126 deg,
      new cmd heading: 202.673778 deg.

2025-10-27T00:33:22.992Z,1761525202.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537325 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:23.112Z,1761525203.112 [DAT](INFO): DAT read: user:182>

2025-10-27T00:33:23.113Z,1761525203.113 [DAT](INFO): DAT read: Tx time:00:33:24.5463

2025-10-27T00:33:23.113Z,1761525203.113 [DAT](INFO): Ping request sent.
2025-10-27T00:33:23.113Z,1761525203.113 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:33:23.113Z,1761525203.113 [DAT](INFO): publishing transmit ping time
2025-10-27T00:33:23.114Z,1761525203.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-27T00:33:23.160Z,1761525203.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:33:23.306Z,1761525203.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925311,0.375100,0.055681],[-0.379205,-0.914476,-0.141202],[-0.002046,-0.151770,0.988414]]
2025-10-27T00:33:23.324Z,1761525203.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:23.326Z,1761525203.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 70.766884 m,
      bearing: 207.191224 deg,
      approach rate: -0.651796 m/s,
      LOS rate: 0.023447 deg/s,
      cmd heading: 202.673774 deg,
      new cmd heading: 202.698932 deg.

2025-10-27T00:33:23.327Z,1761525203.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537764 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:23.365Z,1761525203.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250925
2025-10-27T00:33:23.616Z,1761525203.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502569
2025-10-27T00:33:23.717Z,1761525203.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925455,0.374922,0.054457],[-0.378844,-0.914672,-0.140897],[-0.003015,-0.151025,0.988525]]
2025-10-27T00:33:23.759Z,1761525203.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:23.761Z,1761525203.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:23.764Z,1761525203.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 70.487030 m,
      bearing: 207.192794 deg,
      approach rate: -0.639080 m/s,
      LOS rate: 0.003600 deg/s,
      cmd heading: 202.698937 deg,
      new cmd heading: 202.703666 deg.

2025-10-27T00:33:23.765Z,1761525203.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537846 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:23.871Z,1761525203.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758132
2025-10-27T00:33:24.110Z,1761525204.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925548,0.374865,0.053267],[-0.378610,-0.914808,-0.140645],[-0.003994,-0.150341,0.988626]]
2025-10-27T00:33:24.120Z,1761525204.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006600
2025-10-27T00:33:24.141Z,1761525204.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:24.147Z,1761525204.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 70.246704 m,
      bearing: 207.194198 deg,
      approach rate: -0.633995 m/s,
      LOS rate: 0.003714 deg/s,
      cmd heading: 202.703663 deg,
      new cmd heading: 202.707887 deg.

2025-10-27T00:33:24.148Z,1761525204.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537920 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:24.163Z,1761525204.163 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:33:24.372Z,1761525204.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258670
2025-10-27T00:33:24.513Z,1761525204.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925607,0.374869,0.052190],[-0.378455,-0.914961,-0.140066],[-0.004754,-0.149398,0.988766]]
2025-10-27T00:33:24.558Z,1761525204.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:24.576Z,1761525204.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 69.990471 m,
      bearing: 207.195733 deg,
      approach rate: -0.616341 m/s,
      LOS rate: 0.003705 deg/s,
      cmd heading: 202.707884 deg,
      new cmd heading: 202.712505 deg.

2025-10-27T00:33:24.584Z,1761525204.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538001 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:24.624Z,1761525204.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510792
2025-10-27T00:33:24.876Z,1761525204.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762557
2025-10-27T00:33:24.917Z,1761525204.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925816,0.374482,0.051262],[-0.377936,-0.915237,-0.139663],[-0.005384,-0.148676,0.988871]]
2025-10-27T00:33:24.966Z,1761525204.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:24.968Z,1761525204.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 69.711563 m,
      bearing: 207.189110 deg,
      approach rate: -0.681506 m/s,
      LOS rate: -0.016247 deg/s,
      cmd heading: 202.712501 deg,
      new cmd heading: 202.692555 deg.

2025-10-27T00:33:24.969Z,1761525204.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537652 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:25.128Z,1761525205.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014564
2025-10-27T00:33:25.321Z,1761525205.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925880,0.374367,0.050948],[-0.377773,-0.915245,-0.140048],[-0.005799,-0.148914,0.988833]]
2025-10-27T00:33:25.356Z,1761525205.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:25.358Z,1761525205.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 69.467812 m,
      bearing: 207.183315 deg,
      approach rate: -0.630958 m/s,
      LOS rate: -0.015052 deg/s,
      cmd heading: 202.692557 deg,
      new cmd heading: 202.675112 deg.

2025-10-27T00:33:25.360Z,1761525205.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537348 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:25.380Z,1761525205.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266739
2025-10-27T00:33:25.635Z,1761525205.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520980
2025-10-27T00:33:25.729Z,1761525205.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925962,0.374223,0.050517],[-0.377566,-0.915305,-0.140216],[-0.006234,-0.148908,0.988831]]
2025-10-27T00:33:25.763Z,1761525205.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:25.765Z,1761525205.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:25.768Z,1761525205.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 69.182747 m,
      bearing: 207.180453 deg,
      approach rate: -0.689573 m/s,
      LOS rate: -0.006952 deg/s,
      cmd heading: 202.675113 deg,
      new cmd heading: 202.666491 deg.

2025-10-27T00:33:25.769Z,1761525205.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537198 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:25.884Z,1761525205.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770627
2025-10-27T00:33:26.129Z,1761525206.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926087,0.373955,0.050208],[-0.377255,-0.915427,-0.140261],[-0.006490,-0.148835,0.988841]]
2025-10-27T00:33:26.136Z,1761525206.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022735
2025-10-27T00:33:26.166Z,1761525206.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:26.173Z,1761525206.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 68.919098 m,
      bearing: 207.177858 deg,
      approach rate: -0.658295 m/s,
      LOS rate: -0.006505 deg/s,
      cmd heading: 202.666493 deg,
      new cmd heading: 202.658678 deg.

2025-10-27T00:33:26.174Z,1761525206.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537061 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:26.388Z,1761525206.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274490
2025-10-27T00:33:26.553Z,1761525206.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926003,0.374113,0.050584],[-0.377452,-0.915009,-0.142440],[-0.007004,-0.150993,0.988510]]
2025-10-27T00:33:26.641Z,1761525206.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527340
2025-10-27T00:33:26.649Z,1761525206.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:26.656Z,1761525206.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 68.618744 m,
      bearing: 207.174840 deg,
      approach rate: -0.621845 m/s,
      LOS rate: -0.006276 deg/s,
      cmd heading: 202.658679 deg,
      new cmd heading: 202.649586 deg.

2025-10-27T00:33:26.657Z,1761525206.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536902 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:26.892Z,1761525206.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778714
2025-10-27T00:33:26.999Z,1761525206.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926081,0.373970,0.050209],[-0.377254,-0.915077,-0.142529],[-0.007356,-0.150935,0.988516]]
2025-10-27T00:33:27.053Z,1761525207.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:27.056Z,1761525207.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 68.316978 m,
      bearing: 207.171385 deg,
      approach rate: -0.747077 m/s,
      LOS rate: -0.008592 deg/s,
      cmd heading: 202.649582 deg,
      new cmd heading: 202.639170 deg.

2025-10-27T00:33:27.056Z,1761525207.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536721 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:27.144Z,1761525207.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030708
2025-10-27T00:33:27.396Z,1761525207.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282716
2025-10-27T00:33:27.411Z,1761525207.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926436,0.373108,0.050065],[-0.376377,-0.915359,-0.143035],[-0.007540,-0.151356,0.988450]]
2025-10-27T00:33:27.430Z,1761525207.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:27.432Z,1761525207.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 68.062752 m,
      bearing: 207.168654 deg,
      approach rate: -0.674490 m/s,
      LOS rate: -0.007272 deg/s,
      cmd heading: 202.639172 deg,
      new cmd heading: 202.630950 deg.

2025-10-27T00:33:27.433Z,1761525207.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536577 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:27.651Z,1761525207.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536874
2025-10-27T00:33:27.805Z,1761525207.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926399,0.373069,0.051031],[-0.376464,-0.914888,-0.145788],[-0.007701,-0.154270,0.987999]]
2025-10-27T00:33:27.855Z,1761525207.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:27.857Z,1761525207.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:27.860Z,1761525207.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 67.773499 m,
      bearing: 207.171640 deg,
      approach rate: -0.677091 m/s,
      LOS rate: 0.007020 deg/s,
      cmd heading: 202.630949 deg,
      new cmd heading: 202.639945 deg.

2025-10-27T00:33:27.861Z,1761525207.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536734 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:27.900Z,1761525207.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786663
2025-10-27T00:33:28.152Z,1761525208.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038898
2025-10-27T00:33:28.217Z,1761525208.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926258,0.373433,0.050926],[-0.376803,-0.914657,-0.146362],[-0.008076,-0.154758,0.987919]]
2025-10-27T00:33:28.234Z,1761525208.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:28.237Z,1761525208.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 67.516441 m,
      bearing: 207.174236 deg,
      approach rate: -0.680557 m/s,
      LOS rate: 0.006899 deg/s,
      cmd heading: 202.639951 deg,
      new cmd heading: 202.647769 deg.

2025-10-27T00:33:28.238Z,1761525208.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536871 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:28.404Z,1761525208.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290749
2025-10-27T00:33:28.659Z,1761525208.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544982
2025-10-27T00:33:28.661Z,1761525208.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926385,0.373192,0.050391],[-0.376487,-0.914879,-0.145787],[-0.008304,-0.154026,0.988032]]
2025-10-27T00:33:28.736Z,1761525208.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:28.738Z,1761525208.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 67.185738 m,
      bearing: 207.188924 deg,
      approach rate: -0.660083 m/s,
      LOS rate: 0.029461 deg/s,
      cmd heading: 202.647765 deg,
      new cmd heading: 202.692045 deg.

2025-10-27T00:33:28.739Z,1761525208.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537644 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:28.908Z,1761525208.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794788
2025-10-27T00:33:29.017Z,1761525209.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926233,0.373506,0.050855],[-0.376851,-0.914407,-0.147792],[-0.008699,-0.156055,0.987710]]
2025-10-27T00:33:29.062Z,1761525209.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:29.064Z,1761525209.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 66.984749 m,
      bearing: 207.197851 deg,
      approach rate: -0.616303 m/s,
      LOS rate: 0.027456 deg/s,
      cmd heading: 202.692052 deg,
      new cmd heading: 202.718914 deg.

2025-10-27T00:33:29.065Z,1761525209.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538112 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:29.160Z,1761525209.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046594
2025-10-27T00:33:29.412Z,1761525209.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298638
2025-10-27T00:33:29.424Z,1761525209.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925980,0.374120,0.050940],[-0.377462,-0.913990,-0.148811],[-0.009114,-0.157024,0.987553]]
2025-10-27T00:33:29.442Z,1761525209.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:29.444Z,1761525209.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 66.719063 m,
      bearing: 207.209582 deg,
      approach rate: -0.699277 m/s,
      LOS rate: 0.030999 deg/s,
      cmd heading: 202.718908 deg,
      new cmd heading: 202.754241 deg.

2025-10-27T00:33:29.445Z,1761525209.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538729 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:29.667Z,1761525209.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553271
2025-10-27T00:33:29.831Z,1761525209.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925805,0.374586,0.050706],[-0.377880,-0.913731,-0.149338],[-0.009608,-0.157419,0.987485]]
2025-10-27T00:33:29.886Z,1761525209.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:29.888Z,1761525209.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:29.891Z,1761525209.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 66.432426 m,
      bearing: 207.224643 deg,
      approach rate: -0.641375 m/s,
      LOS rate: 0.033845 deg/s,
      cmd heading: 202.754247 deg,
      new cmd heading: 202.799624 deg.

2025-10-27T00:33:29.892Z,1761525209.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539521 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:29.916Z,1761525209.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802681
2025-10-27T00:33:30.168Z,1761525210.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055139
2025-10-27T00:33:30.232Z,1761525210.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925566,0.375331,0.049547],[-0.378450,-0.913750,-0.147771],[-0.010189,-0.155523,0.987780]]
2025-10-27T00:33:30.251Z,1761525210.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:30.254Z,1761525210.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 66.199738 m,
      bearing: 207.236843 deg,
      approach rate: -0.642138 m/s,
      LOS rate: 0.033787 deg/s,
      cmd heading: 202.799627 deg,
      new cmd heading: 202.836357 deg.

2025-10-27T00:33:30.255Z,1761525210.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540162 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:30.420Z,1761525210.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306531
2025-10-27T00:33:30.647Z,1761525210.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925212,0.376258,0.049119],[-0.379297,-0.913375,-0.147920],[-0.010792,-0.155488,0.987779]]
2025-10-27T00:33:30.676Z,1761525210.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562255
2025-10-27T00:33:30.744Z,1761525210.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:30.747Z,1761525210.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 65.888611 m,
      bearing: 207.254814 deg,
      approach rate: -0.630502 m/s,
      LOS rate: 0.036590 deg/s,
      cmd heading: 202.836360 deg,
      new cmd heading: 202.890527 deg.

2025-10-27T00:33:30.748Z,1761525210.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541108 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:30.924Z,1761525210.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810550
2025-10-27T00:33:31.089Z,1761525211.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:31.092Z,1761525211.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 65.670464 m,
      bearing: 207.267516 deg,
      approach rate: -0.632053 m/s,
      LOS rate: 0.036925 deg/s,
      cmd heading: 202.890523 deg,
      new cmd heading: 202.928756 deg.

2025-10-27T00:33:31.093Z,1761525211.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541775 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:31.178Z,1761525211.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064261
2025-10-27T00:33:31.428Z,1761525211.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314621
2025-10-27T00:33:31.449Z,1761525211.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924363,0.378622,0.046890],[-0.381298,-0.912700,-0.146936],[-0.012837,-0.153701,0.988034]]
2025-10-27T00:33:31.467Z,1761525211.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:31.470Z,1761525211.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 65.432373 m,
      bearing: 207.281023 deg,
      approach rate: -0.630758 m/s,
      LOS rate: 0.035914 deg/s,
      cmd heading: 202.928759 deg,
      new cmd heading: 202.969427 deg.

2025-10-27T00:33:31.471Z,1761525211.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542485 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:31.684Z,1761525211.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570227
2025-10-27T00:33:31.851Z,1761525211.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924014,0.379583,0.045988],[-0.382108,-0.912352,-0.146994],[-0.013839,-0.153397,0.988068]]
2025-10-27T00:33:31.889Z,1761525211.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:31.892Z,1761525211.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:31.894Z,1761525211.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 65.167709 m,
      bearing: 207.296927 deg,
      approach rate: -0.623336 m/s,
      LOS rate: 0.037608 deg/s,
      cmd heading: 202.969426 deg,
      new cmd heading: 203.017330 deg.

2025-10-27T00:33:31.912Z,1761525211.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543321 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:31.932Z,1761525211.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818764
2025-10-27T00:33:32.185Z,1761525212.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071034
2025-10-27T00:33:32.293Z,1761525212.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:32.296Z,1761525212.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 64.916527 m,
      bearing: 207.312141 deg,
      approach rate: -0.625902 m/s,
      LOS rate: 0.038056 deg/s,
      cmd heading: 203.017333 deg,
      new cmd heading: 203.063150 deg.

2025-10-27T00:33:32.297Z,1761525212.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544121 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:32.436Z,1761525212.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322603
2025-10-27T00:33:32.658Z,1761525212.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923004,0.382143,0.045051],[-0.384481,-0.911232,-0.147752],[-0.015410,-0.153697,0.987998]]
2025-10-27T00:33:32.692Z,1761525212.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577522
2025-10-27T00:33:32.738Z,1761525212.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:32.745Z,1761525212.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 64.654678 m,
      bearing: 207.327525 deg,
      approach rate: -0.588610 m/s,
      LOS rate: 0.034724 deg/s,
      cmd heading: 203.063150 deg,
      new cmd heading: 203.109491 deg.

2025-10-27T00:33:32.746Z,1761525212.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544929 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:32.940Z,1761525212.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826601
2025-10-27T00:33:33.135Z,1761525213.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:33.138Z,1761525213.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 64.403885 m,
      bearing: 207.339851 deg,
      approach rate: -0.644445 m/s,
      LOS rate: 0.031795 deg/s,
      cmd heading: 203.109486 deg,
      new cmd heading: 203.146606 deg.

2025-10-27T00:33:33.139Z,1761525213.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545577 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:33.193Z,1761525213.193 [DAT](INFO): Reached modem response timeout
2025-10-27T00:33:33.193Z,1761525213.193 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:33.193Z,1761525213.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:33:33.444Z,1761525213.444 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:33.466Z,1761525213.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922111,0.384434,0.043831],[-0.386569,-0.910478,-0.146949],[-0.016585,-0.152447,0.988172]]
2025-10-27T00:33:33.504Z,1761525213.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:33.511Z,1761525213.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 64.177719 m,
      bearing: 207.350583 deg,
      approach rate: -0.598940 m/s,
      LOS rate: 0.028522 deg/s,
      cmd heading: 203.146601 deg,
      new cmd heading: 203.178911 deg.

2025-10-27T00:33:33.512Z,1761525213.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546141 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:33.699Z,1761525213.699 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:33.870Z,1761525213.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921527,0.385859,0.043593],[-0.387927,-0.909782,-0.147677],[-0.017322,-0.152999,0.988074]]
2025-10-27T00:33:33.921Z,1761525213.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:33.923Z,1761525213.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:33.926Z,1761525213.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 63.922302 m,
      bearing: 207.350295 deg,
      approach rate: -0.610438 m/s,
      LOS rate: -0.000691 deg/s,
      cmd heading: 203.178908 deg,
      new cmd heading: 203.178041 deg.

2025-10-27T00:33:33.943Z,1761525213.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546126 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:33.948Z,1761525213.948 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:34.201Z,1761525214.201 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:34.277Z,1761525214.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920953,0.387261,0.043290],[-0.389262,-0.909188,-0.147824],[-0.017887,-0.152990,0.988066]]
2025-10-27T00:33:34.299Z,1761525214.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:34.301Z,1761525214.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 63.694538 m,
      bearing: 207.349738 deg,
      approach rate: -0.606223 m/s,
      LOS rate: -0.001488 deg/s,
      cmd heading: 203.178047 deg,
      new cmd heading: 203.176370 deg.

2025-10-27T00:33:34.302Z,1761525214.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546097 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:34.452Z,1761525214.452 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:34.707Z,1761525214.707 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:34.774Z,1761525214.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:34.777Z,1761525214.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 63.409176 m,
      bearing: 207.349035 deg,
      approach rate: -0.600007 m/s,
      LOS rate: -0.001486 deg/s,
      cmd heading: 203.176367 deg,
      new cmd heading: 203.174247 deg.

2025-10-27T00:33:34.778Z,1761525214.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546060 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:34.956Z,1761525214.956 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:35.116Z,1761525215.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920077,0.389588,0.040979],[-0.391268,-0.908813,-0.144805],[-0.019172,-0.149265,0.988611]]
2025-10-27T00:33:35.153Z,1761525215.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:35.173Z,1761525215.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 63.169918 m,
      bearing: 207.344110 deg,
      approach rate: -0.631956 m/s,
      LOS rate: -0.013056 deg/s,
      cmd heading: 203.174249 deg,
      new cmd heading: 203.159420 deg.

2025-10-27T00:33:35.175Z,1761525215.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545801 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:35.208Z,1761525215.208 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:35.461Z,1761525215.461 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:33:35.461Z,1761525215.461 [DAT](INFO): response not received
2025-10-27T00:33:35.462Z,1761525215.462 [DAT](INFO): DAT read: user:183>

2025-10-27T00:33:35.463Z,1761525215.463 [DAT](INFO): DAT read: Tx time:00:33:36.9962

2025-10-27T00:33:35.464Z,1761525215.464 [DAT](INFO): Ping request sent.
2025-10-27T00:33:35.464Z,1761525215.464 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:33:35.464Z,1761525215.464 [DAT](INFO): publishing transmit ping time
2025-10-27T00:33:35.465Z,1761525215.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001035
2025-10-27T00:33:35.536Z,1761525215.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919968,0.389930,0.040167],[-0.391496,-0.908812,-0.144193],[-0.019721,-0.148379,0.988734]]
2025-10-27T00:33:35.580Z,1761525215.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:35.582Z,1761525215.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 62.911701 m,
      bearing: 207.338683 deg,
      approach rate: -0.604549 m/s,
      LOS rate: -0.012758 deg/s,
      cmd heading: 203.159414 deg,
      new cmd heading: 203.143066 deg.

2025-10-27T00:33:35.584Z,1761525215.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.545515 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:35.713Z,1761525215.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249272
2025-10-27T00:33:35.964Z,1761525215.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500260
2025-10-27T00:33:35.984Z,1761525215.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:35.986Z,1761525215.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:35.989Z,1761525215.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 62.651115 m,
      bearing: 207.320682 deg,
      approach rate: -0.641240 m/s,
      LOS rate: -0.044480 deg/s,
      cmd heading: 203.143063 deg,
      new cmd heading: 203.088835 deg.

2025-10-27T00:33:35.990Z,1761525215.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.544569 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:36.216Z,1761525216.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752220
2025-10-27T00:33:36.318Z,1761525216.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919730,0.390464,0.040427],[-0.392030,-0.908327,-0.145790],[-0.020205,-0.149936,0.988489]]
2025-10-27T00:33:36.336Z,1761525216.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:36.338Z,1761525216.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 62.433987 m,
      bearing: 207.305467 deg,
      approach rate: -0.621302 m/s,
      LOS rate: -0.043690 deg/s,
      cmd heading: 203.088831 deg,
      new cmd heading: 203.043026 deg.

2025-10-27T00:33:36.339Z,1761525216.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.543769 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:36.468Z,1761525216.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004423
2025-10-27T00:33:36.720Z,1761525216.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256332
2025-10-27T00:33:36.802Z,1761525216.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:36.805Z,1761525216.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 62.144917 m,
      bearing: 207.285044 deg,
      approach rate: -0.619568 m/s,
      LOS rate: -0.043975 deg/s,
      cmd heading: 203.043028 deg,
      new cmd heading: 202.981476 deg.

2025-10-27T00:33:36.806Z,1761525216.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.542695 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:36.972Z,1761525216.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508193
2025-10-27T00:33:37.126Z,1761525217.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919930,0.389863,0.041675],[-0.391591,-0.908241,-0.147498],[-0.019653,-0.152007,0.988184]]
2025-10-27T00:33:37.200Z,1761525217.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:37.207Z,1761525217.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 61.907013 m,
      bearing: 207.264342 deg,
      approach rate: -0.597755 m/s,
      LOS rate: -0.052216 deg/s,
      cmd heading: 202.981474 deg,
      new cmd heading: 202.919129 deg.

2025-10-27T00:33:37.208Z,1761525217.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541607 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:37.224Z,1761525217.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760442
2025-10-27T00:33:37.476Z,1761525217.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012292
2025-10-27T00:33:37.575Z,1761525217.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:37.578Z,1761525217.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 61.655926 m,
      bearing: 207.242319 deg,
      approach rate: -0.670410 m/s,
      LOS rate: -0.059042 deg/s,
      cmd heading: 202.919128 deg,
      new cmd heading: 202.852790 deg.

2025-10-27T00:33:37.579Z,1761525217.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540449 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:37.728Z,1761525217.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264204
2025-10-27T00:33:37.938Z,1761525217.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920253,0.388971,0.042854],[-0.390871,-0.908383,-0.148529],[-0.018845,-0.153435,0.987979]]
2025-10-27T00:33:37.980Z,1761525217.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516519
2025-10-27T00:33:38.006Z,1761525218.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:38.028Z,1761525218.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:38.039Z,1761525218.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 61.369991 m,
      bearing: 207.216736 deg,
      approach rate: -0.630545 m/s,
      LOS rate: -0.056679 deg/s,
      cmd heading: 202.852793 deg,
      new cmd heading: 202.775687 deg.

2025-10-27T00:33:38.040Z,1761525218.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539103 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:38.232Z,1761525218.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768197
2025-10-27T00:33:38.380Z,1761525218.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920684,0.387820,0.044010],[-0.389895,-0.908650,-0.149458],[-0.017973,-0.154763,0.987788]]
2025-10-27T00:33:38.410Z,1761525218.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:38.412Z,1761525218.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 61.104496 m,
      bearing: 207.193055 deg,
      approach rate: -0.696330 m/s,
      LOS rate: -0.062380 deg/s,
      cmd heading: 202.775681 deg,
      new cmd heading: 202.704328 deg.

2025-10-27T00:33:38.413Z,1761525218.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537858 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:38.484Z,1761525218.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020335
2025-10-27T00:33:38.736Z,1761525218.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272475
2025-10-27T00:33:38.884Z,1761525218.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:38.886Z,1761525218.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 60.787979 m,
      bearing: 207.164450 deg,
      approach rate: -0.667442 m/s,
      LOS rate: -0.060633 deg/s,
      cmd heading: 202.704332 deg,
      new cmd heading: 202.618072 deg.

2025-10-27T00:33:38.888Z,1761525218.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536352 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:38.988Z,1761525218.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524521
2025-10-27T00:33:39.223Z,1761525219.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:39.226Z,1761525219.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 60.560658 m,
      bearing: 207.143721 deg,
      approach rate: -0.671025 m/s,
      LOS rate: -0.061420 deg/s,
      cmd heading: 202.618067 deg,
      new cmd heading: 202.555646 deg.

2025-10-27T00:33:39.227Z,1761525219.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535263 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:39.240Z,1761525219.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776272
2025-10-27T00:33:39.492Z,1761525219.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028284
2025-10-27T00:33:39.586Z,1761525219.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921605,0.385107,0.048349],[-0.387794,-0.908454,-0.155969],[-0.016141,-0.162491,0.986578]]
2025-10-27T00:33:39.631Z,1761525219.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:39.634Z,1761525219.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 60.300900 m,
      bearing: 207.120509 deg,
      approach rate: -0.662131 m/s,
      LOS rate: -0.059421 deg/s,
      cmd heading: 202.555639 deg,
      new cmd heading: 202.485705 deg.

2025-10-27T00:33:39.635Z,1761525219.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534042 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:39.745Z,1761525219.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280889
2025-10-27T00:33:39.990Z,1761525219.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921826,0.384421,0.049572],[-0.387285,-0.908309,-0.158070],[-0.015739,-0.164911,0.986183]]
2025-10-27T00:33:39.996Z,1761525219.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532251
2025-10-27T00:33:40.026Z,1761525220.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:40.049Z,1761525220.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:40.055Z,1761525220.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 60.016319 m,
      bearing: 207.101227 deg,
      approach rate: -0.656161 m/s,
      LOS rate: -0.044671 deg/s,
      cmd heading: 202.485712 deg,
      new cmd heading: 202.427589 deg.

2025-10-27T00:33:40.056Z,1761525220.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533028 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:40.248Z,1761525220.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784503
2025-10-27T00:33:40.394Z,1761525220.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921948,0.384144,0.049446],[-0.387002,-0.908552,-0.157360],[-0.015525,-0.164213,0.986303]]
2025-10-27T00:33:40.417Z,1761525220.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:40.420Z,1761525220.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 59.750381 m,
      bearing: 207.083113 deg,
      approach rate: -0.722319 m/s,
      LOS rate: -0.049418 deg/s,
      cmd heading: 202.427587 deg,
      new cmd heading: 202.373004 deg.

2025-10-27T00:33:40.421Z,1761525220.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532075 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:40.501Z,1761525220.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037223
2025-10-27T00:33:40.752Z,1761525220.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288134
2025-10-27T00:33:40.837Z,1761525220.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922309,0.383272,0.049481],[-0.386152,-0.908958,-0.157106],[-0.015238,-0.164007,0.986341]]
2025-10-27T00:33:40.910Z,1761525220.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:40.917Z,1761525220.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 59.431160 m,
      bearing: 207.068961 deg,
      approach rate: -0.646886 m/s,
      LOS rate: -0.028833 deg/s,
      cmd heading: 202.373000 deg,
      new cmd heading: 202.330315 deg.

2025-10-27T00:33:40.918Z,1761525220.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531330 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:41.005Z,1761525221.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541526
2025-10-27T00:33:41.232Z,1761525221.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922305,0.383300,0.049338],[-0.386161,-0.909003,-0.156822],[-0.015262,-0.163690,0.986394]]
2025-10-27T00:33:41.256Z,1761525221.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792365
2025-10-27T00:33:41.259Z,1761525221.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:41.262Z,1761525221.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 59.197453 m,
      bearing: 207.058499 deg,
      approach rate: -0.670398 m/s,
      LOS rate: -0.030129 deg/s,
      cmd heading: 202.330311 deg,
      new cmd heading: 202.298801 deg.

2025-10-27T00:33:41.263Z,1761525221.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530780 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:41.508Z,1761525221.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044578
2025-10-27T00:33:41.702Z,1761525221.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922538,0.382660,0.049940],[-0.385605,-0.908964,-0.158408],[-0.015223,-0.165395,0.986110]]
2025-10-27T00:33:41.744Z,1761525221.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:41.746Z,1761525221.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 58.889996 m,
      bearing: 207.044803 deg,
      approach rate: -0.634269 m/s,
      LOS rate: -0.028401 deg/s,
      cmd heading: 202.298797 deg,
      new cmd heading: 202.257495 deg.

2025-10-27T00:33:41.747Z,1761525221.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530059 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:41.760Z,1761525221.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296220
2025-10-27T00:33:42.012Z,1761525222.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548323
2025-10-27T00:33:42.047Z,1761525222.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922641,0.382384,0.050159],[-0.385351,-0.908868,-0.159571],[-0.015429,-0.166555,0.985911]]
2025-10-27T00:33:42.094Z,1761525222.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:42.097Z,1761525222.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:42.099Z,1761525222.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 58.649715 m,
      bearing: 207.043392 deg,
      approach rate: -0.680746 m/s,
      LOS rate: -0.004015 deg/s,
      cmd heading: 202.257501 deg,
      new cmd heading: 202.253250 deg.

2025-10-27T00:33:42.100Z,1761525222.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529985 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:42.264Z,1761525222.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800175
2025-10-27T00:33:42.449Z,1761525222.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922718,0.382178,0.050317],[-0.385161,-0.908798,-0.160429],[-0.015584,-0.167411,0.985764]]
2025-10-27T00:33:42.475Z,1761525222.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:42.478Z,1761525222.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 58.404720 m,
      bearing: 207.041993 deg,
      approach rate: -0.647834 m/s,
      LOS rate: -0.003715 deg/s,
      cmd heading: 202.253253 deg,
      new cmd heading: 202.249039 deg.

2025-10-27T00:33:42.478Z,1761525222.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529912 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:42.517Z,1761525222.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053137
2025-10-27T00:33:42.768Z,1761525222.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304238
2025-10-27T00:33:42.884Z,1761525222.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922384,0.382950,0.050569],[-0.385944,-0.908247,-0.161664],[-0.015980,-0.168633,0.985549]]
2025-10-27T00:33:42.924Z,1761525222.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:42.927Z,1761525222.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 58.115585 m,
      bearing: 207.047849 deg,
      approach rate: -0.643283 m/s,
      LOS rate: 0.013093 deg/s,
      cmd heading: 202.249032 deg,
      new cmd heading: 202.266687 deg.

2025-10-27T00:33:42.928Z,1761525222.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530220 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:43.021Z,1761525223.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556920
2025-10-27T00:33:43.272Z,1761525223.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808350
2025-10-27T00:33:43.296Z,1761525223.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:43.298Z,1761525223.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 57.876163 m,
      bearing: 207.052742 deg,
      approach rate: -0.644296 m/s,
      LOS rate: 0.013222 deg/s,
      cmd heading: 202.266681 deg,
      new cmd heading: 202.281422 deg.

2025-10-27T00:33:43.300Z,1761525223.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530477 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:43.524Z,1761525223.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060411
2025-10-27T00:33:43.673Z,1761525223.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921943,0.384075,0.050083],[-0.386974,-0.907850,-0.161430],[-0.016533,-0.168210,0.985613]]
2025-10-27T00:33:43.721Z,1761525223.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:43.728Z,1761525223.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 57.616959 m,
      bearing: 207.057795 deg,
      approach rate: -0.609024 m/s,
      LOS rate: 0.011927 deg/s,
      cmd heading: 202.281421 deg,
      new cmd heading: 202.296649 deg.

2025-10-27T00:33:43.729Z,1761525223.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530743 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:43.776Z,1761525223.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312282
2025-10-27T00:33:44.028Z,1761525224.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564458
2025-10-27T00:33:44.117Z,1761525224.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:44.119Z,1761525224.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:44.122Z,1761525224.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 57.353580 m,
      bearing: 207.069275 deg,
      approach rate: -0.661744 m/s,
      LOS rate: 0.028975 deg/s,
      cmd heading: 202.296652 deg,
      new cmd heading: 202.331249 deg.

2025-10-27T00:33:44.123Z,1761525224.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531347 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:44.280Z,1761525224.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816315
2025-10-27T00:33:44.503Z,1761525224.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:44.524Z,1761525224.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 57.113018 m,
      bearing: 207.079853 deg,
      approach rate: -0.627827 m/s,
      LOS rate: 0.027722 deg/s,
      cmd heading: 202.331254 deg,
      new cmd heading: 202.363120 deg.

2025-10-27T00:33:44.525Z,1761525224.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531903 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:44.532Z,1761525224.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068308
2025-10-27T00:33:44.785Z,1761525224.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320834
2025-10-27T00:33:44.916Z,1761525224.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921032,0.386601,0.047333],[-0.389084,-0.907726,-0.156991],[-0.017728,-0.163010,0.986465]]
2025-10-27T00:33:44.965Z,1761525224.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:44.968Z,1761525224.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 56.827126 m,
      bearing: 207.099072 deg,
      approach rate: -0.618379 m/s,
      LOS rate: 0.041779 deg/s,
      cmd heading: 202.363124 deg,
      new cmd heading: 202.421071 deg.

2025-10-27T00:33:44.969Z,1761525224.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532914 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:45.037Z,1761525225.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573159
2025-10-27T00:33:45.288Z,1761525225.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824418
2025-10-27T00:33:45.323Z,1761525225.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:45.326Z,1761525225.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 56.613247 m,
      bearing: 207.113577 deg,
      approach rate: -0.597528 m/s,
      LOS rate: 0.040676 deg/s,
      cmd heading: 202.421071 deg,
      new cmd heading: 202.464750 deg.

2025-10-27T00:33:45.327Z,1761525225.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533677 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:45.540Z,1761525225.540 [DAT](INFO): Reached modem response timeout
2025-10-27T00:33:45.540Z,1761525225.540 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:45.540Z,1761525225.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:33:45.697Z,1761525225.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920552,0.387914,0.045910],[-0.390190,-0.907641,-0.154726],[-0.018350,-0.160347,0.986890]]
2025-10-27T00:33:45.722Z,1761525225.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:45.725Z,1761525225.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 56.360226 m,
      bearing: 207.130573 deg,
      approach rate: -0.634582 m/s,
      LOS rate: 0.042819 deg/s,
      cmd heading: 202.464757 deg,
      new cmd heading: 202.515976 deg.

2025-10-27T00:33:45.726Z,1761525225.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534570 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:45.792Z,1761525225.792 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:46.044Z,1761525226.044 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:46.089Z,1761525226.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920076,0.389032,0.045975],[-0.391291,-0.907063,-0.155330],[-0.018726,-0.160905,0.986792]]
2025-10-27T00:33:46.123Z,1761525226.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:46.125Z,1761525226.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:46.129Z,1761525226.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 56.111694 m,
      bearing: 207.149821 deg,
      approach rate: -0.615500 m/s,
      LOS rate: 0.047878 deg/s,
      cmd heading: 202.515969 deg,
      new cmd heading: 202.573967 deg.

2025-10-27T00:33:46.130Z,1761525226.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535583 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:46.296Z,1761525226.296 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:46.489Z,1761525226.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919603,0.390172,0.045792],[-0.392384,-0.906575,-0.155426],[-0.019128,-0.160898,0.986786]]
2025-10-27T00:33:46.515Z,1761525226.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:46.518Z,1761525226.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 55.872471 m,
      bearing: 207.168215 deg,
      approach rate: -0.614085 m/s,
      LOS rate: 0.047421 deg/s,
      cmd heading: 202.573971 deg,
      new cmd heading: 202.629392 deg.

2025-10-27T00:33:46.519Z,1761525226.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536550 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:46.548Z,1761525226.548 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:46.800Z,1761525226.800 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:46.947Z,1761525226.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919335,0.390832,0.045534],[-0.392994,-0.906319,-0.155373],[-0.019457,-0.160734,0.986806]]
2025-10-27T00:33:47.015Z,1761525227.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:47.017Z,1761525227.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 55.574753 m,
      bearing: 207.189140 deg,
      approach rate: -0.595881 m/s,
      LOS rate: 0.042105 deg/s,
      cmd heading: 202.629392 deg,
      new cmd heading: 202.692502 deg.

2025-10-27T00:33:47.018Z,1761525227.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537652 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:47.052Z,1761525227.052 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:47.305Z,1761525227.305 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:47.352Z,1761525227.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918985,0.391601,0.045987],[-0.393801,-0.905762,-0.156575],[-0.019662,-0.162000,0.986595]]
2025-10-27T00:33:47.370Z,1761525227.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:47.373Z,1761525227.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 55.341946 m,
      bearing: 207.205449 deg,
      approach rate: -0.654688 m/s,
      LOS rate: 0.046055 deg/s,
      cmd heading: 202.692503 deg,
      new cmd heading: 202.741634 deg.

2025-10-27T00:33:47.374Z,1761525227.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538509 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:47.556Z,1761525227.556 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:47.750Z,1761525227.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918582,0.392489,0.046474],[-0.394739,-0.905213,-0.157385],[-0.019703,-0.162916,0.986443]]
2025-10-27T00:33:47.784Z,1761525227.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:47.794Z,1761525227.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 55.094822 m,
      bearing: 207.222649 deg,
      approach rate: -0.596422 m/s,
      LOS rate: 0.041699 deg/s,
      cmd heading: 202.741639 deg,
      new cmd heading: 202.793473 deg.

2025-10-27T00:33:47.795Z,1761525227.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539414 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:47.808Z,1761525227.808 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:48.061Z,1761525228.061 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:33:48.061Z,1761525228.061 [DAT](INFO): response not received
2025-10-27T00:33:48.061Z,1761525228.061 [DAT](INFO): DAT read: user:184>

2025-10-27T00:33:48.062Z,1761525228.062 [DAT](INFO): DAT read: Tx time:00:33:49.4461

2025-10-27T00:33:48.063Z,1761525228.063 [DAT](INFO): Ping request sent.
2025-10-27T00:33:48.063Z,1761525228.063 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:33:48.063Z,1761525228.063 [DAT](INFO): publishing transmit ping time
2025-10-27T00:33:48.064Z,1761525228.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001081
2025-10-27T00:33:48.222Z,1761525228.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:48.224Z,1761525228.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:48.227Z,1761525228.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 54.798634 m,
      bearing: 207.229764 deg,
      approach rate: -0.673863 m/s,
      LOS rate: 0.016273 deg/s,
      cmd heading: 202.793466 deg,
      new cmd heading: 202.814925 deg.

2025-10-27T00:33:48.228Z,1761525228.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539788 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:48.313Z,1761525228.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249059
2025-10-27T00:33:48.558Z,1761525228.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917984,0.393615,0.048704],[-0.396157,-0.904072,-0.160352],[-0.019085,-0.166495,0.985858]]
2025-10-27T00:33:48.564Z,1761525228.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501007
2025-10-27T00:33:48.590Z,1761525228.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:48.594Z,1761525228.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 54.560009 m,
      bearing: 207.235203 deg,
      approach rate: -0.651784 m/s,
      LOS rate: 0.014922 deg/s,
      cmd heading: 202.814927 deg,
      new cmd heading: 202.831316 deg.

2025-10-27T00:33:48.594Z,1761525228.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.540074 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:48.816Z,1761525228.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752729
2025-10-27T00:33:48.986Z,1761525228.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918077,0.393425,0.048504],[-0.395948,-0.904267,-0.159773],[-0.018998,-0.165889,0.985961]]
2025-10-27T00:33:49.054Z,1761525229.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:49.060Z,1761525229.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 54.267166 m,
      bearing: 207.228090 deg,
      approach rate: -0.631780 m/s,
      LOS rate: -0.015428 deg/s,
      cmd heading: 202.831319 deg,
      new cmd heading: 202.809865 deg.

2025-10-27T00:33:49.061Z,1761525229.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539700 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:49.068Z,1761525229.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004924
2025-10-27T00:33:49.320Z,1761525229.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256619
2025-10-27T00:33:49.366Z,1761525229.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918215,0.393095,0.048559],[-0.395641,-0.904479,-0.159327],[-0.018710,-0.165508,0.986031]]
2025-10-27T00:33:49.396Z,1761525229.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:49.399Z,1761525229.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 54.032642 m,
      bearing: 207.222416 deg,
      approach rate: -0.684485 m/s,
      LOS rate: -0.016633 deg/s,
      cmd heading: 202.809859 deg,
      new cmd heading: 202.792762 deg.

2025-10-27T00:33:49.400Z,1761525229.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539401 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:49.572Z,1761525229.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508652
2025-10-27T00:33:49.772Z,1761525229.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918481,0.392501,0.048320],[-0.395030,-0.904875,-0.158594],[-0.018525,-0.164754,0.986161]]
2025-10-27T00:33:49.795Z,1761525229.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:49.798Z,1761525229.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 53.771431 m,
      bearing: 207.216210 deg,
      approach rate: -0.655566 m/s,
      LOS rate: -0.015651 deg/s,
      cmd heading: 202.792756 deg,
      new cmd heading: 202.774048 deg.

2025-10-27T00:33:49.798Z,1761525229.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.539075 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:49.824Z,1761525229.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760751
2025-10-27T00:33:50.076Z,1761525230.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012988
2025-10-27T00:33:50.181Z,1761525230.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918718,0.392031,0.047644],[-0.394473,-0.905276,-0.157688],[-0.018687,-0.163665,0.986339]]
2025-10-27T00:33:50.243Z,1761525230.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:50.245Z,1761525230.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:50.248Z,1761525230.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 53.466698 m,
      bearing: 207.193329 deg,
      approach rate: -0.676965 m/s,
      LOS rate: -0.051119 deg/s,
      cmd heading: 202.774041 deg,
      new cmd heading: 202.705008 deg.

2025-10-27T00:33:50.249Z,1761525230.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537870 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:50.328Z,1761525230.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264917
2025-10-27T00:33:50.580Z,1761525230.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516807
2025-10-27T00:33:50.580Z,1761525230.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919152,0.391084,0.047036],[-0.393464,-0.905928,-0.156465],[-0.018580,-0.162322,0.986563]]
2025-10-27T00:33:50.616Z,1761525230.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:50.618Z,1761525230.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 53.225937 m,
      bearing: 207.175325 deg,
      approach rate: -0.649495 m/s,
      LOS rate: -0.048789 deg/s,
      cmd heading: 202.705002 deg,
      new cmd heading: 202.650745 deg.

2025-10-27T00:33:50.623Z,1761525230.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536923 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:50.832Z,1761525230.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768714
2025-10-27T00:33:51.009Z,1761525231.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919549,0.390239,0.046302],[-0.392535,-0.906535,-0.155273],[-0.018619,-0.160957,0.986786]]
2025-10-27T00:33:51.062Z,1761525231.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:51.065Z,1761525231.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 52.896854 m,
      bearing: 207.141144 deg,
      approach rate: -0.736801 m/s,
      LOS rate: -0.077005 deg/s,
      cmd heading: 202.650743 deg,
      new cmd heading: 202.547564 deg.

2025-10-27T00:33:51.066Z,1761525231.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.535122 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:51.101Z,1761525231.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037766
2025-10-27T00:33:51.352Z,1761525231.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288764
2025-10-27T00:33:51.386Z,1761525231.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919982,0.389329,0.045343],[-0.391512,-0.907230,-0.153794],[-0.018740,-0.159240,0.987062]]
2025-10-27T00:33:51.405Z,1761525231.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:51.430Z,1761525231.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 52.653324 m,
      bearing: 207.115834 deg,
      approach rate: -0.711463 m/s,
      LOS rate: -0.074286 deg/s,
      cmd heading: 202.547566 deg,
      new cmd heading: 202.471283 deg.

2025-10-27T00:33:51.431Z,1761525231.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533791 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:51.604Z,1761525231.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540662
2025-10-27T00:33:51.790Z,1761525231.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920638,0.387889,0.044369],[-0.389962,-0.908116,-0.152495],[-0.018859,-0.157695,0.987308]]
2025-10-27T00:33:51.823Z,1761525231.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:51.826Z,1761525231.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 52.355579 m,
      bearing: 207.085080 deg,
      approach rate: -0.711722 m/s,
      LOS rate: -0.073930 deg/s,
      cmd heading: 202.471286 deg,
      new cmd heading: 202.378502 deg.

2025-10-27T00:33:51.827Z,1761525231.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532171 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:51.857Z,1761525231.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793125
2025-10-27T00:33:52.108Z,1761525232.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044766
2025-10-27T00:33:52.194Z,1761525232.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921392,0.386187,0.043552],[-0.388179,-0.909091,-0.151230],[-0.018810,-0.156248,0.987539]]
2025-10-27T00:33:52.257Z,1761525232.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:52.259Z,1761525232.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:52.265Z,1761525232.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 52.054646 m,
      bearing: 207.043374 deg,
      approach rate: -0.690638 m/s,
      LOS rate: -0.096270 deg/s,
      cmd heading: 202.378505 deg,
      new cmd heading: 202.252661 deg.

2025-10-27T00:33:52.266Z,1761525232.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529975 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:52.360Z,1761525232.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.296809
2025-10-27T00:33:52.601Z,1761525232.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922476,0.383654,0.042994],[-0.385594,-0.910194,-0.151211],[-0.018880,-0.156067,0.987566]]
2025-10-27T00:33:52.612Z,1761525232.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.548881
2025-10-27T00:33:52.620Z,1761525232.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:52.623Z,1761525232.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 51.794842 m,
      bearing: 207.007790 deg,
      approach rate: -0.717987 m/s,
      LOS rate: -0.098831 deg/s,
      cmd heading: 202.252666 deg,
      new cmd heading: 202.145379 deg.

2025-10-27T00:33:52.624Z,1761525232.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528102 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:52.868Z,1761525232.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.804539
2025-10-27T00:33:53.033Z,1761525233.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923733,0.380700,0.042248],[-0.382565,-0.911492,-0.151083],[-0.019009,-0.155723,0.987618]]
2025-10-27T00:33:53.091Z,1761525233.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:53.093Z,1761525233.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 51.476948 m,
      bearing: 206.970607 deg,
      approach rate: -0.681791 m/s,
      LOS rate: -0.080238 deg/s,
      cmd heading: 202.145377 deg,
      new cmd heading: 202.033141 deg.

2025-10-27T00:33:53.094Z,1761525233.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.526144 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:53.116Z,1761525233.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.053131
2025-10-27T00:33:53.368Z,1761525233.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.304760
2025-10-27T00:33:53.434Z,1761525233.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925005,0.377585,0.042375],[-0.379477,-0.912486,-0.152860],[-0.019051,-0.157477,0.987339]]
2025-10-27T00:33:53.452Z,1761525233.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:53.455Z,1761525233.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 51.208572 m,
      bearing: 206.939891 deg,
      approach rate: -0.734056 m/s,
      LOS rate: -0.084455 deg/s,
      cmd heading: 202.033143 deg,
      new cmd heading: 201.940511 deg.

2025-10-27T00:33:53.456Z,1761525233.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.524527 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:53.620Z,1761525233.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.556677
2025-10-27T00:33:53.833Z,1761525233.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926470,0.373933,0.042739],[-0.375907,-0.913736,-0.154210],[-0.018612,-0.158937,0.987113]]
2025-10-27T00:33:53.870Z,1761525233.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:53.872Z,1761525233.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.808836
2025-10-27T00:33:53.874Z,1761525233.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 50.922470 m,
      bearing: 206.908064 deg,
      approach rate: -0.684685 m/s,
      LOS rate: -0.076595 deg/s,
      cmd heading: 201.940512 deg,
      new cmd heading: 201.844495 deg.

2025-10-27T00:33:53.877Z,1761525233.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522851 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:54.124Z,1761525234.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.060811
2025-10-27T00:33:54.248Z,1761525234.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927903,0.370247,0.043747],[-0.372388,-0.914758,-0.156670],[-0.017989,-0.161666,0.986682]]
2025-10-27T00:33:54.291Z,1761525234.291 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:33:54.305Z,1761525234.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:54.311Z,1761525234.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:54.314Z,1761525234.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 50.631042 m,
      bearing: 206.890226 deg,
      approach rate: -0.666873 m/s,
      LOS rate: -0.041053 deg/s,
      cmd heading: 201.844494 deg,
      new cmd heading: 201.790673 deg.

2025-10-27T00:33:54.319Z,1761525234.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521912 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:54.377Z,1761525234.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313581
2025-10-27T00:33:54.632Z,1761525234.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.569025
2025-10-27T00:33:54.650Z,1761525234.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929073,0.366974,0.046400],[-0.369502,-0.914966,-0.162190],[-0.017065,-0.167832,0.985668]]
2025-10-27T00:33:54.697Z,1761525234.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:54.705Z,1761525234.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 50.353321 m,
      bearing: 206.874064 deg,
      approach rate: -0.712746 m/s,
      LOS rate: -0.041708 deg/s,
      cmd heading: 201.790672 deg,
      new cmd heading: 201.741917 deg.

2025-10-27T00:33:54.707Z,1761525234.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521061 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:54.884Z,1761525234.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.820735
2025-10-27T00:33:55.068Z,1761525235.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930015,0.364134,0.049783],[-0.367165,-0.914585,-0.169483],[-0.016184,-0.175901,0.984275]]
2025-10-27T00:33:55.116Z,1761525235.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:55.119Z,1761525235.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 50.061821 m,
      bearing: 206.872677 deg,
      approach rate: -0.694946 m/s,
      LOS rate: -0.003326 deg/s,
      cmd heading: 201.741918 deg,
      new cmd heading: 201.737732 deg.

2025-10-27T00:33:55.120Z,1761525235.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520988 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:55.154Z,1761525235.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.090345
2025-10-27T00:33:55.295Z,1761525235.295 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:33:55.404Z,1761525235.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.340866
2025-10-27T00:33:55.453Z,1761525235.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930494,0.362377,0.053526],[-0.365985,-0.913555,-0.177405],[-0.015388,-0.184664,0.982681]]
2025-10-27T00:33:55.493Z,1761525235.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:55.496Z,1761525235.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 49.805008 m,
      bearing: 206.871833 deg,
      approach rate: -0.681160 m/s,
      LOS rate: -0.002250 deg/s,
      cmd heading: 201.737738 deg,
      new cmd heading: 201.735193 deg.

2025-10-27T00:33:55.497Z,1761525235.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520943 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:55.657Z,1761525235.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.593358
2025-10-27T00:33:55.858Z,1761525235.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930491,0.361898,0.056719],[-0.366030,-0.912435,-0.182988],[-0.014470,-0.191029,0.981478]]
2025-10-27T00:33:55.876Z,1761525235.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:55.878Z,1761525235.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 49.542271 m,
      bearing: 206.870961 deg,
      approach rate: -0.687182 m/s,
      LOS rate: -0.002293 deg/s,
      cmd heading: 201.735197 deg,
      new cmd heading: 201.732567 deg.

2025-10-27T00:33:55.880Z,1761525235.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520897 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:55.908Z,1761525235.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.844803
2025-10-27T00:33:56.160Z,1761525236.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.096754
2025-10-27T00:33:56.262Z,1761525236.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930118,0.362558,0.058583],[-0.367009,-0.911678,-0.184789],[-0.013588,-0.193376,0.981031]]
2025-10-27T00:33:56.316Z,1761525236.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:56.318Z,1761525236.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:56.321Z,1761525236.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 49.262222 m,
      bearing: 206.892102 deg,
      approach rate: -0.633215 m/s,
      LOS rate: 0.048075 deg/s,
      cmd heading: 201.732560 deg,
      new cmd heading: 201.796346 deg.

2025-10-27T00:33:56.322Z,1761525236.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522011 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:56.414Z,1761525236.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.350639
2025-10-27T00:33:56.665Z,1761525236.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.601817
2025-10-27T00:33:56.676Z,1761525236.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929558,0.363826,0.059611],[-0.368469,-0.911374,-0.183381],[-0.012390,-0.192428,0.981233]]
2025-10-27T00:33:56.709Z,1761525236.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:56.728Z,1761525236.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 49.020992 m,
      bearing: 206.910071 deg,
      approach rate: -0.617280 m/s,
      LOS rate: 0.046205 deg/s,
      cmd heading: 201.796341 deg,
      new cmd heading: 201.850511 deg.

2025-10-27T00:33:56.729Z,1761525236.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522956 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:56.916Z,1761525236.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.852704
2025-10-27T00:33:57.094Z,1761525237.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928574,0.366266,0.059988],[-0.370970,-0.910944,-0.180451],[-0.011447,-0.189816,0.981753]]
2025-10-27T00:33:57.169Z,1761525237.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.105466
2025-10-27T00:33:57.172Z,1761525237.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:57.174Z,1761525237.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 48.743477 m,
      bearing: 206.949802 deg,
      approach rate: -0.599454 m/s,
      LOS rate: 0.086312 deg/s,
      cmd heading: 201.850518 deg,
      new cmd heading: 201.970391 deg.

2025-10-27T00:33:57.179Z,1761525237.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525048 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:57.420Z,1761525237.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.357056
2025-10-27T00:33:57.499Z,1761525237.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927512,0.369006,0.059637],[-0.373639,-0.910651,-0.176378],[-0.010776,-0.185876,0.982514]]
2025-10-27T00:33:57.536Z,1761525237.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:57.538Z,1761525237.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 48.497528 m,
      bearing: 206.984574 deg,
      approach rate: -0.675721 m/s,
      LOS rate: 0.096018 deg/s,
      cmd heading: 201.970388 deg,
      new cmd heading: 202.075234 deg.

2025-10-27T00:33:57.539Z,1761525237.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.526878 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:57.673Z,1761525237.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.609657
2025-10-27T00:33:57.924Z,1761525237.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.860815
2025-10-27T00:33:57.951Z,1761525237.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:57.957Z,1761525237.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 48.238216 m,
      bearing: 207.021623 deg,
      approach rate: -0.624939 m/s,
      LOS rate: 0.089766 deg/s,
      cmd heading: 202.075231 deg,
      new cmd heading: 202.186974 deg.

2025-10-27T00:33:57.958Z,1761525237.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528828 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:58.176Z,1761525238.176 [DAT](INFO): Reached modem response timeout
2025-10-27T00:33:58.176Z,1761525238.176 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:58.176Z,1761525238.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:33:58.336Z,1761525238.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922546,0.381799,0.056022],[-0.385723,-0.908147,-0.162748],[-0.011261,-0.171752,0.985076]]
2025-10-27T00:33:58.399Z,1761525238.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:33:58.401Z,1761525238.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:58.404Z,1761525238.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 47.974358 m,
      bearing: 207.060546 deg,
      approach rate: -0.585410 m/s,
      LOS rate: 0.086832 deg/s,
      cmd heading: 202.186973 deg,
      new cmd heading: 202.304384 deg.

2025-10-27T00:33:58.405Z,1761525238.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530878 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:58.428Z,1761525238.428 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:58.681Z,1761525238.681 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:58.750Z,1761525238.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920971,0.386018,0.052937],[-0.389443,-0.907770,-0.155847],[-0.012105,-0.164147,0.986362]]
2025-10-27T00:33:58.774Z,1761525238.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:58.777Z,1761525238.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 47.747261 m,
      bearing: 207.093296 deg,
      approach rate: -0.609438 m/s,
      LOS rate: 0.088307 deg/s,
      cmd heading: 202.304384 deg,
      new cmd heading: 202.403102 deg.

2025-10-27T00:33:58.778Z,1761525238.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532601 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:58.932Z,1761525238.932 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:59.144Z,1761525239.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919702,0.389467,0.049632],[-0.392392,-0.907518,-0.149797],[-0.013299,-0.157244,0.987470]]
2025-10-27T00:33:59.170Z,1761525239.170 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -11,  +632, 
2025-10-27T00:33:59.184Z,1761525239.184 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:59.205Z,1761525239.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:59.208Z,1761525239.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 47.489902 m,
      bearing: 207.129802 deg,
      approach rate: -0.596383 m/s,
      LOS rate: 0.085055 deg/s,
      cmd heading: 202.403107 deg,
      new cmd heading: 202.513219 deg.

2025-10-27T00:33:59.209Z,1761525239.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534523 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:59.436Z,1761525239.436 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:59.538Z,1761525239.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918982,0.391691,0.045279],[-0.394019,-0.907930,-0.142871],[-0.014851,-0.149137,0.988705]]
2025-10-27T00:33:59.565Z,1761525239.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:59.568Z,1761525239.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 47.275421 m,
      bearing: 207.160082 deg,
      approach rate: -0.596775 m/s,
      LOS rate: 0.084634 deg/s,
      cmd heading: 202.513224 deg,
      new cmd heading: 202.604476 deg.

2025-10-27T00:33:59.569Z,1761525239.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536115 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:33:59.688Z,1761525239.688 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:59.942Z,1761525239.942 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:33:59.946Z,1761525239.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918509,0.393174,0.041886],[-0.395067,-0.908229,-0.137997],[-0.016215,-0.143299,0.989547]]
2025-10-27T00:33:59.992Z,1761525239.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:33:59.994Z,1761525239.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 47.037380 m,
      bearing: 207.193691 deg,
      approach rate: -0.557678 m/s,
      LOS rate: 0.079137 deg/s,
      cmd heading: 202.604475 deg,
      new cmd heading: 202.705812 deg.

2025-10-27T00:34:00.003Z,1761525240.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537884 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:00.196Z,1761525240.196 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:00.347Z,1761525240.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918466,0.393487,0.039857],[-0.395138,-0.908638,-0.135068],[-0.016931,-0.139804,0.990034]]
2025-10-27T00:34:00.393Z,1761525240.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:34:00.396Z,1761525240.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 46.768074 m,
      bearing: 207.200038 deg,
      approach rate: -0.671655 m/s,
      LOS rate: 0.015918 deg/s,
      cmd heading: 202.705808 deg,
      new cmd heading: 202.724956 deg.

2025-10-27T00:34:00.397Z,1761525240.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538218 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:00.449Z,1761525240.449 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:34:00.449Z,1761525240.449 [DAT](INFO): response not received
2025-10-27T00:34:00.450Z,1761525240.450 [DAT](INFO): DAT read: user:185>

2025-10-27T00:34:00.451Z,1761525240.451 [DAT](INFO): DAT read: Tx time:00:34:01.8961

2025-10-27T00:34:00.452Z,1761525240.452 [DAT](INFO): Ping request sent.
2025-10-27T00:34:00.452Z,1761525240.452 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:34:00.452Z,1761525240.452 [DAT](INFO): publishing transmit ping time
2025-10-27T00:34:00.453Z,1761525240.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001089
2025-10-27T00:34:00.701Z,1761525240.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248945
2025-10-27T00:34:00.756Z,1761525240.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918662,0.392992,0.040207],[-0.394687,-0.908747,-0.135649],[-0.016771,-0.140485,0.989941]]
2025-10-27T00:34:00.772Z,1761525240.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:00.774Z,1761525240.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:34:00.781Z,1761525240.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 46.527878 m,
      bearing: 207.205916 deg,
      approach rate: -0.629600 m/s,
      LOS rate: 0.015487 deg/s,
      cmd heading: 202.724960 deg,
      new cmd heading: 202.742685 deg.

2025-10-27T00:34:00.781Z,1761525240.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.538527 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:00.952Z,1761525240.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500010
2025-10-27T00:34:01.176Z,1761525241.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919387,0.391196,0.041155],[-0.393038,-0.909400,-0.136060],[-0.015800,-0.141267,0.989845]]
2025-10-27T00:34:01.204Z,1761525241.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752059
2025-10-27T00:34:01.214Z,1761525241.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:34:01.216Z,1761525241.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 46.235722 m,
      bearing: 207.190675 deg,
      approach rate: -0.664828 m/s,
      LOS rate: -0.034901 deg/s,
      cmd heading: 202.742691 deg,
      new cmd heading: 202.696680 deg.

2025-10-27T00:34:01.217Z,1761525241.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537724 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:01.459Z,1761525241.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007365
2025-10-27T00:34:01.576Z,1761525241.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920229,0.388902,0.043983],[-0.391112,-0.909598,-0.140228],[-0.014528,-0.146244,0.989142]]
2025-10-27T00:34:01.609Z,1761525241.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:34:01.613Z,1761525241.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 45.972404 m,
      bearing: 207.177605 deg,
      approach rate: -0.665389 m/s,
      LOS rate: -0.033217 deg/s,
      cmd heading: 202.696683 deg,
      new cmd heading: 202.657247 deg.

2025-10-27T00:34:01.614Z,1761525241.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537036 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:01.709Z,1761525241.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256895
2025-10-27T00:34:01.960Z,1761525241.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507943
2025-10-27T00:34:01.991Z,1761525241.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921345,0.385769,0.048015],[-0.388533,-0.909695,-0.146618],[-0.012882,-0.153741,0.988027]]
2025-10-27T00:34:02.054Z,1761525242.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:34:02.060Z,1761525242.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 45.692436 m,
      bearing: 207.164758 deg,
      approach rate: -0.630138 m/s,
      LOS rate: -0.029091 deg/s,
      cmd heading: 202.657245 deg,
      new cmd heading: 202.618470 deg.

2025-10-27T00:34:02.061Z,1761525242.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536360 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:02.212Z,1761525242.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760120
2025-10-27T00:34:02.380Z,1761525242.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922237,0.382989,0.052897],[-0.386462,-0.909215,-0.154837],[-0.011206,-0.163239,0.986523]]
2025-10-27T00:34:02.434Z,1761525242.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:34:02.436Z,1761525242.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 45.422779 m,
      bearing: 207.133141 deg,
      approach rate: -0.709646 m/s,
      LOS rate: -0.083701 deg/s,
      cmd heading: 202.618477 deg,
      new cmd heading: 202.523061 deg.

2025-10-27T00:34:02.437Z,1761525242.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534694 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:02.464Z,1761525242.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012107
2025-10-27T00:34:02.716Z,1761525242.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264557
2025-10-27T00:34:02.795Z,1761525242.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922911,0.380638,0.057886],[-0.384898,-0.908444,-0.163045],[-0.009474,-0.172756,0.984919]]
2025-10-27T00:34:02.811Z,1761525242.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:02.813Z,1761525242.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:34:02.816Z,1761525242.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 45.168961 m,
      bearing: 207.103876 deg,
      approach rate: -0.668876 m/s,
      LOS rate: -0.077554 deg/s,
      cmd heading: 202.523059 deg,
      new cmd heading: 202.434771 deg.

2025-10-27T00:34:02.817Z,1761525242.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533153 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:02.968Z,1761525242.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516018
2025-10-27T00:34:03.205Z,1761525243.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923732,0.378217,0.060584],[-0.382949,-0.908473,-0.167412],[-0.008280,-0.177845,0.984024]]
2025-10-27T00:34:03.220Z,1761525243.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768238
2025-10-27T00:34:03.251Z,1761525243.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:34:03.254Z,1761525243.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 44.869656 m,
      bearing: 207.060321 deg,
      approach rate: -0.683279 m/s,
      LOS rate: -0.100093 deg/s,
      cmd heading: 202.434772 deg,
      new cmd heading: 202.303238 deg.

2025-10-27T00:34:03.255Z,1761525243.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530858 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:03.472Z,1761525243.473 [DAT](INFO): DAT read: Rx Time:00:34:04.3632

2025-10-27T00:34:03.473Z,1761525243.473 [DAT](INFO): Rx dataTimestamp_ set to:1761525243.472840
2025-10-27T00:34:03.474Z,1761525243.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021911
2025-10-27T00:34:03.613Z,1761525243.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924504,0.376319,0.060628],[-0.381092,-0.909302,-0.167149],[-0.007772,-0.177635,0.984066]]
2025-10-27T00:34:03.669Z,1761525243.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.40 m.
2025-10-27T00:34:03.680Z,1761525243.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.396744 m,
      nav range: 44.606720 m,
      bearing: 207.022259 deg,
      approach rate: -0.629191 m/s,
      LOS rate: -0.091618 deg/s,
      cmd heading: 202.303236 deg,
      new cmd heading: 202.188376 deg.

2025-10-27T00:34:03.682Z,1761525243.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528853 target range: 73.396744 and range: 73.70 m.
2025-10-27T00:34:03.724Z,1761525243.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272120
2025-10-27T00:34:03.983Z,1761525243.983 [DAT](INFO): DAT read: 00:34:04.3632 LVL= 26256, 32497, 27442, 32755, AGC= 71, IDX= 497,-0.18,-2.946, 1.586,-2.796,-3.103, PHS= 0.259,-1.549, 0.264, RAW= 150.1,  11.3, CAL= 150.0,  12.4, ROT=   0.0, -12.4

2025-10-27T00:34:03.984Z,1761525243.984 [DAT](INFO): got valid direction response:
 00:34:04.3632 LVL= 26256, 32497, 27442, 32755, AGC= 71, IDX= 497,-0.18,-2.946, 1.586,-2.796,-3.103, PHS= 0.259,-1.549, 0.264, RAW= 150.1,  11.3, CAL= 150.0,  12.4, ROT=   0.0, -12.4

2025-10-27T00:34:03.985Z,1761525243.985 [DAT](INFO): DAT read: Bearing 359.2,  -3.2 (Local)

2025-10-27T00:34:03.985Z,1761525243.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  -3.2 (Local)

2025-10-27T00:34:03.986Z,1761525243.986 [DAT](INFO): DAT read: Range 11 to 50 : 47.1 m  (Round-trip  62.9 ms) speed  0.7 m/s

2025-10-27T00:34:03.987Z,1761525243.987 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:34:03.988Z,1761525243.988 [DAT](INFO): direction in FSK: [0.976672,0.000000,0.214735]
2025-10-27T00:34:03.988Z,1761525243.988 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:03.992Z,1761525243.992 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:03.992Z,1761525243.992 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:03.992Z,1761525243.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:34:04.141Z,1761525244.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.099998 m,
      deltaT: 41.115815 s,
      deltaX: -26.599998 m,
      approachRate: -0.646953 m/s,
      rangeRepo size: 4

2025-10-27T00:34:04.158Z,1761525244.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.911266 m,
      bearing: 204.635028 deg,
      lat: 36.779423 deg,
      lon: -121.859650 deg,
      deltaT: 41.115815 s,
      deltaX: -26.485477 m,
      approachRate: -0.644168 m/s,
      posRepo size: 4

2025-10-27T00:34:04.165Z,1761525244.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:04.171Z,1761525244.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:04.191Z,1761525244.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 44.287807 m,
      bearing: 206.975483 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091618 deg/s,
      cmd heading: 202.188380 deg,
      new cmd heading: 202.060260 deg.

2025-10-27T00:34:04.198Z,1761525244.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.526617 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:04.228Z,1761525244.228 [DAT](INFO): DAT read: user:186>

2025-10-27T00:34:04.229Z,1761525244.229 [DAT](INFO): DAT read: Tx time:00:34:05.6461

2025-10-27T00:34:04.229Z,1761525244.229 [DAT](INFO): Ping request sent.
2025-10-27T00:34:04.229Z,1761525244.229 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:34:04.229Z,1761525244.229 [DAT](INFO): publishing transmit ping time
2025-10-27T00:34:04.230Z,1761525244.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-27T00:34:04.249Z,1761525244.249 [DockingStepper](INFO): Changing to mode: 2
2025-10-27T00:34:04.481Z,1761525244.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251418
2025-10-27T00:34:04.552Z,1761525244.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926012,0.373061,0.057685],[-0.377406,-0.911622,-0.162821],[-0.008156,-0.172544,0.984968]]
2025-10-27T00:34:04.640Z,1761525244.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:04.641Z,1761525244.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:04.649Z,1761525244.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 43.932663 m,
      bearing: 206.934425 deg,
      approach rate: -0.733803 m/s,
      LOS rate: -0.085520 deg/s,
      cmd heading: 202.060259 deg,
      new cmd heading: 201.936089 deg.

2025-10-27T00:34:04.655Z,1761525244.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.524450 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:04.732Z,1761525244.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502956
2025-10-27T00:34:04.954Z,1761525244.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927346,0.370210,0.054533],[-0.374092,-0.913580,-0.159459],[-0.009213,-0.168274,0.985697]]
2025-10-27T00:34:04.979Z,1761525244.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:04.981Z,1761525244.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:04.982Z,1761525244.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:04.984Z,1761525244.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933
2025-10-27T00:34:04.986Z,1761525244.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 43.683865 m,
      bearing: 206.906359 deg,
      approach rate: -0.686907 m/s,
      LOS rate: -0.077929 deg/s,
      cmd heading: 201.936086 deg,
      new cmd heading: 201.851409 deg.

2025-10-27T00:34:04.987Z,1761525244.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522972 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:05.236Z,1761525245.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007078
2025-10-27T00:34:05.367Z,1761525245.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928410,0.367853,0.052329],[-0.371423,-0.915041,-0.157309],[-0.009983,-0.165483,0.986162]]
2025-10-27T00:34:05.419Z,1761525245.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:05.420Z,1761525245.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:05.422Z,1761525245.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 43.387314 m,
      bearing: 206.891423 deg,
      approach rate: -0.683714 m/s,
      LOS rate: -0.034670 deg/s,
      cmd heading: 201.851406 deg,
      new cmd heading: 201.806293 deg.

2025-10-27T00:34:05.428Z,1761525245.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522184 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:05.489Z,1761525245.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259683
2025-10-27T00:34:05.740Z,1761525245.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510791
2025-10-27T00:34:05.767Z,1761525245.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929109,0.366445,0.049750],[-0.369640,-0.916201,-0.154732],[-0.011120,-0.162152,0.986703]]
2025-10-27T00:34:05.786Z,1761525245.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:05.786Z,1761525245.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:05.789Z,1761525245.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 43.119061 m,
      bearing: 206.878385 deg,
      approach rate: -0.723626 m/s,
      LOS rate: -0.035389 deg/s,
      cmd heading: 201.806299 deg,
      new cmd heading: 201.766943 deg.

2025-10-27T00:34:05.790Z,1761525245.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521497 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:05.993Z,1761525245.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763442
2025-10-27T00:34:06.173Z,1761525246.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929595,0.365527,0.047361],[-0.368382,-0.917149,-0.152095],[-0.012158,-0.158834,0.987230]]
2025-10-27T00:34:06.244Z,1761525246.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015026
2025-10-27T00:34:06.251Z,1761525246.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:06.251Z,1761525246.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:06.254Z,1761525246.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 42.793491 m,
      bearing: 206.862891 deg,
      approach rate: -0.700509 m/s,
      LOS rate: -0.033593 deg/s,
      cmd heading: 201.766944 deg,
      new cmd heading: 201.720105 deg.

2025-10-27T00:34:06.255Z,1761525246.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.520680 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:06.497Z,1761525246.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267439
2025-10-27T00:34:06.570Z,1761525246.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929863,0.365102,0.045342],[-0.367668,-0.917738,-0.150255],[-0.013246,-0.156387,0.987607]]
2025-10-27T00:34:06.667Z,1761525246.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:06.668Z,1761525246.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:06.671Z,1761525246.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 42.506424 m,
      bearing: 206.871468 deg,
      approach rate: -0.689870 m/s,
      LOS rate: 0.020753 deg/s,
      cmd heading: 201.720102 deg,
      new cmd heading: 201.746009 deg.

2025-10-27T00:34:06.672Z,1761525246.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521132 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:06.750Z,1761525246.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520487
2025-10-27T00:34:06.974Z,1761525246.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929682,0.365607,0.044963],[-0.368085,-0.917300,-0.151903],[-0.014292,-0.157772,0.987372]]
2025-10-27T00:34:07.000Z,1761525247.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770975
2025-10-27T00:34:07.008Z,1761525247.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:07.010Z,1761525247.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:07.010Z,1761525247.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:07.013Z,1761525247.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 42.274654 m,
      bearing: 206.878338 deg,
      approach rate: -0.675908 m/s,
      LOS rate: 0.020143 deg/s,
      cmd heading: 201.746016 deg,
      new cmd heading: 201.766737 deg.

2025-10-27T00:34:07.014Z,1761525247.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.521494 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:07.252Z,1761525247.252 [DAT](INFO): DAT read: Rx Time:00:34:08.1096

2025-10-27T00:34:07.252Z,1761525247.252 [DAT](INFO): Rx dataTimestamp_ set to:1761525247.252157
2025-10-27T00:34:07.253Z,1761525247.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023904
2025-10-27T00:34:07.377Z,1761525247.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929328,0.366513,0.044909],[-0.368941,-0.916643,-0.153781],[-0.015198,-0.159482,0.987084]]
2025-10-27T00:34:07.426Z,1761525247.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:07.426Z,1761525247.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:07.429Z,1761525247.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 41.995289 m,
      bearing: 206.901247 deg,
      approach rate: -0.671294 m/s,
      LOS rate: 0.055416 deg/s,
      cmd heading: 201.766739 deg,
      new cmd heading: 201.835924 deg.

2025-10-27T00:34:07.430Z,1761525247.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522702 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:07.505Z,1761525247.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275281
2025-10-27T00:34:07.762Z,1761525247.762 [DAT](INFO): DAT read: 00:34:08.1096 LVL= 32160, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.42,-3.019, 1.472,-2.842, 3.050, PHS= 0.316,-1.533, 0.347, RAW= 150.8,   9.4, CAL= 150.4,  10.1, ROT= 359.6, -10.1

2025-10-27T00:34:07.763Z,1761525247.763 [DAT](INFO): got valid direction response:
 00:34:08.1096 LVL= 32160, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.42,-3.019, 1.472,-2.842, 3.050, PHS= 0.316,-1.533, 0.347, RAW= 150.8,   9.4, CAL= 150.4,  10.1, ROT= 359.6, -10.1

2025-10-27T00:34:07.764Z,1761525247.764 [DAT](INFO): DAT read: $Error in header

2025-10-27T00:34:07.764Z,1761525247.764 [DAT](INFO): Received a bad header
2025-10-27T00:34:07.775Z,1761525247.775 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-27T00:34:07.776Z,1761525247.776 [DAT](INFO): direction in FSK: [0.984479,-0.006873,0.175367]
2025-10-27T00:34:07.780Z,1761525247.780 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:07.780Z,1761525247.780 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:07.780Z,1761525247.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:07.798Z,1761525247.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928881,0.367644,0.044918],[-0.370054,-0.916153,-0.154024],[-0.015474,-0.159692,0.987046]]
2025-10-27T00:34:07.859Z,1761525247.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:07.860Z,1761525247.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:07.862Z,1761525247.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 41.726192 m,
      bearing: 206.923159 deg,
      approach rate: -0.645095 m/s,
      LOS rate: 0.052867 deg/s,
      cmd heading: 201.835929 deg,
      new cmd heading: 201.902088 deg.

2025-10-27T00:34:07.868Z,1761525247.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523856 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:08.008Z,1761525248.008 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:08.008Z,1761525248.008 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:08.008Z,1761525248.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:08.186Z,1761525248.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928592,0.368444,0.044348],[-0.370751,-0.915857,-0.154108],[-0.016164,-0.159545,0.987058]]
2025-10-27T00:34:08.250Z,1761525248.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:08.256Z,1761525248.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:08.263Z,1761525248.263 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:08.264Z,1761525248.264 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:08.264Z,1761525248.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:08.275Z,1761525248.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 41.477089 m,
      bearing: 206.943437 deg,
      approach rate: -0.614394 m/s,
      LOS rate: 0.050315 deg/s,
      cmd heading: 201.902086 deg,
      new cmd heading: 201.963286 deg.

2025-10-27T00:34:08.276Z,1761525248.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.524924 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:08.512Z,1761525248.512 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:08.512Z,1761525248.512 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:08.512Z,1761525248.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:08.592Z,1761525248.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927779,0.370504,0.044200],[-0.372744,-0.914898,-0.154996],[-0.016989,-0.160277,0.986926]]
2025-10-27T00:34:08.637Z,1761525248.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:08.638Z,1761525248.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:08.657Z,1761525248.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 41.202087 m,
      bearing: 206.984512 deg,
      approach rate: -0.708383 m/s,
      LOS rate: 0.106512 deg/s,
      cmd heading: 201.963284 deg,
      new cmd heading: 202.087332 deg.

2025-10-27T00:34:08.658Z,1761525248.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.527089 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:08.764Z,1761525248.764 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:08.764Z,1761525248.764 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:08.764Z,1761525248.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:08.994Z,1761525248.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927084,0.372345,0.043291],[-0.374426,-0.914316,-0.154377],[-0.017899,-0.159330,0.987063]]
2025-10-27T00:34:09.010Z,1761525249.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:09.013Z,1761525249.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:09.013Z,1761525249.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:09.016Z,1761525249.016 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:09.016Z,1761525249.016 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:09.016Z,1761525249.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:09.028Z,1761525249.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 40.951187 m,
      bearing: 207.021829 deg,
      approach rate: -0.666611 m/s,
      LOS rate: 0.099753 deg/s,
      cmd heading: 202.087334 deg,
      new cmd heading: 202.199969 deg.

2025-10-27T00:34:09.029Z,1761525249.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.529055 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:09.270Z,1761525249.270 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:09.270Z,1761525249.270 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:09.270Z,1761525249.270 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:09.398Z,1761525249.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926629,0.373529,0.042837],[-0.375518,-0.913837,-0.154556],[-0.018585,-0.159302,0.987055]]
2025-10-27T00:34:09.446Z,1761525249.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:09.446Z,1761525249.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:09.449Z,1761525249.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 40.672539 m,
      bearing: 207.061433 deg,
      approach rate: -0.643916 m/s,
      LOS rate: 0.092146 deg/s,
      cmd heading: 202.199964 deg,
      new cmd heading: 202.319590 deg.

2025-10-27T00:34:09.450Z,1761525249.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.531143 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:09.520Z,1761525249.520 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:09.520Z,1761525249.520 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:09.521Z,1761525249.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:09.772Z,1761525249.772 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:09.772Z,1761525249.772 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:09.772Z,1761525249.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:09.863Z,1761525249.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:09.864Z,1761525249.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:09.867Z,1761525249.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 40.414768 m,
      bearing: 207.098558 deg,
      approach rate: -0.617088 m/s,
      LOS rate: 0.089442 deg/s,
      cmd heading: 202.319588 deg,
      new cmd heading: 202.431673 deg.

2025-10-27T00:34:09.872Z,1761525249.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533099 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:10.024Z,1761525250.024 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:10.024Z,1761525250.024 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:10.024Z,1761525250.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:10.206Z,1761525250.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924712,0.378267,0.042671],[-0.380141,-0.911726,-0.155721],[-0.020000,-0.160218,0.986879]]
2025-10-27T00:34:10.228Z,1761525250.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:10.228Z,1761525250.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 47.10 m.
2025-10-27T00:34:10.229Z,1761525250.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 47.10 m.
2025-10-27T00:34:10.229Z,1761525250.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-27T00:34:10.233Z,1761525250.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 40.172356 m,
      bearing: 207.132163 deg,
      approach rate: -0.664955 m/s,
      LOS rate: 0.092738 deg/s,
      cmd heading: 202.431671 deg,
      new cmd heading: 202.533095 deg.

2025-10-27T00:34:10.237Z,1761525250.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.534869 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:10.278Z,1761525250.278 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:10.279Z,1761525250.279 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:10.279Z,1761525250.279 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:10.528Z,1761525250.528 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:10.528Z,1761525250.528 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:10.528Z,1761525250.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:10.613Z,1761525250.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923386,0.381499,0.042636],[-0.383325,-0.910421,-0.155549],[-0.020525,-0.159975,0.986908]]
2025-10-27T00:34:10.686Z,1761525250.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:10.690Z,1761525250.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 39.896069 m,
      bearing: 207.163216 deg,
      approach rate: -0.603427 m/s,
      LOS rate: 0.068290 deg/s,
      cmd heading: 202.533100 deg,
      new cmd heading: 202.626902 deg.

2025-10-27T00:34:10.692Z,1761525250.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536507 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:10.780Z,1761525250.780 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:10.781Z,1761525250.781 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:10.781Z,1761525250.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:11.014Z,1761525251.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921906,0.385088,0.042379],[-0.386833,-0.909021,-0.155052],[-0.021186,-0.159337,0.986997]]
2025-10-27T00:34:11.032Z,1761525251.032 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:11.032Z,1761525251.032 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:11.032Z,1761525251.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:11.065Z,1761525251.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:11.067Z,1761525251.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:11.070Z,1761525251.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 39.646713 m,
      bearing: 207.190227 deg,
      approach rate: -0.653281 m/s,
      LOS rate: 0.071210 deg/s,
      cmd heading: 202.626905 deg,
      new cmd heading: 202.708448 deg.

2025-10-27T00:34:11.071Z,1761525251.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537930 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:11.286Z,1761525251.286 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:11.287Z,1761525251.287 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:11.287Z,1761525251.287 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:11.418Z,1761525251.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920476,0.388493,0.042400],[-0.390206,-0.907671,-0.154512],[-0.021541,-0.158769,0.987081]]
2025-10-27T00:34:11.462Z,1761525251.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:11.465Z,1761525251.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 39.411240 m,
      bearing: 207.191132 deg,
      approach rate: -0.596837 m/s,
      LOS rate: 0.002309 deg/s,
      cmd heading: 202.708444 deg,
      new cmd heading: 202.711177 deg.

2025-10-27T00:34:11.466Z,1761525251.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537977 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:11.536Z,1761525251.536 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:11.536Z,1761525251.536 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:11.536Z,1761525251.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:11.788Z,1761525251.788 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:11.788Z,1761525251.788 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:11.788Z,1761525251.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:11.830Z,1761525251.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919228,0.391450,0.042273],[-0.393132,-0.906638,-0.153150],[-0.021624,-0.157399,0.987298]]
2025-10-27T00:34:11.859Z,1761525251.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:11.862Z,1761525251.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 39.174824 m,
      bearing: 207.190930 deg,
      approach rate: -0.595869 m/s,
      LOS rate: -0.000512 deg/s,
      cmd heading: 202.711176 deg,
      new cmd heading: 202.710567 deg.

2025-10-27T00:34:11.863Z,1761525251.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537967 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:12.040Z,1761525252.040 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:12.040Z,1761525252.040 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:12.040Z,1761525252.040 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:12.226Z,1761525252.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918198,0.393750,0.043287],[-0.395535,-0.905391,-0.154335],[-0.021578,-0.158832,0.987070]]
2025-10-27T00:34:12.244Z,1761525252.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:12.249Z,1761525252.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 38.945850 m,
      bearing: 207.189874 deg,
      approach rate: -0.594659 m/s,
      LOS rate: -0.002760 deg/s,
      cmd heading: 202.710562 deg,
      new cmd heading: 202.707373 deg.

2025-10-27T00:34:12.273Z,1761525252.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537911 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:12.295Z,1761525252.295 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:12.295Z,1761525252.295 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:12.296Z,1761525252.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:12.545Z,1761525252.545 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:12.545Z,1761525252.545 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:12.545Z,1761525252.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:12.761Z,1761525252.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916193,0.398325,0.043909],[-0.400197,-0.903751,-0.151910],[-0.020827,-0.156751,0.987418]]
2025-10-27T00:34:12.800Z,1761525252.800 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:12.800Z,1761525252.800 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:12.800Z,1761525252.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:12.821Z,1761525252.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:12.828Z,1761525252.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 38.602100 m,
      bearing: 207.157584 deg,
      approach rate: -0.596026 m/s,
      LOS rate: -0.056485 deg/s,
      cmd heading: 202.707379 deg,
      new cmd heading: 202.609648 deg.

2025-10-27T00:34:12.829Z,1761525252.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.536206 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:13.053Z,1761525253.053 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:13.053Z,1761525253.053 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:13.053Z,1761525253.053 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:13.306Z,1761525253.306 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:13.306Z,1761525253.306 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:13.307Z,1761525253.307 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:13.355Z,1761525253.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915397,0.400134,0.044053],[-0.402038,-0.903210,-0.150261],[-0.020336,-0.155259,0.987664]]
2025-10-27T00:34:13.419Z,1761525253.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:13.421Z,1761525253.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:13.428Z,1761525253.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 38.248322 m,
      bearing: 207.101062 deg,
      approach rate: -0.588975 m/s,
      LOS rate: -0.094969 deg/s,
      cmd heading: 202.609652 deg,
      new cmd heading: 202.438519 deg.

2025-10-27T00:34:13.432Z,1761525253.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.533219 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:13.556Z,1761525253.556 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:13.556Z,1761525253.556 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:13.556Z,1761525253.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:13.809Z,1761525253.809 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:13.809Z,1761525253.809 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:13.809Z,1761525253.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:13.874Z,1761525253.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914993,0.401014,0.044446],[-0.402980,-0.902895,-0.149626],[-0.019872,-0.154818,0.987743]]
2025-10-27T00:34:13.895Z,1761525253.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:13.898Z,1761525253.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 37.963341 m,
      bearing: 207.054303 deg,
      approach rate: -0.601631 m/s,
      LOS rate: -0.099455 deg/s,
      cmd heading: 202.438515 deg,
      new cmd heading: 202.297186 deg.

2025-10-27T00:34:13.899Z,1761525253.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.530752 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:14.060Z,1761525254.060 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:34:14.060Z,1761525254.060 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:34:14.060Z,1761525254.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-27T00:34:14.262Z,1761525254.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914396,0.402357,0.044590],[-0.404349,-0.902459,-0.148558],[-0.019533,-0.153871,0.987898]]
2025-10-27T00:34:14.284Z,1761525254.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:14.287Z,1761525254.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 37.733334 m,
      bearing: 207.015494 deg,
      approach rate: -0.591111 m/s,
      LOS rate: -0.100348 deg/s,
      cmd heading: 202.297185 deg,
      new cmd heading: 202.180046 deg.

2025-10-27T00:34:14.288Z,1761525254.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528708 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:14.314Z,1761525254.314 [DAT](INFO): Reached modem response timeout
2025-10-27T00:34:14.315Z,1761525254.315 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:14.316Z,1761525254.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:34:14.564Z,1761525254.564 [DAT](INFO): DAT read: 

2025-10-27T00:34:14.565Z,1761525254.565 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:14.666Z,1761525254.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913994,0.403291,0.044398],[-0.405285,-0.902409,-0.146291],[-0.018932,-0.151703,0.988245]]
2025-10-27T00:34:14.725Z,1761525254.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:14.728Z,1761525254.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 37.475571 m,
      bearing: 206.955901 deg,
      approach rate: -0.583910 m/s,
      LOS rate: -0.135924 deg/s,
      cmd heading: 202.180047 deg,
      new cmd heading: 202.000040 deg.

2025-10-27T00:34:14.729Z,1761525254.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.525566 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:14.816Z,1761525254.816 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:15.068Z,1761525255.068 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:15.074Z,1761525255.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913793,0.403711,0.044716],[-0.405754,-0.902242,-0.146023],[-0.018606,-0.151578,0.988270]]
2025-10-27T00:34:15.105Z,1761525255.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:15.108Z,1761525255.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 37.247513 m,
      bearing: 206.902296 deg,
      approach rate: -0.600832 m/s,
      LOS rate: -0.142090 deg/s,
      cmd heading: 202.000044 deg,
      new cmd heading: 201.838245 deg.

2025-10-27T00:34:15.109Z,1761525255.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.522742 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:15.322Z,1761525255.322 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:15.474Z,1761525255.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913702,0.403900,0.044858],[-0.405946,-0.902020,-0.146859],[-0.018853,-0.152396,0.988140]]
2025-10-27T00:34:15.536Z,1761525255.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:15.538Z,1761525255.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:15.545Z,1761525255.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 36.995991 m,
      bearing: 206.843718 deg,
      approach rate: -0.580677 m/s,
      LOS rate: -0.136155 deg/s,
      cmd heading: 201.838251 deg,
      new cmd heading: 201.661324 deg.

2025-10-27T00:34:15.546Z,1761525255.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.519654 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:15.572Z,1761525255.572 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:15.824Z,1761525255.824 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:15.879Z,1761525255.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913709,0.403973,0.044063],[-0.405924,-0.902259,-0.145448],[-0.019001,-0.150783,0.988384]]
2025-10-27T00:34:15.897Z,1761525255.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:15.901Z,1761525255.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 36.755978 m,
      bearing: 206.787034 deg,
      approach rate: -0.668899 m/s,
      LOS rate: -0.159006 deg/s,
      cmd heading: 201.661322 deg,
      new cmd heading: 201.490159 deg.

2025-10-27T00:34:15.902Z,1761525255.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.516667 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:16.076Z,1761525256.076 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:16.282Z,1761525256.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913930,0.403652,0.042398],[-0.405405,-0.902873,-0.143064],[-0.019468,-0.147939,0.988805]]
2025-10-27T00:34:16.316Z,1761525256.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:16.319Z,1761525256.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 36.499199 m,
      bearing: 206.725708 deg,
      approach rate: -0.614286 m/s,
      LOS rate: -0.147740 deg/s,
      cmd heading: 201.490157 deg,
      new cmd heading: 201.304886 deg.

2025-10-27T00:34:16.320Z,1761525256.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513433 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:16.330Z,1761525256.330 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:16.580Z,1761525256.580 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:34:16.581Z,1761525256.581 [DAT](INFO): response not received
2025-10-27T00:34:16.582Z,1761525256.582 [DAT](INFO): DAT read: user:188>Tx time:00:34:18.0960

2025-10-27T00:34:16.582Z,1761525256.582 [DAT](ERROR): No response from remote modem.
2025-10-27T00:34:16.583Z,1761525256.583 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:16.583Z,1761525256.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:34:16.697Z,1761525256.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914148,0.403182,0.042165],[-0.404882,-0.902915,-0.144273],[-0.020097,-0.148959,0.988639]]
2025-10-27T00:34:16.753Z,1761525256.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:16.756Z,1761525256.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 36.233242 m,
      bearing: 206.665775 deg,
      approach rate: -0.606892 m/s,
      LOS rate: -0.137767 deg/s,
      cmd heading: 201.304881 deg,
      new cmd heading: 201.123762 deg.

2025-10-27T00:34:16.757Z,1761525256.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.510272 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:16.833Z,1761525256.833 [DAT](INFO): DAT read: 

2025-10-27T00:34:16.833Z,1761525256.833 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:17.084Z,1761525257.084 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:17.099Z,1761525257.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914397,0.402597,0.042357],[-0.404288,-0.902823,-0.146500],[-0.020739,-0.151083,0.988303]]
2025-10-27T00:34:17.128Z,1761525257.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:17.132Z,1761525257.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 36.014641 m,
      bearing: 206.616101 deg,
      approach rate: -0.584766 m/s,
      LOS rate: -0.133685 deg/s,
      cmd heading: 201.123758 deg,
      new cmd heading: 200.973834 deg.

2025-10-27T00:34:17.134Z,1761525257.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.507655 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:17.338Z,1761525257.338 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:17.493Z,1761525257.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914690,0.401944,0.042213],[-0.403588,-0.902879,-0.148074],[-0.021404,-0.152478,0.988075]]
2025-10-27T00:34:17.550Z,1761525257.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:17.556Z,1761525257.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:17.563Z,1761525257.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 35.749199 m,
      bearing: 206.578770 deg,
      approach rate: -0.618417 m/s,
      LOS rate: -0.087619 deg/s,
      cmd heading: 200.973836 deg,
      new cmd heading: 200.861011 deg.

2025-10-27T00:34:17.564Z,1761525257.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.505686 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:17.588Z,1761525257.588 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:17.840Z,1761525257.840 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:17.899Z,1761525257.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914987,0.401199,0.042872],[-0.402880,-0.902637,-0.151442],[-0.022061,-0.155840,0.987536]]
2025-10-27T00:34:17.918Z,1761525257.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:17.928Z,1761525257.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 35.521290 m,
      bearing: 206.546578 deg,
      approach rate: -0.630670 m/s,
      LOS rate: -0.089654 deg/s,
      cmd heading: 200.861015 deg,
      new cmd heading: 200.763818 deg.

2025-10-27T00:34:17.929Z,1761525257.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503990 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:18.092Z,1761525258.092 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:18.301Z,1761525258.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915315,0.400330,0.043980],[-0.402095,-0.902216,-0.155968],[-0.022759,-0.160444,0.986783]]
2025-10-27T00:34:18.320Z,1761525258.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:18.326Z,1761525258.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 35.273594 m,
      bearing: 206.511497 deg,
      approach rate: -0.615948 m/s,
      LOS rate: -0.087847 deg/s,
      cmd heading: 200.763821 deg,
      new cmd heading: 200.657841 deg.

2025-10-27T00:34:18.328Z,1761525258.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.502140 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:18.344Z,1761525258.344 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:18.596Z,1761525258.596 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:18.736Z,1761525258.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915689,0.399089,0.047333],[-0.401196,-0.900851,-0.165862],[-0.023554,-0.170867,0.985012]]
2025-10-27T00:34:18.772Z,1761525258.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:18.775Z,1761525258.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 34.996742 m,
      bearing: 206.489492 deg,
      approach rate: -0.611667 m/s,
      LOS rate: -0.049002 deg/s,
      cmd heading: 200.657844 deg,
      new cmd heading: 200.591307 deg.

2025-10-27T00:34:18.776Z,1761525258.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.500979 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:18.849Z,1761525258.849 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:19.100Z,1761525259.100 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:19.145Z,1761525259.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916056,0.398059,0.048894],[-0.400351,-0.900433,-0.170118],[-0.023691,-0.175413,0.984210]]
2025-10-27T00:34:19.162Z,1761525259.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:19.165Z,1761525259.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 34.758026 m,
      bearing: 206.470631 deg,
      approach rate: -0.612019 m/s,
      LOS rate: -0.048690 deg/s,
      cmd heading: 200.591304 deg,
      new cmd heading: 200.534330 deg.

2025-10-27T00:34:19.166Z,1761525259.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499984 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:19.353Z,1761525259.353 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:19.584Z,1761525259.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:19.586Z,1761525259.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:19.604Z,1761525259.604 [DAT](INFO): DAT read: Rx Time:00:34:20.5493

2025-10-27T00:34:19.604Z,1761525259.604 [DAT](INFO): Rx dataTimestamp_ set to:1761525259.604023
2025-10-27T00:34:19.605Z,1761525259.605 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:19.612Z,1761525259.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 34.506779 m,
      bearing: 206.459742 deg,
      approach rate: -0.593598 m/s,
      LOS rate: -0.025913 deg/s,
      cmd heading: 200.534327 deg,
      new cmd heading: 200.501422 deg.

2025-10-27T00:34:19.614Z,1761525259.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499410 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:19.856Z,1761525259.856 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:19.942Z,1761525259.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916331,0.397080,0.051631],[-0.399745,-0.899643,-0.175634],[-0.023291,-0.181578,0.983101]]
2025-10-27T00:34:19.977Z,1761525259.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.91 m.
2025-10-27T00:34:19.984Z,1761525259.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.911266 m,
      nav range: 34.283787 m,
      bearing: 206.450204 deg,
      approach rate: -0.570633 m/s,
      LOS rate: -0.024565 deg/s,
      cmd heading: 200.501419 deg,
      new cmd heading: 200.472620 deg.

2025-10-27T00:34:19.984Z,1761525259.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498907 target range: 46.911266 and range: 47.10 m.
2025-10-27T00:34:20.118Z,1761525260.118 [DAT](INFO): DAT read: 00:34:20.5493 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 340,-0.31, 1.854, 0.096, 2.243, 1.761, PHS= 0.194,-1.620, 0.437, RAW= 156.2,  10.2, CAL= 156.1,  11.1, ROT= 353.9, -11.1

2025-10-27T00:34:20.121Z,1761525260.121 [DAT](INFO): got valid direction response:
 00:34:20.5493 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 340,-0.31, 1.854, 0.096, 2.243, 1.761, PHS= 0.194,-1.620, 0.437, RAW= 156.2,  10.2, CAL= 156.1,  11.1, ROT= 353.9, -11.1

2025-10-27T00:34:20.122Z,1761525260.122 [DAT](INFO): DAT read: Bearing 358.7,  -9.6 (Local)

2025-10-27T00:34:20.122Z,1761525260.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7,  -9.6 (Local)

2025-10-27T00:34:20.133Z,1761525260.133 [DAT](INFO): DAT read: Range 11 to 50 : 36.8 m  (Round-trip  49.1 ms) speed  0.5 m/s

2025-10-27T00:34:20.135Z,1761525260.135 [DAT](INFO): DAT read: user:189>Tx time:00:34:21.6460

2025-10-27T00:34:20.136Z,1761525260.136 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:34:20.138Z,1761525260.138 [DAT](INFO): direction in FSK: [0.975737,-0.104276,0.192522]
2025-10-27T00:34:20.138Z,1761525260.138 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:20.146Z,1761525260.146 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:20.146Z,1761525260.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:34:20.342Z,1761525260.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916626,0.396210,0.053052],[-0.399092,-0.899447,-0.178100],[-0.022848,-0.184424,0.982581]]
2025-10-27T00:34:20.360Z,1761525260.360 [DAT](INFO): DAT read: 

2025-10-27T00:34:20.361Z,1761525260.361 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:20.460Z,1761525260.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.799999 m,
      deltaT: 16.131884 s,
      deltaX: -10.299999 m,
      approachRate: -0.638487 m/s,
      rangeRepo size: 4

2025-10-27T00:34:20.462Z,1761525260.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.652264 m,
      bearing: 199.619506 deg,
      lat: 36.779423 deg,
      lon: -121.859650 deg,
      deltaT: 16.131884 s,
      deltaX: -10.259003 m,
      approachRate: -0.635946 m/s,
      posRepo size: 4

2025-10-27T00:34:20.462Z,1761525260.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m.
2025-10-27T00:34:20.470Z,1761525260.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.652264 m,
      nav range: 34.029858 m,
      bearing: 206.439505 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024565 deg/s,
      cmd heading: 200.472623 deg,
      new cmd heading: 200.437369 deg.

2025-10-27T00:34:20.475Z,1761525260.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498292 target range: 36.652264 and range: 36.80 m.
2025-10-27T00:34:20.613Z,1761525260.613 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:20.783Z,1761525260.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916658,0.395934,0.054531],[-0.399041,-0.898985,-0.180533],[-0.022456,-0.187247,0.982056]]
2025-10-27T00:34:20.825Z,1761525260.825 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-27T00:34:20.825Z,1761525260.825 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-27T00:34:20.826Z,1761525260.826 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-27T00:34:20.827Z,1761525260.827 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  36.799999 m (mode  2.000000 count ).
2025-10-27T00:34:20.827Z,1761525260.827 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-27T00:34:20.828Z,1761525260.828 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-27T00:34:20.830Z,1761525260.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m.
2025-10-27T00:34:20.833Z,1761525260.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.652264 m,
      nav range: 33.771069 m,
      bearing: 206.438698 deg,
      approach rate: -0.690579 m/s,
      LOS rate: -0.002170 deg/s,
      cmd heading: 200.437365 deg,
      new cmd heading: 200.434926 deg.

2025-10-27T00:34:20.834Z,1761525260.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498249 target range: 36.652264 and range: 36.80 m.
2025-10-27T00:34:20.864Z,1761525260.864 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:21.117Z,1761525261.117 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:21.189Z,1761525261.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916753,0.395522,0.055903],[-0.398838,-0.898565,-0.183054],[-0.022169,-0.190111,0.981512]]
2025-10-27T00:34:21.205Z,1761525261.205 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-27T00:34:21.205Z,1761525261.205 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-27T00:34:21.208Z,1761525261.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m.
2025-10-27T00:34:21.210Z,1761525261.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.652264 m,
      nav range: 33.546928 m,
      bearing: 206.438090 deg,
      approach rate: -0.592959 m/s,
      LOS rate: -0.001619 deg/s,
      cmd heading: 200.434920 deg,
      new cmd heading: 200.433084 deg.

2025-10-27T00:34:21.212Z,1761525261.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498217 target range: 36.652264 and range: 36.80 m.
2025-10-27T00:34:21.370Z,1761525261.370 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:21.620Z,1761525261.620 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:21.626Z,1761525261.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916887,0.395153,0.056316],[-0.398545,-0.898609,-0.183480],[-0.021896,-0.190675,0.981409]]
2025-10-27T00:34:21.693Z,1761525261.693 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-27T00:34:21.693Z,1761525261.693 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-27T00:34:21.693Z,1761525261.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:21.701Z,1761525261.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m.
2025-10-27T00:34:21.709Z,1761525261.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.652264 m,
      nav range: 33.283318 m,
      bearing: 206.445185 deg,
      approach rate: -0.534973 m/s,
      LOS rate: 0.014513 deg/s,
      cmd heading: 200.433090 deg,
      new cmd heading: 200.454544 deg.

2025-10-27T00:34:21.710Z,1761525261.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498592 target range: 36.652264 and range: 36.80 m.
2025-10-27T00:34:21.872Z,1761525261.872 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:22.038Z,1761525262.038 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-27T00:34:22.038Z,1761525262.038 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-27T00:34:22.038Z,1761525262.038 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-27T00:34:22.038Z,1761525262.038 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-27T00:34:22.040Z,1761525262.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m.
2025-10-27T00:34:22.043Z,1761525262.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.652264 m,
      nav range: 33.070564 m,
      bearing: 206.450994 deg,
      approach rate: -0.625521 m/s,
      LOS rate: 0.017189 deg/s,
      cmd heading: 200.454550 deg,
      new cmd heading: 200.472089 deg.

2025-10-27T00:34:22.044Z,1761525262.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498898 target range: 36.652264 and range: 36.80 m.
2025-10-27T00:34:22.125Z,1761525262.125 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:22.376Z,1761525262.376 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:22.408Z,1761525262.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917153,0.394574,0.056059],[-0.397959,-0.899148,-0.182106],[-0.021449,-0.189328,0.981680]]
2025-10-27T00:34:22.497Z,1761525262.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m.
2025-10-27T00:34:22.504Z,1761525262.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.652264 m,
      nav range: 32.831841 m,
      bearing: 206.457860 deg,
      approach rate: -0.522477 m/s,
      LOS rate: 0.015136 deg/s,
      cmd heading: 200.472090 deg,
      new cmd heading: 200.492838 deg.

2025-10-27T00:34:22.505Z,1761525262.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499260 target range: 36.652264 and range: 36.80 m.
2025-10-27T00:34:22.629Z,1761525262.629 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:22.821Z,1761525262.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917321,0.394282,0.055351],[-0.397566,-0.899563,-0.180909],[-0.021537,-0.187957,0.981941]]
2025-10-27T00:34:22.857Z,1761525262.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m.
2025-10-27T00:34:22.860Z,1761525262.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.652264 m,
      nav range: 32.601608 m,
      bearing: 206.454995 deg,
      approach rate: -0.640514 m/s,
      LOS rate: -0.008025 deg/s,
      cmd heading: 200.492840 deg,
      new cmd heading: 200.484186 deg.

2025-10-27T00:34:22.861Z,1761525262.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.499109 target range: 36.652264 and range: 36.80 m.
2025-10-27T00:34:22.880Z,1761525262.880 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:23.137Z,1761525263.137 [DAT](INFO): DAT read: Rx Time:00:34:24.0964

2025-10-27T00:34:23.138Z,1761525263.138 [DAT](INFO): Rx dataTimestamp_ set to:1761525263.137554
2025-10-27T00:34:23.138Z,1761525263.138 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:23.219Z,1761525263.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917282,0.394459,0.054743],[-0.397634,-0.899617,-0.180487],[-0.021947,-0.187325,0.982053]]
2025-10-27T00:34:23.237Z,1761525263.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m.
2025-10-27T00:34:23.240Z,1761525263.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.652264 m,
      nav range: 32.382484 m,
      bearing: 206.452191 deg,
      approach rate: -0.576551 m/s,
      LOS rate: -0.007429 deg/s,
      cmd heading: 200.484179 deg,
      new cmd heading: 200.475709 deg.

2025-10-27T00:34:23.241Z,1761525263.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498961 target range: 36.652264 and range: 36.80 m.
2025-10-27T00:34:23.384Z,1761525263.384 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:23.651Z,1761525263.651 [DAT](INFO): DAT read: 00:34:24.0964 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407,-0.10,-0.990,-2.678,-0.634,-1.020, PHS= 0.132,-1.613, 0.343, RAW= 155.6,  12.2, CAL= 155.8,  13.6, ROT= 354.2, -13.6

2025-10-27T00:34:23.653Z,1761525263.653 [DAT](INFO): got valid direction response:
 00:34:24.0964 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407,-0.10,-0.990,-2.678,-0.634,-1.020, PHS= 0.132,-1.613, 0.343, RAW= 155.6,  12.2, CAL= 155.8,  13.6, ROT= 354.2, -13.6

2025-10-27T00:34:23.654Z,1761525263.654 [DAT](INFO): DAT read: Bearing   0.4,  -9.7 (Local)

2025-10-27T00:34:23.654Z,1761525263.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  -9.7 (Local)

2025-10-27T00:34:23.655Z,1761525263.655 [DAT](INFO): DAT read: Range 11 to 50 : 34.7 m  (Round-trip  46.3 ms) speed  0.4 m/s

2025-10-27T00:34:23.656Z,1761525263.656 [DAT](INFO): DAT read: user:190>Tx time:00:34:25.1959

2025-10-27T00:34:23.657Z,1761525263.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:34:23.658Z,1761525263.658 [DAT](INFO): direction in FSK: [0.966985,-0.098223,0.235142]
2025-10-27T00:34:23.658Z,1761525263.658 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:23.662Z,1761525263.662 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:23.662Z,1761525263.662 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T00:34:23.674Z,1761525263.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917312,0.394413,0.054555],[-0.397551,-0.899629,-0.180610],[-0.022155,-0.187364,0.982041]]
2025-10-27T00:34:23.789Z,1761525263.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.700001 m,
      deltaT: 3.535673 s,
      deltaX: -2.099998 m,
      approachRate: -0.593946 m/s,
      rangeRepo size: 4

2025-10-27T00:34:23.797Z,1761525263.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.560375 m,
      bearing: 200.345512 deg,
      lat: 36.779402 deg,
      lon: -121.859639 deg,
      deltaT: 3.535673 s,
      deltaX: -2.091888 m,
      approachRate: -0.591652 m/s,
      posRepo size: 4

2025-10-27T00:34:23.798Z,1761525263.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:23.805Z,1761525263.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 33.747818 m,
      bearing: 203.273028 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007429 deg/s,
      cmd heading: 200.475710 deg,
      new cmd heading: 200.463420 deg.

2025-10-27T00:34:23.806Z,1761525263.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.498747 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:23.896Z,1761525263.896 [DAT](INFO): DAT read: 

2025-10-27T00:34:23.897Z,1761525263.897 [DAT](INFO): DAT read: Tx time:00:34:25.2959

2025-10-27T00:34:23.897Z,1761525263.897 [DAT](INFO): Ping request sent.
2025-10-27T00:34:23.897Z,1761525263.897 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:34:23.897Z,1761525263.897 [DAT](INFO): publishing transmit ping time
2025-10-27T00:34:23.898Z,1761525263.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771
2025-10-27T00:34:24.119Z,1761525264.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917555,0.393921,0.054024],[-0.396989,-0.900052,-0.179737],[-0.022178,-0.186365,0.982230]]
2025-10-27T00:34:24.148Z,1761525264.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251193
2025-10-27T00:34:24.153Z,1761525264.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:24.155Z,1761525264.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:24.158Z,1761525264.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 33.531429 m,
      bearing: 203.239487 deg,
      approach rate: -0.590101 m/s,
      LOS rate: -0.092055 deg/s,
      cmd heading: 200.463416 deg,
      new cmd heading: 200.362146 deg.

2025-10-27T00:34:24.159Z,1761525264.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.496979 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:24.400Z,1761525264.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502896
2025-10-27T00:34:24.529Z,1761525264.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917854,0.393303,0.053456],[-0.396290,-0.900472,-0.179177],[-0.022335,-0.185642,0.982364]]
2025-10-27T00:34:24.579Z,1761525264.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:24.582Z,1761525264.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 33.293579 m,
      bearing: 203.184866 deg,
      approach rate: -0.561610 m/s,
      LOS rate: -0.129892 deg/s,
      cmd heading: 200.362151 deg,
      new cmd heading: 200.197118 deg.

2025-10-27T00:34:24.582Z,1761525264.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.494099 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:24.652Z,1761525264.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754976
2025-10-27T00:34:24.904Z,1761525264.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006752
2025-10-27T00:34:24.920Z,1761525264.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918183,0.392623,0.052801],[-0.395516,-0.900936,-0.178554],[-0.022534,-0.184829,0.982512]]
2025-10-27T00:34:24.954Z,1761525264.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:24.961Z,1761525264.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 33.087936 m,
      bearing: 203.137291 deg,
      approach rate: -0.548062 m/s,
      LOS rate: -0.127582 deg/s,
      cmd heading: 200.197120 deg,
      new cmd heading: 200.053507 deg.

2025-10-27T00:34:24.962Z,1761525264.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.491592 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:25.156Z,1761525265.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258879
2025-10-27T00:34:25.322Z,1761525265.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918819,0.391253,0.051894],[-0.394029,-0.901797,-0.177490],[-0.022646,-0.183529,0.982753]]
2025-10-27T00:34:25.351Z,1761525265.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:25.354Z,1761525265.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 32.861702 m,
      bearing: 203.084878 deg,
      approach rate: -0.569358 m/s,
      LOS rate: -0.132814 deg/s,
      cmd heading: 200.053509 deg,
      new cmd heading: 199.895189 deg.

2025-10-27T00:34:25.355Z,1761525265.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.488829 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:25.408Z,1761525265.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510940
2025-10-27T00:34:25.419Z,1761525265.419 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:34:25.660Z,1761525265.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762820
2025-10-27T00:34:25.729Z,1761525265.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919494,0.389675,0.051807],[-0.392459,-0.902439,-0.177706],[-0.022495,-0.183731,0.982719]]
2025-10-27T00:34:25.765Z,1761525265.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:25.768Z,1761525265.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 32.615360 m,
      bearing: 203.027935 deg,
      approach rate: -0.594830 m/s,
      LOS rate: -0.138538 deg/s,
      cmd heading: 199.895185 deg,
      new cmd heading: 199.723064 deg.

2025-10-27T00:34:25.769Z,1761525265.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.485825 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:25.912Z,1761525265.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014869
2025-10-27T00:34:26.139Z,1761525266.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920028,0.388486,0.051266],[-0.391210,-0.903123,-0.176987],[-0.022457,-0.182889,0.982877]]
2025-10-27T00:34:26.164Z,1761525266.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266891
2025-10-27T00:34:26.176Z,1761525266.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:26.178Z,1761525266.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:26.181Z,1761525266.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 32.382099 m,
      bearing: 202.973756 deg,
      approach rate: -0.565447 m/s,
      LOS rate: -0.132281 deg/s,
      cmd heading: 199.723064 deg,
      new cmd heading: 199.559357 deg.

2025-10-27T00:34:26.182Z,1761525266.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.482968 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:26.416Z,1761525266.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519235
2025-10-27T00:34:26.423Z,1761525266.423 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:34:26.668Z,1761525266.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770877
2025-10-27T00:34:26.770Z,1761525266.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921571,0.384721,0.051923],[-0.387636,-0.904678,-0.176908],[-0.021086,-0.183160,0.982857]]
2025-10-27T00:34:26.812Z,1761525266.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:26.815Z,1761525266.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 32.000397 m,
      bearing: 202.869594 deg,
      approach rate: -0.602060 m/s,
      LOS rate: -0.166253 deg/s,
      cmd heading: 199.559358 deg,
      new cmd heading: 199.243150 deg.

2025-10-27T00:34:26.816Z,1761525266.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.477449 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:26.920Z,1761525266.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022870
2025-10-27T00:34:27.173Z,1761525267.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275354
2025-10-27T00:34:27.237Z,1761525267.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922333,0.382719,0.053176],[-0.385890,-0.905329,-0.177393],[-0.019750,-0.184136,0.982702]]
2025-10-27T00:34:27.255Z,1761525267.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:27.258Z,1761525267.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 31.742025 m,
      bearing: 202.798597 deg,
      approach rate: -0.583462 m/s,
      LOS rate: -0.161633 deg/s,
      cmd heading: 199.243148 deg,
      new cmd heading: 199.028424 deg.

2025-10-27T00:34:27.259Z,1761525267.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.473701 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:27.424Z,1761525267.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526856
2025-10-27T00:34:27.641Z,1761525267.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923119,0.380620,0.054585],[-0.384082,-0.906014,-0.177821],[-0.018227,-0.185115,0.982548]]
2025-10-27T00:34:27.676Z,1761525267.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778882
2025-10-27T00:34:27.705Z,1761525267.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:27.709Z,1761525267.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 31.484941 m,
      bearing: 202.715926 deg,
      approach rate: -0.571409 m/s,
      LOS rate: -0.185251 deg/s,
      cmd heading: 199.028420 deg,
      new cmd heading: 198.778382 deg.

2025-10-27T00:34:27.711Z,1761525267.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.469337 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:27.928Z,1761525267.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030744
2025-10-27T00:34:28.048Z,1761525268.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923805,0.378531,0.057438],[-0.382515,-0.906112,-0.180671],[-0.016344,-0.188876,0.981865]]
2025-10-27T00:34:28.071Z,1761525268.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:28.074Z,1761525268.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 31.270607 m,
      bearing: 202.646742 deg,
      approach rate: -0.585194 m/s,
      LOS rate: -0.190186 deg/s,
      cmd heading: 198.778381 deg,
      new cmd heading: 198.569408 deg.

2025-10-27T00:34:28.075Z,1761525268.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.465690 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:28.180Z,1761525268.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282998
2025-10-27T00:34:28.432Z,1761525268.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534694
2025-10-27T00:34:28.448Z,1761525268.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924460,0.376519,0.060063],[-0.380992,-0.906104,-0.183905],[-0.014820,-0.192896,0.981107]]
2025-10-27T00:34:28.464Z,1761525268.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:28.466Z,1761525268.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:28.469Z,1761525268.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 31.042427 m,
      bearing: 202.572860 deg,
      approach rate: -0.577143 m/s,
      LOS rate: -0.188246 deg/s,
      cmd heading: 198.569404 deg,
      new cmd heading: 198.346130 deg.

2025-10-27T00:34:28.470Z,1761525268.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.461793 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:28.685Z,1761525268.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787203
2025-10-27T00:34:28.905Z,1761525268.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:28.908Z,1761525268.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 30.785049 m,
      bearing: 202.508809 deg,
      approach rate: -0.586181 m/s,
      LOS rate: -0.147097 deg/s,
      cmd heading: 198.346125 deg,
      new cmd heading: 198.152366 deg.

2025-10-27T00:34:28.909Z,1761525268.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.458411 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:28.937Z,1761525268.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039485
2025-10-27T00:34:29.188Z,1761525269.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290821
2025-10-27T00:34:29.256Z,1761525269.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925649,0.372568,0.066080],[-0.378228,-0.906050,-0.189782],[-0.010835,-0.200665,0.979600]]
2025-10-27T00:34:29.279Z,1761525269.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:29.282Z,1761525269.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 30.566061 m,
      bearing: 202.454881 deg,
      approach rate: -0.586164 m/s,
      LOS rate: -0.145382 deg/s,
      cmd heading: 198.152367 deg,
      new cmd heading: 197.989425 deg.

2025-10-27T00:34:29.283Z,1761525269.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.455567 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:29.440Z,1761525269.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542954
2025-10-27T00:34:29.693Z,1761525269.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795508
2025-10-27T00:34:29.725Z,1761525269.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:29.728Z,1761525269.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 30.311842 m,
      bearing: 202.407761 deg,
      approach rate: -0.569386 m/s,
      LOS rate: -0.106423 deg/s,
      cmd heading: 197.989426 deg,
      new cmd heading: 197.846880 deg.

2025-10-27T00:34:29.729Z,1761525269.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.453079 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:29.944Z,1761525269.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047018
2025-10-27T00:34:30.062Z,1761525270.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926948,0.368578,0.070125],[-0.375122,-0.906911,-0.191821],[-0.007104,-0.204114,0.978921]]
2025-10-27T00:34:30.093Z,1761525270.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:30.096Z,1761525270.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 30.101889 m,
      bearing: 202.369642 deg,
      approach rate: -0.570907 m/s,
      LOS rate: -0.104375 deg/s,
      cmd heading: 197.846879 deg,
      new cmd heading: 197.731727 deg.

2025-10-27T00:34:30.098Z,1761525270.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.451070 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:30.196Z,1761525270.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299028
2025-10-27T00:34:30.448Z,1761525270.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550894
2025-10-27T00:34:30.466Z,1761525270.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927422,0.367063,0.071784],[-0.373979,-0.907369,-0.191889],[-0.005300,-0.204807,0.978788]]
2025-10-27T00:34:30.482Z,1761525270.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:30.484Z,1761525270.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:30.487Z,1761525270.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 29.878973 m,
      bearing: 202.329126 deg,
      approach rate: -0.569763 m/s,
      LOS rate: -0.104330 deg/s,
      cmd heading: 197.731723 deg,
      new cmd heading: 197.609268 deg.

2025-10-27T00:34:30.488Z,1761525270.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.448932 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:30.704Z,1761525270.704 [DAT](INFO): DAT read: Response Not Received

2025-10-27T00:34:30.705Z,1761525270.705 [DAT](INFO): response not received
2025-10-27T00:34:30.705Z,1761525270.705 [DAT](ERROR): No response from remote modem.
2025-10-27T00:34:30.706Z,1761525270.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808216
2025-10-27T00:34:30.914Z,1761525270.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:30.917Z,1761525270.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 29.632700 m,
      bearing: 202.297930 deg,
      approach rate: -0.573564 m/s,
      LOS rate: -0.073259 deg/s,
      cmd heading: 197.609271 deg,
      new cmd heading: 197.514905 deg.

2025-10-27T00:34:30.918Z,1761525270.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.447285 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:30.952Z,1761525270.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054998
2025-10-27T00:34:31.204Z,1761525271.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306934
2025-10-27T00:34:31.274Z,1761525271.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928816,0.363137,0.073712],[-0.370538,-0.909272,-0.189542],[-0.001806,-0.203363,0.979102]]
2025-10-27T00:34:31.315Z,1761525271.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:31.318Z,1761525271.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 29.411808 m,
      bearing: 202.271092 deg,
      approach rate: -0.573452 m/s,
      LOS rate: -0.070198 deg/s,
      cmd heading: 197.514905 deg,
      new cmd heading: 197.433785 deg.

2025-10-27T00:34:31.323Z,1761525271.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.445870 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:31.456Z,1761525271.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558799
2025-10-27T00:34:31.709Z,1761525271.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811820
2025-10-27T00:34:31.757Z,1761525271.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:31.764Z,1761525271.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 29.159315 m,
      bearing: 202.246174 deg,
      approach rate: -0.550943 m/s,
      LOS rate: -0.054843 deg/s,
      cmd heading: 197.433790 deg,
      new cmd heading: 197.358387 deg.

2025-10-27T00:34:31.765Z,1761525271.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.444554 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:31.960Z,1761525271.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062829
2025-10-27T00:34:32.133Z,1761525272.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929865,0.359831,0.076635],[-0.367898,-0.910367,-0.189431],[0.001602,-0.204339,0.978899]]
2025-10-27T00:34:32.151Z,1761525272.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:32.154Z,1761525272.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 28.920969 m,
      bearing: 202.223613 deg,
      approach rate: -0.605856 m/s,
      LOS rate: -0.057819 deg/s,
      cmd heading: 197.358384 deg,
      new cmd heading: 197.290146 deg.

2025-10-27T00:34:32.154Z,1761525272.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.443363 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:32.212Z,1761525272.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315081
2025-10-27T00:34:32.464Z,1761525272.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566804
2025-10-27T00:34:32.492Z,1761525272.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930575,0.357974,0.076718],[-0.366092,-0.911432,-0.187798],[0.002696,-0.202846,0.979207]]
2025-10-27T00:34:32.509Z,1761525272.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:32.511Z,1761525272.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:32.514Z,1761525272.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 28.713419 m,
      bearing: 202.204450 deg,
      approach rate: -0.575644 m/s,
      LOS rate: -0.053535 deg/s,
      cmd heading: 197.290151 deg,
      new cmd heading: 197.232244 deg.

2025-10-27T00:34:32.515Z,1761525272.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.442352 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:32.717Z,1761525272.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820249
2025-10-27T00:34:32.890Z,1761525272.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931386,0.355808,0.076944],[-0.364013,-0.912474,-0.186777],[0.003753,-0.201970,0.979384]]
2025-10-27T00:34:32.941Z,1761525272.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:32.944Z,1761525272.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 28.469545 m,
      bearing: 202.183989 deg,
      approach rate: -0.566946 m/s,
      LOS rate: -0.047972 deg/s,
      cmd heading: 197.232244 deg,
      new cmd heading: 197.170338 deg.

2025-10-27T00:34:32.945Z,1761525272.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.441272 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:32.968Z,1761525272.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070754
2025-10-27T00:34:33.220Z,1761525273.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322828
2025-10-27T00:34:33.294Z,1761525273.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932213,0.353739,0.076463],[-0.361881,-0.913709,-0.184871],[0.004469,-0.200010,0.979784]]
2025-10-27T00:34:33.318Z,1761525273.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:33.321Z,1761525273.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 28.256241 m,
      bearing: 202.166775 deg,
      approach rate: -0.566705 m/s,
      LOS rate: -0.046079 deg/s,
      cmd heading: 197.170336 deg,
      new cmd heading: 197.118304 deg.

2025-10-27T00:34:33.322Z,1761525273.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.440363 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:33.472Z,1761525273.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574854
2025-10-27T00:34:33.704Z,1761525273.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933243,0.351032,0.076375],[-0.359210,-0.914767,-0.184850],[0.004977,-0.199945,0.979795]]
2025-10-27T00:34:33.724Z,1761525273.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826745
2025-10-27T00:34:33.760Z,1761525273.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:33.763Z,1761525273.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 27.996964 m,
      bearing: 202.152311 deg,
      approach rate: -0.586298 m/s,
      LOS rate: -0.033011 deg/s,
      cmd heading: 197.118303 deg,
      new cmd heading: 197.074508 deg.

2025-10-27T00:34:33.764Z,1761525273.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439599 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:33.976Z,1761525273.976 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:34:33.976Z,1761525273.976 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T00:34:34.117Z,1761525274.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934089,0.348764,0.076423],[-0.357000,-0.915515,-0.185426],[0.005297,-0.200487,0.979682]]
2025-10-27T00:34:34.155Z,1761525274.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:34.158Z,1761525274.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 27.774515 m,
      bearing: 202.140779 deg,
      approach rate: -0.562399 m/s,
      LOS rate: -0.029388 deg/s,
      cmd heading: 197.074508 deg,
      new cmd heading: 197.039636 deg.

2025-10-27T00:34:34.163Z,1761525274.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.438990 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:34.229Z,1761525274.229 [DAT](INFO): DAT read: user:191>

2025-10-27T00:34:34.230Z,1761525274.230 [DAT](INFO): DAT read: Tx time:00:34:35.5958

2025-10-27T00:34:34.231Z,1761525274.231 [DAT](INFO): Ping request sent.
2025-10-27T00:34:34.231Z,1761525274.231 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:34:34.231Z,1761525274.231 [DAT](INFO): publishing transmit ping time
2025-10-27T00:34:34.232Z,1761525274.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001370
2025-10-27T00:34:34.480Z,1761525274.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249174
2025-10-27T00:34:34.504Z,1761525274.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935117,0.346000,0.076420],[-0.354291,-0.916527,-0.185622],[0.005816,-0.200653,0.979645]]
2025-10-27T00:34:34.521Z,1761525274.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:34.522Z,1761525274.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:34.525Z,1761525274.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 27.549841 m,
      bearing: 202.130300 deg,
      approach rate: -0.612120 m/s,
      LOS rate: -0.028783 deg/s,
      cmd heading: 197.039633 deg,
      new cmd heading: 197.007940 deg.

2025-10-27T00:34:34.526Z,1761525274.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.438437 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:34.732Z,1761525274.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501309
2025-10-27T00:34:34.906Z,1761525274.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936340,0.342903,0.075400],[-0.351042,-0.918088,-0.184073],[0.006105,-0.198824,0.980016]]
2025-10-27T00:34:34.949Z,1761525274.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:34.952Z,1761525274.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 27.307053 m,
      bearing: 202.124845 deg,
      approach rate: -0.568811 m/s,
      LOS rate: -0.012894 deg/s,
      cmd heading: 197.007941 deg,
      new cmd heading: 196.991430 deg.

2025-10-27T00:34:34.953Z,1761525274.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.438149 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:34.984Z,1761525274.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753331
2025-10-27T00:34:35.236Z,1761525275.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005684
2025-10-27T00:34:35.310Z,1761525275.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937476,0.339834,0.075181],[-0.347982,-0.919456,-0.183055],[0.006917,-0.197771,0.980224]]
2025-10-27T00:34:35.328Z,1761525275.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:35.331Z,1761525275.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 27.091480 m,
      bearing: 202.121400 deg,
      approach rate: -0.568653 m/s,
      LOS rate: -0.009159 deg/s,
      cmd heading: 196.991426 deg,
      new cmd heading: 196.981009 deg.

2025-10-27T00:34:35.332Z,1761525275.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.437967 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:35.488Z,1761525275.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257152
2025-10-27T00:34:35.723Z,1761525275.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938787,0.336146,0.075392],[-0.344402,-0.920909,-0.182523],[0.008075,-0.197315,0.980307]]
2025-10-27T00:34:35.740Z,1761525275.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509308
2025-10-27T00:34:35.761Z,1761525275.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:35.764Z,1761525275.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 26.841187 m,
      bearing: 202.114482 deg,
      approach rate: -0.578545 m/s,
      LOS rate: -0.016141 deg/s,
      cmd heading: 196.981003 deg,
      new cmd heading: 196.960054 deg.

2025-10-27T00:34:35.765Z,1761525275.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.437601 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:35.994Z,1761525275.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762500
2025-10-27T00:34:36.132Z,1761525276.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939881,0.332801,0.076596],[-0.341369,-0.921825,-0.183594],[0.009508,-0.198704,0.980013]]
2025-10-27T00:34:36.171Z,1761525276.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:36.174Z,1761525276.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 26.610954 m,
      bearing: 202.109622 deg,
      approach rate: -0.567519 m/s,
      LOS rate: -0.012084 deg/s,
      cmd heading: 196.960048 deg,
      new cmd heading: 196.945341 deg.

2025-10-27T00:34:36.175Z,1761525276.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.437345 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:36.245Z,1761525276.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013620
2025-10-27T00:34:36.496Z,1761525276.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265246
2025-10-27T00:34:36.521Z,1761525276.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940786,0.329867,0.078167],[-0.338811,-0.922651,-0.184178],[0.011367,-0.199756,0.979780]]
2025-10-27T00:34:36.565Z,1761525276.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:36.651Z,1761525276.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:36.670Z,1761525276.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 26.381050 m,
      bearing: 202.106054 deg,
      approach rate: -0.529420 m/s,
      LOS rate: -0.008288 deg/s,
      cmd heading: 196.945336 deg,
      new cmd heading: 196.934538 deg.

2025-10-27T00:34:36.677Z,1761525276.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.437156 target range: 34.560375 and range: 34.70 m.
2025-10-27T00:34:36.749Z,1761525276.749 [DAT](INFO): DAT read: Rx Time:00:34:37.7609 

2025-10-27T00:34:36.750Z,1761525276.750 [DAT](INFO): Rx dataTimestamp_ set to:1761525276.749453
2025-10-27T00:34:36.752Z,1761525276.752 [DAT](INFO): DAT read: Bearing 359.2,  -6.0 (Local)

2025-10-27T00:34:36.752Z,1761525276.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  -6.0 (Local)

2025-10-27T00:34:36.756Z,1761525276.756 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.5

2025-10-27T00:34:36.761Z,1761525276.761 [DAT](INFO): DAT read: 00:34:37.7609 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 300,-0.01,-0.103,-1.791, 0.158,-0.101, PHS= 0.100,-1.644, 0.215, RAW= 153.2,  14.6, CAL= 153.6,  16 36.5

2025-10-27T00:34:36.796Z,1761525276.796 [DAT](INFO): unknown deviceResponse_: 00:34:37.7609 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 300,-0.01,-0.103,-1.791, 0.158,-0.101, PHS= 0.100,-1.644, 0.215, RAW= 153.2,  14.6, CAL= 153.6,  16 36.5

2025-10-27T00:34:36.797Z,1761525276.797 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T00:34:36.798Z,1761525276.798 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.566862
2025-10-27T00:34:37.000Z,1761525277.000 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769317
2025-10-27T00:34:37.001Z,1761525277.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941754,0.326653,0.079984],[-0.336029,-0.923585,-0.184595],[0.013574,-0.200720,0.979554]]
2025-10-27T00:34:37.052Z,1761525277.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 13.106354 s,
      deltaX: -7.800001 m,
      approachRate: -0.595131 m/s,
      rangeRepo size: 4

2025-10-27T00:34:37.054Z,1761525277.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m.
2025-10-27T00:34:37.103Z,1761525277.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.560375 m,
      nav range: 26.093487 m,
      bearing: 202.114162 deg,
      approach rate: -0.639406 m/s,
      LOS rate: 0.018227 deg/s,
      cmd heading: 196.934544 deg,
      new cmd heading: 196.959136 deg.

2025-10-27T00:34:37.111Z,1761525277.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.437585 target range: 34.560375 and range: 26.90 m.
2025-10-27T00:34:37.253Z,1761525277.253 [DAT](INFO): DAT read: Rx Time:00:34:38.2607 

2025-10-27T00:34:37.253Z,1761525277.253 [DAT](INFO): Rx dataTimestamp_ set to:1761525277.252762
2025-10-27T00:34:37.254Z,1761525277.254 [DAT](INFO): DAT read: Bearing   0.4,  -5.6 (Local)

2025-10-27T00:34:37.255Z,1761525277.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  -5.6 (Local)

2025-10-27T00:34:37.257Z,1761525277.257 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.4

2025-10-27T00:34:37.262Z,1761525277.262 [DAT](INFO): DAT read: 00:34:38.2607 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 506, 0.20,-0.070,-1.726, 0.164,-0.042, PHS= 0.073,-1.639, 0.162, RAW= 152.5,  15.8, CAL= 153.0,  17.8, ROT= 357.0, -17.8

2025-10-27T00:34:37.263Z,1761525277.263 [DAT](INFO): got valid direction response:
 00:34:38.2607 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 506, 0.20,-0.070,-1.726, 0.164,-0.042, PHS= 0.073,-1.639, 0.162, RAW= 152.5,  15.8, CAL= 153.0,  17.8, ROT= 357.0, -17.8

2025-10-27T00:34:37.263Z,1761525277.263 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-27T00:34:37.264Z,1761525277.264 [DAT](INFO): direction in FSK: [0.950825,-0.049831,0.305695]
2025-10-27T00:34:37.264Z,1761525277.264 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:37.268Z,1761525277.268 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037686
2025-10-27T00:34:37.419Z,1761525277.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942603,0.323542,0.082587],[-0.333541,-0.924009,-0.186968],[0.015819,-0.203783,0.978888]]
2025-10-27T00:34:37.455Z,1761525277.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503309 s,
      deltaX: -0.299999 m,
      approachRate: -0.596054 m/s,
      rangeRepo size: 4

2025-10-27T00:34:37.457Z,1761525277.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.494011 m,
      bearing: 200.305279 deg,
      lat: 36.779402 deg,
      lon: -121.859627 deg,
      deltaT: 13.609663 s,
      deltaX: -8.066364 m,
      approachRate: -0.592694 m/s,
      posRepo size: 4

2025-10-27T00:34:37.458Z,1761525277.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.49 m.
2025-10-27T00:34:37.461Z,1761525277.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.494011 m,
      nav range: 25.493347 m,
      bearing: 199.946108 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018227 deg/s,
      cmd heading: 196.959132 deg,
      new cmd heading: 196.980987 deg.

2025-10-27T00:34:37.462Z,1761525277.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.437967 target range: 26.494011 and range: 26.60 m.
2025-10-27T00:34:37.504Z,1761525277.504 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273361
2025-10-27T00:34:37.756Z,1761525277.756 [DAT](INFO): DAT read: Rx Time:00:34:38.7605 

2025-10-27T00:34:37.757Z,1761525277.757 [DAT](INFO): Rx dataTimestamp_ set to:1761525277.756690
2025-10-27T00:34:37.758Z,1761525277.758 [DAT](INFO): DAT read: Bearing   2.1,  -5.0 (Local)

2025-10-27T00:34:37.759Z,1761525277.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  -5.0 (Local)

2025-10-27T00:34:37.761Z,1761525277.761 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.5

2025-10-27T00:34:37.779Z,1761525277.779 [DAT](INFO): DAT read: 00:34:38.7605 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 504,-0.34, 1.575,-0.042, 1.773, 1.636, PHS= 0.041,-1.634, 0.093, RAW= 151.5,  17.3, CAL= 152.1,  19.6, ROT= 357.9, -19.6

2025-10-27T00:34:37.780Z,1761525277.780 [DAT](INFO): got valid direction response:
 00:34:38.7605 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 504,-0.34, 1.575,-0.042, 1.773, 1.636, PHS= 0.041,-1.634, 0.093, RAW= 151.5,  17.3, CAL= 152.1,  19.6, ROT= 357.9, -19.6

2025-10-27T00:34:37.780Z,1761525277.780 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-27T00:34:37.781Z,1761525277.781 [DAT](INFO): direction in FSK: [0.941425,-0.034520,0.335452]
2025-10-27T00:34:37.781Z,1761525277.781 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:37.805Z,1761525277.805 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.574602
2025-10-27T00:34:37.822Z,1761525277.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943291,0.321025,0.084534],[-0.331478,-0.924676,-0.187339],[0.018026,-0.204736,0.978651]]
2025-10-27T00:34:37.923Z,1761525277.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.503928 s,
      deltaX: -0.300001 m,
      approachRate: -0.595325 m/s,
      rangeRepo size: 4

2025-10-27T00:34:37.925Z,1761525277.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.195206 m,
      bearing: 201.499012 deg,
      lat: 36.779402 deg,
      lon: -121.859627 deg,
      deltaT: 0.503928 s,
      deltaX: -0.298805 m,
      approachRate: -0.592952 m/s,
      posRepo size: 4

2025-10-27T00:34:37.926Z,1761525277.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-10-27T00:34:37.933Z,1761525277.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.195206 m,
      nav range: 25.227354 m,
      bearing: 199.921103 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018227 deg/s,
      cmd heading: 196.980989 deg,
      new cmd heading: 197.006589 deg.

2025-10-27T00:34:37.934Z,1761525277.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.438414 target range: 26.195206 and range: 26.30 m.
2025-10-27T00:34:38.009Z,1761525278.009 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778113
2025-10-27T00:34:38.249Z,1761525278.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943735,0.319258,0.086241],[-0.330110,-0.925040,-0.187958],[0.019769,-0.205852,0.978383]]
2025-10-27T00:34:38.261Z,1761525278.261 [DAT](INFO): DAT read: Rx Time:00:34:39.2604 

2025-10-27T00:34:38.261Z,1761525278.261 [DAT](INFO): Rx dataTimestamp_ set to:1761525278.260823
2025-10-27T00:34:38.262Z,1761525278.262 [DAT](INFO): DAT read: Bearing   2.5,  -4.8 (Local)

2025-10-27T00:34:38.263Z,1761525278.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  -4.8 (Local)

2025-10-27T00:34:38.265Z,1761525278.265 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.6

2025-10-27T00:34:38.269Z,1761525278.269 [DAT](INFO): DAT read: 00:34:39.2604 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 503,-0.13, 2.609, 0.981, 2.798, 2.679, PHS= 0.033,-1.653, 0.076, RAW= 151.2,  17.7, CAL= 151.9,  20.1, ROT= 358.1, -20.1

2025-10-27T00:34:38.271Z,1761525278.271 [DAT](INFO): got valid direction response:
 00:34:39.2604 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 503,-0.13, 2.609, 0.981, 2.798, 2.679, PHS= 0.033,-1.653, 0.076, RAW= 151.2,  17.7, CAL= 151.9,  20.1, ROT= 358.1, -20.1

2025-10-27T00:34:38.271Z,1761525278.271 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-27T00:34:38.272Z,1761525278.272 [DAT](INFO): direction in FSK: [0.938578,-0.031136,0.343660]
2025-10-27T00:34:38.272Z,1761525278.272 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:38.296Z,1761525278.296 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.065431
2025-10-27T00:34:38.310Z,1761525278.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.504133 s,
      deltaX: -0.199999 m,
      approachRate: -0.396718 m/s,
      rangeRepo size: 4

2025-10-27T00:34:38.317Z,1761525278.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.996462 m,
      bearing: 201.755609 deg,
      lat: 36.779406 deg,
      lon: -121.859627 deg,
      deltaT: 0.504133 s,
      deltaX: -0.198744 m,
      approachRate: -0.394229 m/s,
      posRepo size: 4

2025-10-27T00:34:38.317Z,1761525278.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.00 m.
2025-10-27T00:34:38.324Z,1761525278.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.996462 m,
      nav range: 24.581251 m,
      bearing: 200.266815 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018227 deg/s,
      cmd heading: 197.006589 deg,
      new cmd heading: 197.027970 deg.

2025-10-27T00:34:38.325Z,1761525278.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.438787 target range: 25.996462 and range: 26.10 m.
2025-10-27T00:34:38.512Z,1761525278.512 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281462
2025-10-27T00:34:38.701Z,1761525278.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943957,0.318183,0.087777],[-0.329366,-0.925366,-0.187659],[0.021516,-0.206052,0.978304]]
2025-10-27T00:34:38.765Z,1761525278.765 [DAT](INFO): DAT read: Rx Time:00:34:39.7601 

2025-10-27T00:34:38.765Z,1761525278.765 [DAT](INFO): Rx dataTimestamp_ set to:1761525278.764836
2025-10-27T00:34:38.766Z,1761525278.766 [DAT](INFO): DAT read: Bearing   2.2,  -5.0 (Local)

2025-10-27T00:34:38.767Z,1761525278.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  -5.0 (Local)

2025-10-27T00:34:38.769Z,1761525278.769 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.4

2025-10-27T00:34:38.774Z,1761525278.774 [DAT](INFO): DAT read: 00:34:39.7601 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500,-0.05, 1.813, 0.172, 2.017, 1.885, PHS= 0.030,-1.668, 0.088, RAW= 151.7,  17.6, CAL= 152.3,  20.0, ROT= 357.7, -20.0

2025-10-27T00:34:38.775Z,1761525278.775 [DAT](INFO): got valid direction response:
 00:34:39.7601 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500,-0.05, 1.813, 0.172, 2.017, 1.885, PHS= 0.030,-1.668, 0.088, RAW= 151.7,  17.6, CAL= 152.3,  20.0, ROT= 357.7, -20.0

2025-10-27T00:34:38.775Z,1761525278.775 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-27T00:34:38.776Z,1761525278.776 [DAT](INFO): direction in FSK: [0.938936,-0.037711,0.342020]
2025-10-27T00:34:38.776Z,1761525278.776 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:38.788Z,1761525278.788 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.557447
2025-10-27T00:34:38.829Z,1761525278.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504013 s,
      deltaX: -0.400000 m,
      approachRate: -0.793630 m/s,
      rangeRepo size: 4

2025-10-27T00:34:38.835Z,1761525278.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.598049 m,
      bearing: 201.300376 deg,
      lat: 36.779410 deg,
      lon: -121.859630 deg,
      deltaT: 0.504013 s,
      deltaX: -0.398413 m,
      approachRate: -0.790481 m/s,
      posRepo size: 4

2025-10-27T00:34:38.836Z,1761525278.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-10-27T00:34:38.846Z,1761525278.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.598049 m,
      nav range: 23.971422 m,
      bearing: 201.193139 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018227 deg/s,
      cmd heading: 197.027967 deg,
      new cmd heading: 197.056338 deg.

2025-10-27T00:34:38.860Z,1761525278.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.439282 target range: 25.598049 and range: 25.70 m.
2025-10-27T00:34:39.016Z,1761525279.016 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785128
2025-10-27T00:34:39.188Z,1761525279.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944115,0.317525,0.088456],[-0.328729,-0.926708,-0.182072],[0.024161,-0.200975,0.979298]]
2025-10-27T00:34:39.221Z,1761525279.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:39.227Z,1761525279.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m.
2025-10-27T00:34:39.230Z,1761525279.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.598049 m,
      nav range: 23.717344 m,
      bearing: 201.179568 deg,
      approach rate: -0.644266 m/s,
      LOS rate: -0.034782 deg/s,
      cmd heading: 197.056340 deg,
      new cmd heading: 197.015189 deg.

2025-10-27T00:34:39.235Z,1761525279.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.438564 target range: 25.598049 and range: 25.70 m.
2025-10-27T00:34:39.269Z,1761525279.269 [DAT](INFO): DAT read: Rx Time:00:34:40.2600 

2025-10-27T00:34:39.269Z,1761525279.269 [DAT](INFO): Rx dataTimestamp_ set to:1761525279.268762
2025-10-27T00:34:39.270Z,1761525279.270 [DAT](INFO): DAT read: Bearing   0.4,  -4.5 (Local)

2025-10-27T00:34:39.271Z,1761525279.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  -4.5 (Local)

2025-10-27T00:34:39.273Z,1761525279.273 [DAT](INFO): DAT read: Range 11 to 50 :    25.5 m (trip time 17.0 ms) speed 0.4

2025-10-27T00:34:39.277Z,1761525279.277 [DAT](INFO): DAT read: 00:34:40.2600 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 499, 0.05,-1.606, 3.016,-1.394,-1.580, PHS= 0.076,-1.643, 0.141, RAW= 151.8,  16.0, CAL= 152.3,  18.1, ROT= 357.7, -18.1

2025-10-27T00:34:39.279Z,1761525279.279 [DAT](INFO): got valid direction response:
 00:34:40.2600 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 499, 0.05,-1.606, 3.016,-1.394,-1.580, PHS= 0.076,-1.643, 0.141, RAW= 151.8,  16.0, CAL= 152.3,  18.1, ROT= 357.7, -18.1

2025-10-27T00:34:39.279Z,1761525279.279 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-27T00:34:39.280Z,1761525279.280 [DAT](INFO): direction in FSK: [0.949750,-0.038146,0.310676]
2025-10-27T00:34:39.280Z,1761525279.280 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:39.284Z,1761525279.284 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.053249
2025-10-27T00:34:39.524Z,1761525279.524 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.293111
2025-10-27T00:34:39.634Z,1761525279.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944292,0.317012,0.088408],[-0.328145,-0.927462,-0.179261],[0.025167,-0.198285,0.979821]]
2025-10-27T00:34:39.720Z,1761525279.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.503926 s,
      deltaX: -0.200001 m,
      approachRate: -0.396885 m/s,
      rangeRepo size: 4

2025-10-27T00:34:39.722Z,1761525279.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.398031 m,
      bearing: 200.636843 deg,
      lat: 36.779410 deg,
      lon: -121.859630 deg,
      deltaT: 0.503926 s,
      deltaX: -0.200018 m,
      approachRate: -0.396919 m/s,
      posRepo size: 4

2025-10-27T00:34:39.727Z,1761525279.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m.
2025-10-27T00:34:39.730Z,1761525279.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.398031 m,
      nav range: 23.466848 m,
      bearing: 201.166223 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034782 deg/s,
      cmd heading: 197.015195 deg,
      new cmd heading: 196.963859 deg.

2025-10-27T00:34:39.735Z,1761525279.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.437668 target range: 25.398031 and range: 25.50 m.
2025-10-27T00:34:39.773Z,1761525279.773 [DAT](INFO): DAT read: Rx Time:00:34:40.7597 

2025-10-27T00:34:39.773Z,1761525279.773 [DAT](INFO): Rx dataTimestamp_ set to:1761525279.772927
2025-10-27T00:34:39.774Z,1761525279.774 [DAT](INFO): DAT read: Bearing 358.5,  -3.5 (Local)

2025-10-27T00:34:39.775Z,1761525279.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  -3.5 (Local)

2025-10-27T00:34:39.778Z,1761525279.778 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.4

2025-10-27T00:34:39.785Z,1761525279.785 [DAT](INFO): DAT read: 00:34:40.7597 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 496, 0.27, 2.501, 0.805, 2.705, 2.467, PHS= 0.136,-1.617, 0.194, RAW= 151.6,  14.3, CAL= 151.9,  16.0, ROT= 358.1, -16.0

2025-10-27T00:34:39.786Z,1761525279.786 [DAT](INFO): got valid direction response:
 00:34:40.7597 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 496, 0.27, 2.501, 0.805, 2.705, 2.467, PHS= 0.136,-1.617, 0.194, RAW= 151.6,  14.3, CAL= 151.9,  16.0, ROT= 358.1, -16.0

2025-10-27T00:34:39.787Z,1761525279.787 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-27T00:34:39.789Z,1761525279.789 [DAT](INFO): direction in FSK: [0.960733,-0.031871,0.275637]
2025-10-27T00:34:39.789Z,1761525279.789 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:39.795Z,1761525279.795 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.563978
2025-10-27T00:34:40.024Z,1761525280.024 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793650
2025-10-27T00:34:40.052Z,1761525280.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944378,0.316843,0.088101],[-0.327860,-0.927990,-0.177036],[0.025665,-0.196074,0.980253]]
2025-10-27T00:34:40.171Z,1761525280.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.504165 s,
      deltaX: -0.400000 m,
      approachRate: -0.793390 m/s,
      rangeRepo size: 4

2025-10-27T00:34:40.173Z,1761525280.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.999632 m,
      bearing: 200.516246 deg,
      lat: 36.779410 deg,
      lon: -121.859630 deg,
      deltaT: 0.504165 s,
      deltaX: -0.398399 m,
      approachRate: -0.790216 m/s,
      posRepo size: 4

2025-10-27T00:34:40.174Z,1761525280.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m.
2025-10-27T00:34:40.181Z,1761525280.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.999632 m,
      nav range: 23.186947 m,
      bearing: 201.159712 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034782 deg/s,
      cmd heading: 196.963859 deg,
      new cmd heading: 196.916714 deg.

2025-10-27T00:34:40.182Z,1761525280.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.436845 target range: 24.999632 and range: 25.10 m.
2025-10-27T00:34:40.277Z,1761525280.277 [DAT](INFO): DAT read: Rx Time:00:34:41.2595 

2025-10-27T00:34:40.278Z,1761525280.278 [DAT](INFO): Rx dataTimestamp_ set to:1761525280.277025
2025-10-27T00:34:40.279Z,1761525280.279 [DAT](INFO): DAT read: Bearing   1.3,  -4.7 (Local)

2025-10-27T00:34:40.280Z,1761525280.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  -4.7 (Local)

2025-10-27T00:34:40.283Z,1761525280.283 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.6

2025-10-27T00:34:40.289Z,1761525280.289 [DAT](INFO): DAT read: 00:34:41.2595 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 510, 0.45, 2.524, 0.890, 2.740, 2.575, PHS= 0.051,-1.640, 0.121, RAW= 152.0,  16.7, CAL= 152.6,  18.9, ROT= 357.4, -18.9

2025-10-27T00:34:40.290Z,1761525280.290 [DAT](INFO): got valid direction response:
 00:34:41.2595 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 510, 0.45, 2.524, 0.890, 2.740, 2.575, PHS= 0.051,-1.640, 0.121, RAW= 152.0,  16.7, CAL= 152.6,  18.9, ROT= 357.4, -18.9

2025-10-27T00:34:40.296Z,1761525280.296 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-27T00:34:40.297Z,1761525280.297 [DAT](INFO): direction in FSK: [0.945111,-0.042917,0.323917]
2025-10-27T00:34:40.297Z,1761525280.297 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:40.301Z,1761525280.301 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.070717
2025-10-27T00:34:40.496Z,1761525280.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944555,0.316552,0.087240],[-0.327344,-0.928625,-0.174647],[0.025728,-0.193521,0.980759]]
2025-10-27T00:34:40.528Z,1761525280.528 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297287
2025-10-27T00:34:40.538Z,1761525280.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504098 s,
      deltaX: -0.200001 m,
      approachRate: -0.396750 m/s,
      rangeRepo size: 4

2025-10-27T00:34:40.545Z,1761525280.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.799974 m,
      bearing: 200.374473 deg,
      lat: 36.779407 deg,
      lon: -121.859630 deg,
      deltaT: 0.504098 s,
      deltaX: -0.199657 m,
      approachRate: -0.396069 m/s,
      posRepo size: 4

2025-10-27T00:34:40.545Z,1761525280.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.80 m.
2025-10-27T00:34:40.565Z,1761525280.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.799974 m,
      nav range: 23.295559 m,
      bearing: 200.813871 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034782 deg/s,
      cmd heading: 196.916717 deg,
      new cmd heading: 196.877986 deg.

2025-10-27T00:34:40.573Z,1761525280.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.436169 target range: 24.799974 and range: 24.90 m.
2025-10-27T00:34:40.781Z,1761525280.781 [DAT](INFO): DAT read: Rx Time:00:34:41.7593 

2025-10-27T00:34:40.781Z,1761525280.781 [DAT](INFO): Rx dataTimestamp_ set to:1761525280.780747
2025-10-27T00:34:40.782Z,1761525280.782 [DAT](INFO): DAT read: Bearing   0.7,  -4.9 (Local)

2025-10-27T00:34:40.783Z,1761525280.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  -4.9 (Local)

2025-10-27T00:34:40.785Z,1761525280.785 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.5

2025-10-27T00:34:40.790Z,1761525280.790 [DAT](INFO): DAT read: 00:34:41.7593 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 508,-0.20,-0.526,-2.175,-0.292,-0.482, PHS= 0.058,-1.647, 0.146, RAW= 152.5,  16.2, CAL= 153.1,  18.4, ROT= 356.9, -18.4

2025-10-27T00:34:40.791Z,1761525280.791 [DAT](INFO): got valid direction response:
 00:34:41.7593 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 508,-0.20,-0.526,-2.175,-0.292,-0.482, PHS= 0.058,-1.647, 0.146, RAW= 152.5,  16.2, CAL= 153.1,  18.4, ROT= 356.9, -18.4

2025-10-27T00:34:40.792Z,1761525280.792 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-27T00:34:40.793Z,1761525280.793 [DAT](INFO): direction in FSK: [0.947487,-0.051314,0.315649]
2025-10-27T00:34:40.793Z,1761525280.793 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:40.801Z,1761525280.801 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.570223
2025-10-27T00:34:40.963Z,1761525280.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944762,0.316211,0.086231],[-0.326729,-0.929445,-0.171405],[0.025947,-0.190111,0.981420]]
2025-10-27T00:34:41.013Z,1761525281.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.503722 s,
      deltaX: -0.299999 m,
      approachRate: -0.595565 m/s,
      rangeRepo size: 4

2025-10-27T00:34:41.015Z,1761525281.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.501181 m,
      bearing: 199.665970 deg,
      lat: 36.779406 deg,
      lon: -121.859630 deg,
      deltaT: 0.503722 s,
      deltaX: -0.298794 m,
      approachRate: -0.593172 m/s,
      posRepo size: 4

2025-10-27T00:34:41.016Z,1761525281.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-10-27T00:34:41.018Z,1761525281.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.501181 m,
      nav range: 23.144657 m,
      bearing: 200.613252 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034782 deg/s,
      cmd heading: 196.877990 deg,
      new cmd heading: 196.828492 deg.

2025-10-27T00:34:41.032Z,1761525281.032 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801338
2025-10-27T00:34:41.039Z,1761525281.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.435305 target range: 24.501181 and range: 24.60 m.
2025-10-27T00:34:41.287Z,1761525281.287 [DAT](INFO): DAT read: Rx Time:00:34:42.2592 

2025-10-27T00:34:41.288Z,1761525281.288 [DAT](INFO): Rx dataTimestamp_ set to:1761525281.287674
2025-10-27T00:34:41.289Z,1761525281.289 [DAT](INFO): DAT read: Bearing   1.8,  -4.7 (Local)

2025-10-27T00:34:41.290Z,1761525281.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,  -4.7 (Local)

2025-10-27T00:34:41.292Z,1761525281.292 [DAT](INFO): DAT read: Range 11 to 50 :    24.5 m (trip time 16.3 ms) speed 0.4

2025-10-27T00:34:41.319Z,1761525281.319 [DAT](INFO): DAT read: 00:34:42.2592 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507,-0.02, 1.237,-0.397, 1.453, 1.300, PHS= 0.039,-1.652, 0.109, RAW= 152.0,  17.1, CAL= 152.6,  19.4, ROT= 357.4, -19.4

2025-10-27T00:34:41.320Z,1761525281.320 [DAT](INFO): got valid direction response:
 00:34:42.2592 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 507,-0.02, 1.237,-0.397, 1.453, 1.300, PHS= 0.039,-1.652, 0.109, RAW= 152.0,  17.1, CAL= 152.6,  19.4, ROT= 357.4, -19.4

2025-10-27T00:34:41.321Z,1761525281.321 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-27T00:34:41.322Z,1761525281.322 [DAT](INFO): direction in FSK: [0.942252,-0.042787,0.332161]
2025-10-27T00:34:41.323Z,1761525281.323 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:41.359Z,1761525281.359 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.128611
2025-10-27T00:34:41.412Z,1761525281.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944779,0.316436,0.085213],[-0.326675,-0.930042,-0.168241],[0.026014,-0.186787,0.982056]]
2025-10-27T00:34:41.460Z,1761525281.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.506927 s,
      deltaX: -0.100000 m,
      approachRate: -0.197268 m/s,
      rangeRepo size: 4

2025-10-27T00:34:41.462Z,1761525281.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.401070 m,
      bearing: 200.303379 deg,
      lat: 36.779406 deg,
      lon: -121.859628 deg,
      deltaT: 0.506927 s,
      deltaX: -0.100111 m,
      approachRate: -0.197486 m/s,
      posRepo size: 4

2025-10-27T00:34:41.462Z,1761525281.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-10-27T00:34:41.470Z,1761525281.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.401070 m,
      nav range: 22.852009 m,
      bearing: 200.234054 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034782 deg/s,
      cmd heading: 196.828498 deg,
      new cmd heading: 196.782316 deg.

2025-10-27T00:34:41.471Z,1761525281.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.434499 target range: 24.401070 and range: 24.50 m.
2025-10-27T00:34:41.537Z,1761525281.537 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305802
2025-10-27T00:34:41.789Z,1761525281.789 [DAT](INFO): DAT read: Rx Time:00:34:42.7589 

2025-10-27T00:34:41.789Z,1761525281.789 [DAT](INFO): Rx dataTimestamp_ set to:1761525281.788796
2025-10-27T00:34:41.790Z,1761525281.790 [DAT](INFO): DAT read: Bearing   1.7,  -4.2 (Local)

2025-10-27T00:34:41.791Z,1761525281.791 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,  -4.2 (Local)

2025-10-27T00:34:41.793Z,1761525281.793 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.4

2025-10-27T00:34:41.802Z,1761525281.802 [DAT](INFO): DAT read: 00:34:42.7589 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 504, 0.17, 1.656, 0.016, 1.860, 1.710, PHS= 0.047,-1.650, 0.106, RAW= 151.7,  17.0, CAL= 152.3,  19.357.7, -19.3

2025-10-27T00:34:41.808Z,1761525281.808 [DAT](INFO): unknown deviceResponse_: 00:34:42.7589 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 504, 0.17, 1.656, 0.016, 1.860, 1.710, PHS= 0.047,-1.650, 0.106, RAW= 151.7,  17.0, CAL= 152.3,  19.357.7, -19.3

2025-10-27T00:34:41.808Z,1761525281.808 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-10-27T00:34:41.809Z,1761525281.809 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.578288
2025-10-27T00:34:41.829Z,1761525281.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945058,0.315978,0.083801],[-0.325853,-0.931060,-0.164155],[0.026154,-0.182443,0.982869]]
2025-10-27T00:34:41.926Z,1761525281.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:41.933Z,1761525281.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.501122 s,
      deltaX: -0.500000 m,
      approachRate: -0.997761 m/s,
      rangeRepo size: 4

2025-10-27T00:34:41.934Z,1761525281.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-10-27T00:34:41.941Z,1761525281.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.401070 m,
      nav range: 22.579353 m,
      bearing: 200.215863 deg,
      approach rate: -0.570348 m/s,
      LOS rate: -0.038513 deg/s,
      cmd heading: 196.782313 deg,
      new cmd heading: 196.727079 deg.

2025-10-27T00:34:41.942Z,1761525281.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.433535 target range: 24.401070 and range: 24.00 m.
2025-10-27T00:34:42.041Z,1761525282.041 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809684
2025-10-27T00:34:42.235Z,1761525282.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945440,0.314990,0.083209],[-0.324736,-0.931689,-0.162794],[0.026246,-0.180933,0.983145]]
2025-10-27T00:34:42.253Z,1761525282.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-10-27T00:34:42.256Z,1761525282.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.401070 m,
      nav range: 22.394701 m,
      bearing: 200.203837 deg,
      approach rate: -0.576631 m/s,
      LOS rate: -0.037865 deg/s,
      cmd heading: 196.727084 deg,
      new cmd heading: 196.690708 deg.

2025-10-27T00:34:42.257Z,1761525282.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.432900 target range: 24.401070 and range: 24.00 m.
2025-10-27T00:34:42.293Z,1761525282.293 [DAT](INFO): DAT read: Rx Time:00:34:43.2589 

2025-10-27T00:34:42.293Z,1761525282.293 [DAT](INFO): Rx dataTimestamp_ set to:1761525282.292873
2025-10-27T00:34:42.294Z,1761525282.294 [DAT](INFO): DAT read: Bearing   0.4,  -4.6 (Local)

2025-10-27T00:34:42.295Z,1761525282.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  -4.6 (Local)

2025-10-27T00:34:42.297Z,1761525282.297 [DAT](INFO): DAT read: Range 11 to 50 :    24.0 m (trip time 16.0 ms) speed 0.4

2025-10-27T00:34:42.302Z,1761525282.302 [DAT](INFO): DAT read: 00:34:43.2589 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 503, 0.46, 2.491, 0.834, 2.723, 2.525, PHS= 0.068,-1.646, 0.154, RAW= 152.4,  16.0, CAL= 153.0,  18.1, ROT= 357.0, -18.1

2025-10-27T00:34:42.303Z,1761525282.303 [DAT](INFO): got valid direction response:
 00:34:43.2589 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 503, 0.46, 2.491, 0.834, 2.723, 2.525, PHS= 0.068,-1.646, 0.154, RAW= 152.4,  16.0, CAL= 153.0,  18.1, ROT= 357.0, -18.1

2025-10-27T00:34:42.303Z,1761525282.303 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-27T00:34:42.304Z,1761525282.304 [DAT](INFO): direction in FSK: [0.949213,-0.049746,0.310676]
2025-10-27T00:34:42.305Z,1761525282.305 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:42.308Z,1761525282.308 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.077587
2025-10-27T00:34:42.544Z,1761525282.544 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.313274
2025-10-27T00:34:42.688Z,1761525282.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 0.504077 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T00:34:42.691Z,1761525282.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.902916 m,
      bearing: 199.401421 deg,
      lat: 36.779406 deg,
      lon: -121.859628 deg,
      deltaT: 1.005199 s,
      deltaX: -0.498154 m,
      approachRate: -0.495577 m/s,
      posRepo size: 4

2025-10-27T00:34:42.692Z,1761525282.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m.
2025-10-27T00:34:42.697Z,1761525282.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.902916 m,
      nav range: 22.152327 m,
      bearing: 200.169632 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037865 deg/s,
      cmd heading: 196.690706 deg,
      new cmd heading: 196.641542 deg.

2025-10-27T00:34:42.701Z,1761525282.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.432042 target range: 23.902916 and range: 24.00 m.
2025-10-27T00:34:42.797Z,1761525282.797 [DAT](INFO): DAT read: Rx Time:00:34:43.7586 

2025-10-27T00:34:42.797Z,1761525282.797 [DAT](INFO): Rx dataTimestamp_ set to:1761525282.796806
2025-10-27T00:34:42.798Z,1761525282.798 [DAT](INFO): DAT read: Bearing   1.8,  -4.4 (Local)

2025-10-27T00:34:42.799Z,1761525282.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,  -4.4 (Local)

2025-10-27T00:34:42.801Z,1761525282.801 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.4

2025-10-27T00:34:42.806Z,1761525282.806 [DAT](INFO): DAT read: 00:34:43.7586 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501,-0.18,-0.295,-1.913,-0.086,-0.234, PHS= 0.041,-1.633, 0.104, RAW= 151.8,  17.1, CAL= 152.5,  19.4, ROT= 357.5, -19.4

2025-10-27T00:34:42.807Z,1761525282.807 [DAT](INFO): got valid direction response:
 00:34:43.7586 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501,-0.18,-0.295,-1.913,-0.086,-0.234, PHS= 0.041,-1.633, 0.104, RAW= 151.8,  17.1, CAL= 152.5,  19.4, ROT= 357.5, -19.4

2025-10-27T00:34:42.807Z,1761525282.807 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-27T00:34:42.808Z,1761525282.808 [DAT](INFO): direction in FSK: [0.942325,-0.041143,0.332161]
2025-10-27T00:34:42.808Z,1761525282.808 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:42.824Z,1761525282.824 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.593195
2025-10-27T00:34:43.048Z,1761525283.048 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.817204
2025-10-27T00:34:43.157Z,1761525283.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.503933 s,
      deltaX: -0.400000 m,
      approachRate: -0.793756 m/s,
      rangeRepo size: 4

2025-10-27T00:34:43.175Z,1761525283.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.504534 m,
      bearing: 200.163000 deg,
      lat: 36.779406 deg,
      lon: -121.859628 deg,
      deltaT: 0.503933 s,
      deltaX: -0.398382 m,
      approachRate: -0.790546 m/s,
      posRepo size: 4

2025-10-27T00:34:43.176Z,1761525283.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-10-27T00:34:43.178Z,1761525283.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.504534 m,
      nav range: 21.884382 m,
      bearing: 200.152938 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037865 deg/s,
      cmd heading: 196.641542 deg,
      new cmd heading: 196.588095 deg.

2025-10-27T00:34:43.184Z,1761525283.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.431109 target range: 23.504534 and range: 23.60 m.
2025-10-27T00:34:43.301Z,1761525283.301 [DAT](INFO): DAT read: Rx Time:00:34:44.2585 

2025-10-27T00:34:43.301Z,1761525283.301 [DAT](INFO): Rx dataTimestamp_ set to:1761525283.300895
2025-10-27T00:34:43.302Z,1761525283.302 [DAT](INFO): DAT read: Bearing 359.7,  -5.0 (Local)

2025-10-27T00:34:43.303Z,1761525283.303 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,  -5.0 (Local)

2025-10-27T00:34:43.305Z,1761525283.305 [DAT](INFO): DAT read: Range 11 to 50 :    23.4 m (trip time 15.6 ms) speed 0.4

2025-10-27T00:34:43.310Z,1761525283.310 [DAT](INFO): DAT read: 00:34:44.2585 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500, 0.04, 2.768, 1.106, 3.021, 2.796, PHS= 0.074,-1.644, 0.181, RAW= 153.0,  15.5, CAL= 153.5,  17.5, ROT= 356.5, -17.5

2025-10-27T00:34:43.311Z,1761525283.311 [DAT](INFO): got valid direction response:
 00:34:44.2585 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500, 0.04, 2.768, 1.106, 3.021, 2.796, PHS= 0.074,-1.644, 0.181, RAW= 153.0,  15.5, CAL= 153.5,  17.5, ROT= 356.5, -17.5

2025-10-27T00:34:43.311Z,1761525283.311 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-27T00:34:43.312Z,1761525283.312 [DAT](INFO): direction in FSK: [0.951938,-0.058223,0.300706]
2025-10-27T00:34:43.313Z,1761525283.313 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:43.317Z,1761525283.317 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.085913
2025-10-27T00:34:43.492Z,1761525283.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945880,0.313840,0.082554],[-0.323480,-0.932155,-0.162630],[0.025914,-0.180533,0.983227]]
2025-10-27T00:34:43.536Z,1761525283.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 0.504089 s,
      deltaX: -0.200001 m,
      approachRate: -0.396757 m/s,
      rangeRepo size: 4

2025-10-27T00:34:43.538Z,1761525283.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.305450 m,
      bearing: 198.700350 deg,
      lat: 36.779406 deg,
      lon: -121.859626 deg,
      deltaT: 0.504089 s,
      deltaX: -0.199083 m,
      approachRate: -0.394937 m/s,
      posRepo size: 4

2025-10-27T00:34:43.538Z,1761525283.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.31 m.
2025-10-27T00:34:43.545Z,1761525283.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.305450 m,
      nav range: 21.665565 m,
      bearing: 199.674099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037865 deg/s,
      cmd heading: 196.588089 deg,
      new cmd heading: 196.545548 deg.

2025-10-27T00:34:43.546Z,1761525283.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.430367 target range: 23.305450 and range: 23.40 m.
2025-10-27T00:34:43.556Z,1761525283.556 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.324672
2025-10-27T00:34:43.805Z,1761525283.805 [DAT](INFO): DAT read: Rx Time:00:34:44.7583 

2025-10-27T00:34:43.805Z,1761525283.805 [DAT](INFO): Rx dataTimestamp_ set to:1761525283.804722
2025-10-27T00:34:43.806Z,1761525283.806 [DAT](INFO): DAT read: Bearing 358.5,  -3.4 (Local)

2025-10-27T00:34:43.807Z,1761525283.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  -3.4 (Local)

2025-10-27T00:34:43.809Z,1761525283.809 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.4

2025-10-27T00:34:43.820Z,1761525283.820 [DAT](INFO): DAT read: 00:34:44.7583 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 497, 0.36, 1.379,-0.306, 1.588, 1.349, PHS= 0.132,-1.610, 0.195, RAW= 151.8,  14.3, CAL= 152.1,  16.1, ROT= 357.9, -16.1

2025-10-27T00:34:43.821Z,1761525283.821 [DAT](INFO): got valid direction response:
 00:34:44.7583 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 497, 0.36, 1.379,-0.306, 1.588, 1.349, PHS= 0.132,-1.610, 0.195, RAW= 151.8,  14.3, CAL= 152.1,  16.1, ROT= 357.9, -16.1

2025-10-27T00:34:43.822Z,1761525283.822 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-27T00:34:43.824Z,1761525283.824 [DAT](INFO): direction in FSK: [0.960134,-0.035207,0.277315]
2025-10-27T00:34:43.824Z,1761525283.824 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:43.842Z,1761525283.842 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.610741
2025-10-27T00:34:43.931Z,1761525283.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946031,0.313386,0.082556],[-0.323076,-0.932006,-0.164280],[0.025460,-0.182085,0.982953]]
2025-10-27T00:34:44.024Z,1761525284.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.503827 s,
      deltaX: -0.400000 m,
      approachRate: -0.793923 m/s,
      rangeRepo size: 4

2025-10-27T00:34:44.026Z,1761525284.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.907068 m,
      bearing: 199.811126 deg,
      lat: 36.779402 deg,
      lon: -121.859628 deg,
      deltaT: 0.503827 s,
      deltaX: -0.398382 m,
      approachRate: -0.790712 m/s,
      posRepo size: 4

2025-10-27T00:34:44.035Z,1761525284.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.91 m.
2025-10-27T00:34:44.038Z,1761525284.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.907068 m,
      nav range: 21.774836 m,
      bearing: 199.764121 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037865 deg/s,
      cmd heading: 196.545551 deg,
      new cmd heading: 196.489546 deg.

2025-10-27T00:34:44.039Z,1761525284.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.429389 target range: 22.907068 and range: 23.00 m.
2025-10-27T00:34:44.059Z,1761525284.059 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.827971
2025-10-27T00:34:44.309Z,1761525284.309 [DAT](INFO): DAT read: Rx Time:00:34:45.2582 

2025-10-27T00:34:44.309Z,1761525284.309 [DAT](INFO): Rx dataTimestamp_ set to:1761525284.309121
2025-10-27T00:34:44.311Z,1761525284.311 [DAT](INFO): DAT read: Range 11 to 50 :    22.8 m (trip time 15.2 ms) speed 0.5

2025-10-27T00:34:44.311Z,1761525284.311 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-10-27T00:34:44.312Z,1761525284.312 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.081535
2025-10-27T00:34:44.425Z,1761525284.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946440,0.311981,0.083184],[-0.321901,-0.931765,-0.167908],[0.025124,-0.185692,0.982287]]
2025-10-27T00:34:44.441Z,1761525284.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:44.460Z,1761525284.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 0.504399 s,
      deltaX: -0.200001 m,
      approachRate: -0.396513 m/s,
      rangeRepo size: 4

2025-10-27T00:34:44.461Z,1761525284.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.91 m.
2025-10-27T00:34:44.464Z,1761525284.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.907068 m,
      nav range: 21.523884 m,
      bearing: 199.743284 deg,
      approach rate: -0.598522 m/s,
      LOS rate: -0.050275 deg/s,
      cmd heading: 196.489543 deg,
      new cmd heading: 196.426304 deg.

2025-10-27T00:34:44.465Z,1761525284.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.428286 target range: 22.907068 and range: 22.80 m.
2025-10-27T00:34:44.563Z,1761525284.563 [DAT](INFO): DAT read: Rx Time:00:34:45.7579 

2025-10-27T00:34:44.565Z,1761525284.565 [DAT](INFO): Rx dataTimestamp_ set to:1761525284.564128
2025-10-27T00:34:44.568Z,1761525284.568 [DAT](INFO): DAT read: Bearing   1.3,  -4.6 (Local)

2025-10-27T00:34:44.569Z,1761525284.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  -4.6 (Local)

2025-10-27T00:34:44.571Z,1761525284.571 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.339959
2025-10-27T00:34:44.813Z,1761525284.813 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.4

2025-10-27T00:34:44.818Z,1761525284.818 [DAT](INFO): DAT read: 00:34:45.7579 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509,-0.07,-0.892,-2.516,-0.676,-0.836, PHS= 0.046,-1.636, 0.116, RAW= 152.0,  16.9, CAL= 152.6,  19.1, ROT= 357.4, -19.1

2025-10-27T00:34:44.819Z,1761525284.819 [DAT](INFO): got valid direction response:
 00:34:45.7579 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509,-0.07,-0.892,-2.516,-0.676,-0.836, PHS= 0.046,-1.636, 0.116, RAW= 152.0,  16.9, CAL= 152.6,  19.1, ROT= 357.4, -19.1

2025-10-27T00:34:44.820Z,1761525284.820 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-27T00:34:44.821Z,1761525284.821 [DAT](INFO): direction in FSK: [0.943976,-0.042866,0.327218]
2025-10-27T00:34:44.821Z,1761525284.821 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:44.829Z,1761525284.829 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.598285
2025-10-27T00:34:44.860Z,1761525284.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946879,0.310549,0.083537],[-0.320606,-0.931875,-0.169766],[0.025126,-0.187530,0.981937]]
2025-10-27T00:34:44.938Z,1761525284.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.502200 s,
      deltaX: -0.400000 m,
      approachRate: -0.796495 m/s,
      rangeRepo size: 4

2025-10-27T00:34:44.945Z,1761525284.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.309519 m,
      bearing: 199.886360 deg,
      lat: 36.779402 deg,
      lon: -121.859627 deg,
      deltaT: 1.006599 s,
      deltaX: -0.597549 m,
      approachRate: -0.593632 m/s,
      posRepo size: 4

2025-10-27T00:34:44.947Z,1761525284.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-10-27T00:34:44.950Z,1761525284.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.309519 m,
      nav range: 21.221861 m,
      bearing: 199.545843 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050275 deg/s,
      cmd heading: 196.426309 deg,
      new cmd heading: 196.351718 deg.

2025-10-27T00:34:44.951Z,1761525284.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.426984 target range: 22.309519 and range: 22.40 m.
2025-10-27T00:34:45.068Z,1761525285.068 [DAT](INFO): DAT read: Rx Time:00:34:46.2578 

2025-10-27T00:34:45.070Z,1761525285.070 [DAT](INFO): Rx dataTimestamp_ set to:1761525285.068606
2025-10-27T00:34:45.074Z,1761525285.074 [DAT](INFO): DAT read: Bearing 358.2,  -3.6 (Local)

2025-10-27T00:34:45.076Z,1761525285.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  -3.6 (Local)

2025-10-27T00:34:45.078Z,1761525285.078 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.846855
2025-10-27T00:34:45.258Z,1761525285.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947221,0.309483,0.083626],[-0.319592,-0.932087,-0.170513],[0.025176,-0.188239,0.981800]]
2025-10-27T00:34:45.317Z,1761525285.317 [DAT](INFO): DAT read: Range 11 to 50 :    22.2 m (trip time 14.8 ms) speed 0.4

2025-10-27T00:34:45.322Z,1761525285.322 [DAT](INFO): DAT read: 00:34:46.2578 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 508, 0.17, 0.598,-1.088, 0.811, 0.566, PHS= 0.134,-1.609, 0.201, RAW= 151.9,  14.2, CAL= 152.2,  15.9, ROT= 357.8, -15.9

2025-10-27T00:34:45.323Z,1761525285.323 [DAT](INFO): got valid direction response:
 00:34:46.2578 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 508, 0.17, 0.598,-1.088, 0.811, 0.566, PHS= 0.134,-1.609, 0.201, RAW= 151.9,  14.2, CAL= 152.2,  15.9, ROT= 357.8, -15.9

2025-10-27T00:34:45.324Z,1761525285.324 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-27T00:34:45.325Z,1761525285.325 [DAT](INFO): direction in FSK: [0.961032,-0.036919,0.273959]
2025-10-27T00:34:45.325Z,1761525285.325 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:45.329Z,1761525285.329 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.097862
2025-10-27T00:34:45.354Z,1761525285.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.200001 m,
      deltaT: 0.504049 s,
      deltaX: -0.199999 m,
      approachRate: -0.396785 m/s,
      rangeRepo size: 4

2025-10-27T00:34:45.373Z,1761525285.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.110189 m,
      bearing: 199.565052 deg,
      lat: 36.779402 deg,
      lon: -121.859628 deg,
      deltaT: 0.504049 s,
      deltaX: -0.199329 m,
      approachRate: -0.395456 m/s,
      posRepo size: 4

2025-10-27T00:34:45.373Z,1761525285.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.11 m.
2025-10-27T00:34:45.384Z,1761525285.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.110189 m,
      nav range: 21.050581 m,
      bearing: 199.604162 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050275 deg/s,
      cmd heading: 196.351724 deg,
      new cmd heading: 196.288984 deg.

2025-10-27T00:34:45.392Z,1761525285.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.425889 target range: 22.110189 and range: 22.20 m.
2025-10-27T00:34:45.571Z,1761525285.571 [DAT](INFO): DAT read: Rx Time:00:34:46.7575 

2025-10-27T00:34:45.573Z,1761525285.573 [DAT](INFO): Rx dataTimestamp_ set to:1761525285.572048
2025-10-27T00:34:45.576Z,1761525285.576 [DAT](INFO): DAT read: Bearing 359.2,  -3.6 (Local)

2025-10-27T00:34:45.577Z,1761525285.577 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  -3.6 (Local)

2025-10-27T00:34:45.582Z,1761525285.582 [DAT](INFO): DAT read: Range 11 to 50 :    21.8 m (trip time 14.5 ms) speed 0.4

2025-10-27T00:34:45.593Z,1761525285.593 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-10-27T00:34:45.620Z,1761525285.620 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.389190
2025-10-27T00:34:45.732Z,1761525285.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947578,0.308401,0.083574],[-0.318519,-0.932448,-0.170549],[0.025331,-0.188228,0.981799]]
2025-10-27T00:34:45.811Z,1761525285.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 0.256678 s,
      deltaX: -0.400002 m,
      approachRate: -1.558379 m/s,
      rangeRepo size: 4

2025-10-27T00:34:45.815Z,1761525285.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.11 m.
2025-10-27T00:34:45.818Z,1761525285.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.110189 m,
      nav range: 20.793936 m,
      bearing: 199.576820 deg,
      approach rate: -0.562902 m/s,
      LOS rate: -0.060711 deg/s,
      cmd heading: 196.288982 deg,
      new cmd heading: 196.205942 deg.

2025-10-27T00:34:45.824Z,1761525285.824 [DAT](INFO): DAT read: 00:34:46.7575 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 505, 0.28,-0.110,-1.769, 0.091,-0.116, PHS= 0.108,-1.608, 0.163, RAW= 151.6,  15.2, CAL= 151.9,  17.0, ROT= 358.1, -17.0

2025-10-27T00:34:45.825Z,1761525285.825 [DAT](INFO): got valid direction response:
 00:34:46.7575 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 505, 0.28,-0.110,-1.769, 0.091,-0.116, PHS= 0.108,-1.608, 0.163, RAW= 151.6,  15.2, CAL= 151.9,  17.0, ROT= 358.1, -17.0

2025-10-27T00:34:45.825Z,1761525285.825 [DAT](INFO): #Rx 20: Read direction message, but no range.
2025-10-27T00:34:45.826Z,1761525285.826 [DAT](INFO): direction in FSK: [0.955779,-0.031706,0.292372]
2025-10-27T00:34:45.830Z,1761525285.830 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.598993
2025-10-27T00:34:45.831Z,1761525285.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.424440 target range: 22.110189 and range: 21.80 m.
2025-10-27T00:34:46.077Z,1761525286.077 [DAT](INFO): DAT read: Rx Time:00:34:47.2574 

2025-10-27T00:34:46.079Z,1761525286.079 [DAT](INFO): Rx dataTimestamp_ set to:1761525286.077663
2025-10-27T00:34:46.082Z,1761525286.082 [DAT](INFO): DAT read: Bearing 358.4,  -4.2 (Local)

2025-10-27T00:34:46.093Z,1761525286.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  -4.2 (Local)

2025-10-27T00:34:46.102Z,1761525286.102 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.5

2025-10-27T00:34:46.154Z,1761525286.154 [DAT](INFO): DAT read: 00:34:47.2574 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 504, 0.42, 1.038,-0.649, 1.265, 1.025, PHS= 0.115,-1.629, 0.196, RAW= 152.2,  14.6, CAL= 152.6,  16.4, ROT= 357.4, -16.4

2025-10-27T00:34:46.168Z,1761525286.168 [DAT](INFO): got valid direction response:
 00:34:47.2574 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 504, 0.42, 1.038,-0.649, 1.265, 1.025, PHS= 0.115,-1.629, 0.196, RAW= 152.2,  14.6, CAL= 152.6,  16.4, ROT= 357.4, -16.4

2025-10-27T00:34:46.168Z,1761525286.168 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-27T00:34:46.169Z,1761525286.169 [DAT](INFO): direction in FSK: [0.958326,-0.043517,0.282341]
2025-10-27T00:34:46.169Z,1761525286.169 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:46.171Z,1761525286.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948097,0.306653,0.084118],[-0.316955,-0.932610,-0.172567],[0.025531,-0.190271,0.981399]]
2025-10-27T00:34:46.186Z,1761525286.186 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.954965
2025-10-27T00:34:46.284Z,1761525286.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.505615 s,
      deltaX: -0.199999 m,
      approachRate: -0.395556 m/s,
      rangeRepo size: 4

2025-10-27T00:34:46.286Z,1761525286.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.512674 m,
      bearing: 199.149023 deg,
      lat: 36.779402 deg,
      lon: -121.859627 deg,
      deltaT: 0.762293 s,
      deltaX: -0.597515 m,
      approachRate: -0.783839 m/s,
      posRepo size: 4

2025-10-27T00:34:46.287Z,1761525286.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.51 m.
2025-10-27T00:34:46.293Z,1761525286.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.512674 m,
      nav range: 20.485775 m,
      bearing: 199.403122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.060711 deg/s,
      cmd heading: 196.205940 deg,
      new cmd heading: 196.120549 deg.

2025-10-27T00:34:46.294Z,1761525286.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.422949 target range: 21.512674 and range: 21.60 m.
2025-10-27T00:34:46.325Z,1761525286.325 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.094567
2025-10-27T00:34:46.541Z,1761525286.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948344,0.305911,0.084033],[-0.316211,-0.932842,-0.172674],[0.025567,-0.190327,0.981388]]
2025-10-27T00:34:46.580Z,1761525286.580 [DAT](INFO): DAT read: Rx Time:00:34:47.7571 

2025-10-27T00:34:46.582Z,1761525286.582 [DAT](INFO): Rx dataTimestamp_ set to:1761525286.580961
2025-10-27T00:34:46.587Z,1761525286.587 [DAT](INFO): DAT read: Bearing 357.4,  -3.2 (Local)

2025-10-27T00:34:46.588Z,1761525286.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  -3.2 (Local)

2025-10-27T00:34:46.594Z,1761525286.594 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.6

2025-10-27T00:34:46.649Z,1761525286.649 [DAT](INFO): DAT read: 00:34:47.7571 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501, 0.46,-0.111,-1.802, 0.093,-0.162, PHS= 0.154,-1.595, 0.212, RAW= 151.6,  13.7, CAL= 151.8,  15.3, ROT= 358.2, -15.3

2025-10-27T00:34:46.650Z,1761525286.650 [DAT](INFO): got valid direction response:
 00:34:47.7571 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501, 0.46,-0.111,-1.802, 0.093,-0.162, PHS= 0.154,-1.595, 0.212, RAW= 151.6,  13.7, CAL= 151.8,  15.3, ROT= 358.2, -15.3

2025-10-27T00:34:46.651Z,1761525286.651 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-27T00:34:46.655Z,1761525286.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:46.668Z,1761525286.668 [DAT](INFO): direction in FSK: [0.964081,-0.030297,0.263873]
2025-10-27T00:34:46.668Z,1761525286.668 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:46.673Z,1761525286.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503298 s,
      deltaX: -0.400000 m,
      approachRate: -0.794757 m/s,
      rangeRepo size: 4

2025-10-27T00:34:46.674Z,1761525286.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.51 m.
2025-10-27T00:34:46.681Z,1761525286.681 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.449514
2025-10-27T00:34:46.685Z,1761525286.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.512674 m,
      nav range: 20.260046 m,
      bearing: 199.371128 deg,
      approach rate: -0.572281 m/s,
      LOS rate: -0.082019 deg/s,
      cmd heading: 196.120549 deg,
      new cmd heading: 196.023496 deg.

2025-10-27T00:34:46.686Z,1761525286.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.421255 target range: 21.512674 and range: 21.20 m.
2025-10-27T00:34:46.831Z,1761525286.831 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.599533
2025-10-27T00:34:46.946Z,1761525286.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948696,0.304748,0.084293],[-0.315119,-0.933189,-0.172797],[0.026002,-0.190494,0.981344]]
2025-10-27T00:34:47.044Z,1761525287.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.51 m.
2025-10-27T00:34:47.051Z,1761525287.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.512674 m,
      nav range: 20.030277 m,
      bearing: 199.318513 deg,
      approach rate: -0.619046 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 196.023492 deg,
      new cmd heading: 195.863839 deg.

2025-10-27T00:34:47.052Z,1761525287.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.418469 target range: 21.512674 and range: 21.20 m.
2025-10-27T00:34:47.085Z,1761525287.085 [DAT](INFO): DAT read: Rx Time:00:34:48.2570 

2025-10-27T00:34:47.087Z,1761525287.087 [DAT](INFO): Rx dataTimestamp_ set to:1761525287.085755
2025-10-27T00:34:47.091Z,1761525287.091 [DAT](INFO): DAT read: Bearing 358.5,  -3.6 (Local)

2025-10-27T00:34:47.092Z,1761525287.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  -3.6 (Local)

2025-10-27T00:34:47.119Z,1761525287.119 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.5

2025-10-27T00:34:47.128Z,1761525287.128 [DAT](INFO): DAT read: 00:34:48.2570 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 500, 0.41, 2.132, 0.432, 2.337, 2.112, PHS= 0.122,-1.635, 0.180, RAW= 151.6,  14.8, CAL= 151.9,  16.6, ROT= 358.1, -16.6

2025-10-27T00:34:47.129Z,1761525287.129 [DAT](INFO): got valid direction response:
 00:34:48.2570 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 500, 0.41, 2.132, 0.432, 2.337, 2.112, PHS= 0.122,-1.635, 0.180, RAW= 151.6,  14.8, CAL= 151.9,  16.6, ROT= 358.1, -16.6

2025-10-27T00:34:47.129Z,1761525287.129 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-27T00:34:47.130Z,1761525287.130 [DAT](INFO): direction in FSK: [0.957796,-0.031773,0.285688]
2025-10-27T00:34:47.139Z,1761525287.139 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:47.152Z,1761525287.152 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.920826
2025-10-27T00:34:47.332Z,1761525287.332 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.101285
2025-10-27T00:34:47.350Z,1761525287.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949461,0.302260,0.084638],[-0.312757,-0.933857,-0.173475],[0.026606,-0.191179,0.981195]]
2025-10-27T00:34:47.393Z,1761525287.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.504794 s,
      deltaX: -0.200001 m,
      approachRate: -0.396203 m/s,
      rangeRepo size: 4

2025-10-27T00:34:47.400Z,1761525287.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.915077 m,
      bearing: 199.646417 deg,
      lat: 36.779402 deg,
      lon: -121.859628 deg,
      deltaT: 1.008092 s,
      deltaX: -0.597597 m,
      approachRate: -0.592800 m/s,
      posRepo size: 4

2025-10-27T00:34:47.400Z,1761525287.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.92 m.
2025-10-27T00:34:47.407Z,1761525287.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.915077 m,
      nav range: 19.841045 m,
      bearing: 199.395197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 195.863843 deg,
      new cmd heading: 195.713880 deg.

2025-10-27T00:34:47.408Z,1761525287.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.415852 target range: 20.915077 and range: 21.00 m.
2025-10-27T00:34:47.590Z,1761525287.590 [DAT](INFO): DAT read: Rx Time:00:34:48.7567 

2025-10-27T00:34:47.592Z,1761525287.592 [DAT](INFO): Rx dataTimestamp_ set to:1761525287.590278
2025-10-27T00:34:47.596Z,1761525287.596 [DAT](INFO): DAT read: Bearing 356.8,  -3.3 (Local)

2025-10-27T00:34:47.597Z,1761525287.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  -3.3 (Local)

2025-10-27T00:34:47.608Z,1761525287.608 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.8

2025-10-27T00:34:47.614Z,1761525287.614 [DAT](INFO): DAT read: 00:34:48.7567 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 497, 0.41, 0.808,-0.915, 1.018, 0.746, PHS= 0.164,-1.616, 0.228, RAW= 151.7,  13.4, CAL= 151.9,  15.0, ROT= 358.1, -15.0

2025-10-27T00:34:47.615Z,1761525287.615 [DAT](INFO): got valid direction response:
 00:34:48.7567 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 497, 0.41, 0.808,-0.915, 1.018, 0.746, PHS= 0.164,-1.616, 0.228, RAW= 151.7,  13.4, CAL= 151.9,  15.0, ROT= 358.1, -15.0

2025-10-27T00:34:47.616Z,1761525287.616 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-27T00:34:47.617Z,1761525287.617 [DAT](INFO): direction in FSK: [0.965395,-0.032025,0.258819]
2025-10-27T00:34:47.617Z,1761525287.617 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:47.622Z,1761525287.622 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.391700
2025-10-27T00:34:47.754Z,1761525287.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949976,0.300568,0.084875],[-0.311149,-0.934321,-0.173871],[0.027041,-0.191582,0.981104]]
2025-10-27T00:34:47.839Z,1761525287.839 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.607770
2025-10-27T00:34:47.850Z,1761525287.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.504523 s,
      deltaX: -0.400000 m,
      approachRate: -0.792827 m/s,
      rangeRepo size: 4

2025-10-27T00:34:47.856Z,1761525287.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.516695 m,
      bearing: 199.222030 deg,
      lat: 36.779401 deg,
      lon: -121.859628 deg,
      deltaT: 0.504523 s,
      deltaX: -0.398382 m,
      approachRate: -0.789621 m/s,
      posRepo size: 4

2025-10-27T00:34:47.857Z,1761525287.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.52 m.
2025-10-27T00:34:47.864Z,1761525287.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.516695 m,
      nav range: 19.618668 m,
      bearing: 199.312471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 195.713880 deg,
      new cmd heading: 195.517476 deg.

2025-10-27T00:34:47.865Z,1761525287.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.412424 target range: 20.516695 and range: 20.60 m.
2025-10-27T00:34:48.092Z,1761525288.092 [DAT](INFO): DAT read: Rx Time:00:34:49.2565 

2025-10-27T00:34:48.094Z,1761525288.094 [DAT](INFO): Rx dataTimestamp_ set to:1761525288.092869
2025-10-27T00:34:48.099Z,1761525288.099 [DAT](INFO): DAT read: Bearing 358.0,  -3.7 (Local)

2025-10-27T00:34:48.100Z,1761525288.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  -3.7 (Local)

2025-10-27T00:34:48.109Z,1761525288.109 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed 0.5

2025-10-27T00:34:48.116Z,1761525288.116 [DAT](INFO): DAT read: 00:34:49.2565 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 511, 0.37, 1.173,-0.520, 1.382, 1.153, PHS= 0.123,-1.628, 0.185, RAW= 151.7,  14.7, CAL= 152.1,  16.5, ROT= 357.9, -16.5

2025-10-27T00:34:48.118Z,1761525288.118 [DAT](INFO): got valid direction response:
 00:34:49.2565 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 511, 0.37, 1.173,-0.520, 1.382, 1.153, PHS= 0.123,-1.628, 0.185, RAW= 151.7,  14.7, CAL= 152.1,  16.5, ROT= 357.9, -16.5

2025-10-27T00:34:48.118Z,1761525288.118 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-27T00:34:48.170Z,1761525288.170 [DAT](INFO): direction in FSK: [0.958176,-0.035135,0.284015]
2025-10-27T00:34:48.170Z,1761525288.170 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:48.174Z,1761525288.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950629,0.298404,0.085208],[-0.309102,-0.934882,-0.174504],[0.027587,-0.192226,0.980963]]
2025-10-27T00:34:48.204Z,1761525288.204 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.972898
2025-10-27T00:34:48.291Z,1761525288.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.299999 m,
      deltaT: 0.502591 s,
      deltaX: -0.300001 m,
      approachRate: -0.596909 m/s,
      rangeRepo size: 4

2025-10-27T00:34:48.293Z,1761525288.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.217993 m,
      bearing: 199.226615 deg,
      lat: 36.779402 deg,
      lon: -121.859628 deg,
      deltaT: 0.502591 s,
      deltaX: -0.298702 m,
      approachRate: -0.594325 m/s,
      posRepo size: 4

2025-10-27T00:34:48.294Z,1761525288.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.22 m.
2025-10-27T00:34:48.301Z,1761525288.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.217993 m,
      nav range: 19.292191 m,
      bearing: 199.219392 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 195.517471 deg,
      new cmd heading: 195.329486 deg.

2025-10-27T00:34:48.302Z,1761525288.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.409143 target range: 20.217993 and range: 20.30 m.
2025-10-27T00:34:48.342Z,1761525288.342 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.110856
2025-10-27T00:34:48.597Z,1761525288.597 [DAT](INFO): DAT read: Rx Time:00:34:49.7562 

2025-10-27T00:34:48.599Z,1761525288.599 [DAT](INFO): Rx dataTimestamp_ set to:1761525288.597726
2025-10-27T00:34:48.604Z,1761525288.604 [DAT](INFO): DAT read: Bearing 357.9,  -3.4 (Local)

2025-10-27T00:34:48.605Z,1761525288.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  -3.4 (Local)

2025-10-27T00:34:48.609Z,1761525288.609 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.6

2025-10-27T00:34:48.622Z,1761525288.622 [DAT](INFO): DAT read: 00:34:49.7562 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 508, 0.34,-0.423,-2.118,-0.225,-0.451, PHS= 0.131,-1.622, 0.182, RAW= 151.4,  14.6, CAL= 151.7,  16.3, ROT= 358.3, -16.3

2025-10-27T00:34:48.632Z,1761525288.632 [DAT](INFO): got valid direction response:
 00:34:49.7562 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 508, 0.34,-0.423,-2.118,-0.225,-0.451, PHS= 0.131,-1.622, 0.182, RAW= 151.4,  14.6, CAL= 151.7,  16.3, ROT= 358.3, -16.3

2025-10-27T00:34:48.632Z,1761525288.632 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-27T00:34:48.633Z,1761525288.633 [DAT](INFO): direction in FSK: [0.959383,-0.028474,0.280667]
2025-10-27T00:34:48.633Z,1761525288.633 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:48.649Z,1761525288.649 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.418475
2025-10-27T00:34:48.663Z,1761525288.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951476,0.295535,0.085747],[-0.306429,-0.935475,-0.176034],[0.028190,-0.193768,0.980642]]
2025-10-27T00:34:48.748Z,1761525288.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.504857 s,
      deltaX: -0.500000 m,
      approachRate: -0.990379 m/s,
      rangeRepo size: 4

2025-10-27T00:34:48.750Z,1761525288.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.720013 m,
      bearing: 199.445825 deg,
      lat: 36.779402 deg,
      lon: -121.859628 deg,
      deltaT: 0.504857 s,
      deltaX: -0.497980 m,
      approachRate: -0.986379 m/s,
      posRepo size: 4

2025-10-27T00:34:48.750Z,1761525288.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.72 m.
2025-10-27T00:34:48.765Z,1761525288.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.720013 m,
      nav range: 19.025394 m,
      bearing: 199.166747 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 195.329490 deg,
      new cmd heading: 195.133365 deg.

2025-10-27T00:34:48.766Z,1761525288.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.405720 target range: 19.720013 and range: 19.80 m.
2025-10-27T00:34:48.848Z,1761525288.848 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.617072
2025-10-27T00:34:49.102Z,1761525289.102 [DAT](INFO): DAT read: Rx Time:00:34:50.2561 

2025-10-27T00:34:49.104Z,1761525289.104 [DAT](INFO): Rx dataTimestamp_ set to:1761525289.102411
2025-10-27T00:34:49.108Z,1761525289.108 [DAT](INFO): DAT read: Bearing 357.7,  -3.5 (Local)

2025-10-27T00:34:49.109Z,1761525289.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  -3.5 (Local)

2025-10-27T00:34:49.116Z,1761525289.116 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.6

2025-10-27T00:34:49.121Z,1761525289.121 [DAT](INFO): DAT read: 00:34:50.2561 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.33, 0.504,-1.195, 0.707, 0.476, PHS= 0.129,-1.626, 0.187, RAW= 151.6,  14.6, CAL= 151.9,  16.3, ROT= 358.1, -16.3

2025-10-27T00:34:49.122Z,1761525289.122 [DAT](INFO): got valid direction response:
 00:34:50.2561 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.33, 0.504,-1.195, 0.707, 0.476, PHS= 0.129,-1.626, 0.187, RAW= 151.6,  14.6, CAL= 151.9,  16.3, ROT= 358.1, -16.3

2025-10-27T00:34:49.122Z,1761525289.122 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-27T00:34:49.148Z,1761525289.148 [DAT](INFO): direction in FSK: [0.959278,-0.031822,0.280667]
2025-10-27T00:34:49.148Z,1761525289.148 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:49.160Z,1761525289.160 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.929474
2025-10-27T00:34:49.186Z,1761525289.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952979,0.290497,0.086272],[-0.301610,-0.936838,-0.177106],[0.029374,-0.194799,0.980403]]
2025-10-27T00:34:49.277Z,1761525289.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.504685 s,
      deltaX: -0.099998 m,
      approachRate: -0.198140 m/s,
      rangeRepo size: 4

2025-10-27T00:34:49.283Z,1761525289.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.620646 m,
      bearing: 198.977385 deg,
      lat: 36.779402 deg,
      lon: -121.859628 deg,
      deltaT: 0.504685 s,
      deltaX: -0.099367 m,
      approachRate: -0.196889 m/s,
      posRepo size: 4

2025-10-27T00:34:49.284Z,1761525289.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-10-27T00:34:49.287Z,1761525289.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.620646 m,
      nav range: 18.667400 m,
      bearing: 199.070176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 195.133368 deg,
      new cmd heading: 194.903594 deg.

2025-10-27T00:34:49.292Z,1761525289.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.401710 target range: 19.620646 and range: 19.70 m.
2025-10-27T00:34:49.349Z,1761525289.349 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.118082
2025-10-27T00:34:49.605Z,1761525289.605 [DAT](INFO): DAT read: Rx Time:00:34:50.7558 

2025-10-27T00:34:49.607Z,1761525289.607 [DAT](INFO): Rx dataTimestamp_ set to:1761525289.605421
2025-10-27T00:34:49.609Z,1761525289.609 [DAT](INFO): DAT read: Bearing 358.5,  -3.7 (Local)

2025-10-27T00:34:49.609Z,1761525289.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  -3.7 (Local)

2025-10-27T00:34:49.612Z,1761525289.612 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.5

2025-10-27T00:34:49.637Z,1761525289.637 [DAT](INFO): DAT read: 00:34:50.7558 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.37,-0.550,-2.234,-0.349,-0.553, PHS= 0.105,-1.636, 0.160, RAW= 151.5,  15.3, CAL= 151.9,  17.2, ROT= 358.1, -17.2

2025-10-27T00:34:49.638Z,1761525289.638 [DAT](INFO): got valid direction response:
 00:34:50.7558 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.37,-0.550,-2.234,-0.349,-0.553, PHS= 0.105,-1.636, 0.160, RAW= 151.5,  15.3, CAL= 151.9,  17.2, ROT= 358.1, -17.2

2025-10-27T00:34:49.638Z,1761525289.638 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-27T00:34:49.652Z,1761525289.652 [DAT](INFO): direction in FSK: [0.954753,-0.031672,0.295708]
2025-10-27T00:34:49.652Z,1761525289.652 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:49.676Z,1761525289.676 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.445231
2025-10-27T00:34:49.694Z,1761525289.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953729,0.288061,0.086154],[-0.299179,-0.937696,-0.176686],[0.029890,-0.194286,0.980489]]
2025-10-27T00:34:49.752Z,1761525289.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.503010 s,
      deltaX: -0.500000 m,
      approachRate: -0.994016 m/s,
      rangeRepo size: 4

2025-10-27T00:34:49.754Z,1761525289.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.122660 m,
      bearing: 199.016346 deg,
      lat: 36.779402 deg,
      lon: -121.859627 deg,
      deltaT: 0.503010 s,
      deltaX: -0.497986 m,
      approachRate: -0.990012 m/s,
      posRepo size: 4

2025-10-27T00:34:49.759Z,1761525289.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-10-27T00:34:49.762Z,1761525289.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.122660 m,
      nav range: 18.327772 m,
      bearing: 198.963332 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 194.903601 deg,
      new cmd heading: 194.699248 deg.

2025-10-27T00:34:49.767Z,1761525289.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.398143 target range: 19.122660 and range: 19.20 m.
2025-10-27T00:34:49.856Z,1761525289.856 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.624501
2025-10-27T00:34:50.108Z,1761525290.108 [DAT](INFO): DAT read: Rx Time:00:34:51.2557 

2025-10-27T00:34:50.109Z,1761525290.109 [DAT](INFO): Rx dataTimestamp_ set to:1761525290.108537
2025-10-27T00:34:50.110Z,1761525290.110 [DAT](INFO): DAT read: Bearing 356.9,  -3.5 (Local)

2025-10-27T00:34:50.110Z,1761525290.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,  -3.5 (Local)

2025-10-27T00:34:50.113Z,1761525290.113 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.5

2025-10-27T00:34:50.117Z,1761525290.117 [DAT](INFO): DAT read: 00:34:51.2557 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.47,-0.149,-1.848, 0.061,-0.188, PHS= 0.141,-1.615, 0.205, RAW= 151.8,  14.1, CAL= 152.0,  15.8, ROT= 358.0, -15.8

2025-10-27T00:34:50.118Z,1761525290.118 [DAT](INFO): got valid direction response:
 00:34:51.2557 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503, 0.47,-0.149,-1.848, 0.061,-0.188, PHS= 0.141,-1.615, 0.205, RAW= 151.8,  14.1, CAL= 152.0,  15.8, ROT= 358.0, -15.8

2025-10-27T00:34:50.119Z,1761525290.119 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-27T00:34:50.120Z,1761525290.120 [DAT](INFO): direction in FSK: [0.961632,-0.033581,0.272280]
2025-10-27T00:34:50.121Z,1761525290.121 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:50.124Z,1761525290.124 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.893588
2025-10-27T00:34:50.140Z,1761525290.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954567,0.285228,0.086293],[-0.296435,-0.938486,-0.177119],[0.030465,-0.194652,0.980399]]
2025-10-27T00:34:50.269Z,1761525290.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.503116 s,
      deltaX: -0.100000 m,
      approachRate: -0.198762 m/s,
      rangeRepo size: 4

2025-10-27T00:34:50.272Z,1761525290.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.023163 m,
      bearing: 198.459479 deg,
      lat: 36.779402 deg,
      lon: -121.859627 deg,
      deltaT: 0.503116 s,
      deltaX: -0.099497 m,
      approachRate: -0.197761 m/s,
      posRepo size: 4

2025-10-27T00:34:50.272Z,1761525290.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-10-27T00:34:50.283Z,1761525290.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.023163 m,
      nav range: 18.017633 m,
      bearing: 198.850824 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 194.699241 deg,
      new cmd heading: 194.476993 deg.

2025-10-27T00:34:50.284Z,1761525290.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.394264 target range: 19.023163 and range: 19.10 m.
2025-10-27T00:34:50.361Z,1761525290.361 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.129848
2025-10-27T00:34:50.610Z,1761525290.610 [DAT](INFO): DAT read: Rx Time:00:34:51.7555 

2025-10-27T00:34:50.610Z,1761525290.610 [DAT](INFO): Rx dataTimestamp_ set to:1761525290.609782
2025-10-27T00:34:50.611Z,1761525290.611 [DAT](INFO): DAT read: Bearing 356.9,  -3.1 (Local)

2025-10-27T00:34:50.612Z,1761525290.612 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,  -3.1 (Local)

2025-10-27T00:34:50.614Z,1761525290.614 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.4

2025-10-27T00:34:50.619Z,1761525290.619 [DAT](INFO): DAT read: 00:34:51.7555 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501,-0.37,-2.868, 1.707,-2.672,-2.912, PHS= 0.146,-1.619, 0.196, RAW= 151.4,  14.1, CAL= 151.6,  15.8, ROT= 358.4, -15.8

2025-10-27T00:34:50.620Z,1761525290.620 [DAT](INFO): got valid direction response:
 00:34:51.7555 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501,-0.37,-2.868, 1.707,-2.672,-2.912, PHS= 0.146,-1.619, 0.196, RAW= 151.4,  14.1, CAL= 151.6,  15.8, ROT= 358.4, -15.8

2025-10-27T00:34:50.620Z,1761525290.620 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-27T00:34:50.621Z,1761525290.621 [DAT](INFO): direction in FSK: [0.961843,-0.026867,0.272280]
2025-10-27T00:34:50.621Z,1761525290.621 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:50.661Z,1761525290.661 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.429937
2025-10-27T00:34:50.667Z,1761525290.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955388,0.282285,0.086889],[-0.293728,-0.938912,-0.179352],[0.030952,-0.196873,0.979940]]
2025-10-27T00:34:50.741Z,1761525290.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.501245 s,
      deltaX: -0.300001 m,
      approachRate: -0.598512 m/s,
      rangeRepo size: 4

2025-10-27T00:34:50.747Z,1761525290.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.724369 m,
      bearing: 198.730073 deg,
      lat: 36.779402 deg,
      lon: -121.859627 deg,
      deltaT: 0.501245 s,
      deltaX: -0.298794 m,
      approachRate: -0.596103 m/s,
      posRepo size: 4

2025-10-27T00:34:50.748Z,1761525290.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m.
2025-10-27T00:34:50.751Z,1761525290.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.724369 m,
      nav range: 17.797478 m,
      bearing: 198.714940 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 194.476987 deg,
      new cmd heading: 194.273884 deg.

2025-10-27T00:34:50.758Z,1761525290.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.390719 target range: 18.724369 and range: 18.80 m.
2025-10-27T00:34:50.865Z,1761525290.865 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.633200
2025-10-27T00:34:51.113Z,1761525291.113 [DAT](INFO): DAT read: Rx Time:00:34:52.2553 

2025-10-27T00:34:51.113Z,1761525291.113 [DAT](INFO): Rx dataTimestamp_ set to:1761525291.112827
2025-10-27T00:34:51.114Z,1761525291.114 [DAT](INFO): DAT read: Bearing 356.6,  -3.5 (Local)

2025-10-27T00:34:51.115Z,1761525291.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  -3.5 (Local)

2025-10-27T00:34:51.117Z,1761525291.117 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed 0.5

2025-10-27T00:34:51.122Z,1761525291.122 [DAT](INFO): DAT read: 00:34:52.2553 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.20,-2.512, 2.070,-2.301,-2.550, PHS= 0.140,-1.618, 0.205, RAW= 151.8,  14.1, CAL= 152.0,  15.8, ROT= 358.0, -15.8

2025-10-27T00:34:51.123Z,1761525291.123 [DAT](INFO): got valid direction response:
 00:34:52.2553 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.20,-2.512, 2.070,-2.301,-2.550, PHS= 0.140,-1.618, 0.205, RAW= 151.8,  14.1, CAL= 152.0,  15.8, ROT= 358.0, -15.8

2025-10-27T00:34:51.123Z,1761525291.123 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-10-27T00:34:51.124Z,1761525291.124 [DAT](INFO): direction in FSK: [0.961632,-0.033581,0.272280]
2025-10-27T00:34:51.124Z,1761525291.124 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:51.137Z,1761525291.137 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.906189
2025-10-27T00:34:51.177Z,1761525291.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956722,0.277495,0.087629],[-0.289292,-0.939555,-0.183159],[0.031506,-0.200583,0.979170]]
2025-10-27T00:34:51.265Z,1761525291.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.503045 s,
      deltaX: -0.199999 m,
      approachRate: -0.397576 m/s,
      rangeRepo size: 4

2025-10-27T00:34:51.271Z,1761525291.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.525187 m,
      bearing: 198.131846 deg,
      lat: 36.779402 deg,
      lon: -121.859627 deg,
      deltaT: 0.503045 s,
      deltaX: -0.199183 m,
      approachRate: -0.395954 m/s,
      posRepo size: 4

2025-10-27T00:34:51.272Z,1761525291.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.53 m.
2025-10-27T00:34:51.275Z,1761525291.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.525187 m,
      nav range: 17.506210 m,
      bearing: 198.390096 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 194.273885 deg,
      new cmd heading: 194.048486 deg.

2025-10-27T00:34:51.277Z,1761525291.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.386785 target range: 18.525187 and range: 18.60 m.
2025-10-27T00:34:51.366Z,1761525291.366 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.135323
2025-10-27T00:34:51.621Z,1761525291.621 [DAT](INFO): DAT read: Rx Time:00:34:52.7550 

2025-10-27T00:34:51.621Z,1761525291.621 [DAT](INFO): Rx dataTimestamp_ set to:1761525291.621130
2025-10-27T00:34:51.623Z,1761525291.623 [DAT](INFO): DAT read: Bearing 356.6,  -3.3 (Local)

2025-10-27T00:34:51.623Z,1761525291.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  -3.3 (Local)

2025-10-27T00:34:51.625Z,1761525291.625 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed 0.4

2025-10-27T00:34:51.630Z,1761525291.630 [DAT](INFO): DAT read: 00:34:52.7550 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496,-0.02, 2.952, 1.253,-3.129, 2.913, PHS= 0.141,-1.615, 0.197, RAW= 151.5,  14.2, CAL= 151.8,  15.9, ROT= 358.2, -15.9

2025-10-27T00:34:51.639Z,1761525291.639 [DAT](INFO): got valid direction response:
 00:34:52.7550 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496,-0.02, 2.952, 1.253,-3.129, 2.913, PHS= 0.141,-1.615, 0.197, RAW= 151.5,  14.2, CAL= 151.8,  15.9, ROT= 358.2, -15.9

2025-10-27T00:34:51.640Z,1761525291.640 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-10-27T00:34:51.641Z,1761525291.641 [DAT](INFO): direction in FSK: [0.961267,-0.030209,0.273959]
2025-10-27T00:34:51.641Z,1761525291.641 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:51.657Z,1761525291.657 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.426033
2025-10-27T00:34:51.709Z,1761525291.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957159,0.275912,0.087854],[-0.287803,-0.939891,-0.183778],[0.031867,-0.201189,0.979034]]
2025-10-27T00:34:51.762Z,1761525291.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.508303 s,
      deltaX: -0.400000 m,
      approachRate: -0.786931 m/s,
      rangeRepo size: 4

2025-10-27T00:34:51.768Z,1761525291.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.126797 m,
      bearing: 198.272800 deg,
      lat: 36.779401 deg,
      lon: -121.859627 deg,
      deltaT: 0.508303 s,
      deltaX: -0.398390 m,
      approachRate: -0.783764 m/s,
      posRepo size: 4

2025-10-27T00:34:51.769Z,1761525291.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m.
2025-10-27T00:34:51.776Z,1761525291.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.126797 m,
      nav range: 17.261169 m,
      bearing: 198.249061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 194.048488 deg,
      new cmd heading: 193.834656 deg.

2025-10-27T00:34:51.777Z,1761525291.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.383053 target range: 18.126797 and range: 18.20 m.
2025-10-27T00:34:51.874Z,1761525291.874 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.643381
2025-10-27T00:34:52.036Z,1761525292.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957802,0.273862,0.087267],[-0.285579,-0.941113,-0.180970],[0.032568,-0.198255,0.979609]]
2025-10-27T00:34:52.125Z,1761525292.125 [DAT](INFO): DAT read: Rx Time:00:34:53.2549 

2025-10-27T00:34:52.125Z,1761525292.125 [DAT](INFO): Rx dataTimestamp_ set to:1761525292.124758
2025-10-27T00:34:52.126Z,1761525292.126 [DAT](INFO): DAT read: Bearing 357.1,  -2.9 (Local)

2025-10-27T00:34:52.127Z,1761525292.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1,  -2.9 (Local)

2025-10-27T00:34:52.129Z,1761525292.129 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.4

2025-10-27T00:34:52.134Z,1761525292.134 [DAT](INFO): DAT read: 00:34:53.2549 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511, 0.15,-0.529,-2.213,-0.346,-0.562, PHS= 0.135,-1.606, 0.172, RAW= 151.0,  14.6, CAL= 151.3,  16.4, ROT= 358.7, -16.4

2025-10-27T00:34:52.135Z,1761525292.135 [DAT](INFO): got valid direction response:
 00:34:53.2549 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511, 0.15,-0.529,-2.213,-0.346,-0.562, PHS= 0.135,-1.606, 0.172, RAW= 151.0,  14.6, CAL= 151.3,  16.4, ROT= 358.7, -16.4

2025-10-27T00:34:52.135Z,1761525292.135 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-27T00:34:52.136Z,1761525292.136 [DAT](INFO): direction in FSK: [0.959067,-0.021764,0.282341]
2025-10-27T00:34:52.136Z,1761525292.136 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:52.140Z,1761525292.140 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.909363
2025-10-27T00:34:52.161Z,1761525292.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.503628 s,
      deltaX: -0.200001 m,
      approachRate: -0.397120 m/s,
      rangeRepo size: 4

2025-10-27T00:34:52.167Z,1761525292.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.927601 m,
      bearing: 198.694140 deg,
      lat: 36.779401 deg,
      lon: -121.859627 deg,
      deltaT: 0.503628 s,
      deltaX: -0.199196 m,
      approachRate: -0.395522 m/s,
      posRepo size: 4

2025-10-27T00:34:52.168Z,1761525292.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.93 m.
2025-10-27T00:34:52.175Z,1761525292.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.927601 m,
      nav range: 17.031002 m,
      bearing: 198.211256 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.143380 deg/s,
      cmd heading: 193.834662 deg,
      new cmd heading: 193.663014 deg.

2025-10-27T00:34:52.176Z,1761525292.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.380057 target range: 17.927601 and range: 18.00 m.
2025-10-27T00:34:52.381Z,1761525292.381 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.149460
2025-10-27T00:34:52.434Z,1761525292.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958338,0.272027,0.087113],[-0.283739,-0.941707,-0.180777],[0.032859,-0.197962,0.979659]]
2025-10-27T00:34:52.450Z,1761525292.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:52.452Z,1761525292.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.93 m.
2025-10-27T00:34:52.455Z,1761525292.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.927601 m,
      nav range: 16.859106 m,
      bearing: 198.165763 deg,
      approach rate: -0.589907 m/s,
      LOS rate: -0.157713 deg/s,
      cmd heading: 193.663020 deg,
      new cmd heading: 193.525149 deg.

2025-10-27T00:34:52.456Z,1761525292.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.377651 target range: 17.927601 and range: 18.00 m.
2025-10-27T00:34:52.628Z,1761525292.628 [DAT](INFO): DAT read: Rx Time:00:34:53.7546 

2025-10-27T00:34:52.629Z,1761525292.629 [DAT](INFO): Rx dataTimestamp_ set to:1761525292.628683
2025-10-27T00:34:52.630Z,1761525292.630 [DAT](INFO): DAT read: Bearing 355.3,  -2.9 (Local)

2025-10-27T00:34:52.631Z,1761525292.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,  -2.9 (Local)

2025-10-27T00:34:52.633Z,1761525292.633 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-10-27T00:34:52.638Z,1761525292.638 [DAT](INFO): DAT read: 00:34:53.7546 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.35, 1.816, 0.089, 2.019, 1.742, PHS= 0.176,-1.608, 0.233, RAW= 151.6,  13.2, CAL= 151.7,  14.6, ROT= 358.3, -14.6

2025-10-27T00:34:52.641Z,1761525292.641 [DAT](INFO): got valid direction response:
 00:34:53.7546 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.35, 1.816, 0.089, 2.019, 1.742, PHS= 0.176,-1.608, 0.233, RAW= 151.6,  13.2, CAL= 151.7,  14.6, ROT= 358.3, -14.6

2025-10-27T00:34:52.642Z,1761525292.642 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-10-27T00:34:52.646Z,1761525292.646 [DAT](INFO): direction in FSK: [0.967283,-0.028709,0.252069]
2025-10-27T00:34:52.646Z,1761525292.646 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:52.650Z,1761525292.650 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.419392
2025-10-27T00:34:52.836Z,1761525292.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958777,0.270219,0.087909],[-0.282165,-0.941928,-0.182083],[0.033602,-0.199382,0.979346]]
2025-10-27T00:34:52.890Z,1761525292.890 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.658802
2025-10-27T00:34:52.924Z,1761525292.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.503925 s,
      deltaX: -0.400000 m,
      approachRate: -0.793768 m/s,
      rangeRepo size: 4

2025-10-27T00:34:52.932Z,1761525292.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.529100 m,
      bearing: 197.723460 deg,
      lat: 36.779401 deg,
      lon: -121.859627 deg,
      deltaT: 0.503925 s,
      deltaX: -0.398500 m,
      approachRate: -0.790793 m/s,
      posRepo size: 4

2025-10-27T00:34:52.933Z,1761525292.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.53 m.
2025-10-27T00:34:52.940Z,1761525292.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.529100 m,
      nav range: 16.623009 m,
      bearing: 198.103104 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.157713 deg/s,
      cmd heading: 193.525146 deg,
      new cmd heading: 193.307864 deg.

2025-10-27T00:34:52.941Z,1761525292.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373859 target range: 17.529100 and range: 17.60 m.
2025-10-27T00:34:53.133Z,1761525293.133 [DAT](INFO): DAT read: Rx Time:00:34:54.2545 

2025-10-27T00:34:53.133Z,1761525293.133 [DAT](INFO): Rx dataTimestamp_ set to:1761525293.132724
2025-10-27T00:34:53.134Z,1761525293.134 [DAT](INFO): DAT read: Bearing 355.1,  -3.1 (Local)

2025-10-27T00:34:53.135Z,1761525293.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  -3.1 (Local)

2025-10-27T00:34:53.138Z,1761525293.138 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.5

2025-10-27T00:34:53.143Z,1761525293.143 [DAT](INFO): DAT read: 00:34:54.2545 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508,-0.02,-2.921, 1.649,-2.707,-2.991, PHS= 0.172,-1.598, 0.240, RAW= 151.9,  13.1, CAL= 152.0,  14.6, ROT= 358.0, -14.6

2025-10-27T00:34:53.144Z,1761525293.144 [DAT](INFO): got valid direction response:
 00:34:54.2545 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508,-0.02,-2.921, 1.649,-2.707,-2.991, PHS= 0.172,-1.598, 0.240, RAW= 151.9,  13.1, CAL= 152.0,  14.6, ROT= 358.0, -14.6

2025-10-27T00:34:53.145Z,1761525293.145 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-10-27T00:34:53.146Z,1761525293.146 [DAT](INFO): direction in FSK: [0.967120,-0.033773,0.252069]
2025-10-27T00:34:53.146Z,1761525293.146 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:53.150Z,1761525293.150 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.918917
2025-10-27T00:34:53.260Z,1761525293.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958870,0.269705,0.088470],[-0.281805,-0.941851,-0.183038],[0.033959,-0.200441,0.979117]]
2025-10-27T00:34:53.345Z,1761525293.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.504041 s,
      deltaX: -0.200001 m,
      approachRate: -0.396795 m/s,
      rangeRepo size: 4

2025-10-27T00:34:53.351Z,1761525293.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.330021 m,
      bearing: 197.422343 deg,
      lat: 36.779400 deg,
      lon: -121.859626 deg,
      deltaT: 0.504041 s,
      deltaX: -0.199080 m,
      approachRate: -0.394967 m/s,
      posRepo size: 4

2025-10-27T00:34:53.352Z,1761525293.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.33 m.
2025-10-27T00:34:53.359Z,1761525293.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.330021 m,
      nav range: 16.434299 m,
      bearing: 197.830473 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.157713 deg/s,
      cmd heading: 193.307864 deg,
      new cmd heading: 193.102831 deg.

2025-10-27T00:34:53.360Z,1761525293.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.370280 target range: 17.330021 and range: 17.40 m.
2025-10-27T00:34:53.384Z,1761525293.384 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.153292
2025-10-27T00:34:53.637Z,1761525293.637 [DAT](INFO): DAT read: Rx Time:00:34:54.7542 

2025-10-27T00:34:53.638Z,1761525293.638 [DAT](INFO): Rx dataTimestamp_ set to:1761525293.637565
2025-10-27T00:34:53.641Z,1761525293.641 [DAT](INFO): DAT read: Bearing 355.2,  -2.4 (Local)

2025-10-27T00:34:53.641Z,1761525293.641 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,  -2.4 (Local)

2025-10-27T00:34:53.644Z,1761525293.644 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.4

2025-10-27T00:34:53.649Z,1761525293.649 [DAT](INFO): DAT read: 00:34:54.7542 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.31, 2.744, 1.026, 2.934, 2.666, PHS= 0.179,-1.595, 0.223, RAW= 151.2,  13.2, CAL= 151.3,  14.7, ROT= 358.7, -14.7

2025-10-27T00:34:53.651Z,1761525293.651 [DAT](INFO): got valid direction response:
 00:34:54.7542 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.31, 2.744, 1.026, 2.934, 2.666, PHS= 0.179,-1.595, 0.223, RAW= 151.2,  13.2, CAL= 151.3,  14.7, ROT= 358.7, -14.7

2025-10-27T00:34:53.651Z,1761525293.651 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-10-27T00:34:53.652Z,1761525293.652 [DAT](INFO): direction in FSK: [0.967019,-0.021945,0.253758]
2025-10-27T00:34:53.652Z,1761525293.652 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:53.656Z,1761525293.656 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.425312
2025-10-27T00:34:53.730Z,1761525293.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959184,0.268516,0.088689],[-0.280685,-0.942166,-0.183137],[0.034384,-0.200555,0.979079]]
2025-10-27T00:34:53.782Z,1761525293.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.504841 s,
      deltaX: -0.400000 m,
      approachRate: -0.792328 m/s,
      rangeRepo size: 4

2025-10-27T00:34:53.788Z,1761525293.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.931631 m,
      bearing: 198.070721 deg,
      lat: 36.779400 deg,
      lon: -121.859627 deg,
      deltaT: 0.504841 s,
      deltaX: -0.398390 m,
      approachRate: -0.789139 m/s,
      posRepo size: 4

2025-10-27T00:34:53.789Z,1761525293.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m.
2025-10-27T00:34:53.795Z,1761525293.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.931631 m,
      nav range: 16.208290 m,
      bearing: 197.901052 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.157713 deg/s,
      cmd heading: 193.102835 deg,
      new cmd heading: 192.896355 deg.

2025-10-27T00:34:53.796Z,1761525293.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.366677 target range: 16.931631 and range: 17.00 m.
2025-10-27T00:34:53.892Z,1761525293.892 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.659946
2025-10-27T00:34:54.124Z,1761525294.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959434,0.267529,0.088967],[-0.279782,-0.942380,-0.183420],[0.034770,-0.200871,0.979001]]
2025-10-27T00:34:54.141Z,1761525294.141 [DAT](INFO): DAT read: Rx Time:00:34:55.2542 

2025-10-27T00:34:54.141Z,1761525294.141 [DAT](INFO): Rx dataTimestamp_ set to:1761525294.140737
2025-10-27T00:34:54.142Z,1761525294.142 [DAT](INFO): DAT read: Bearing 357.4,  -3.0 (Local)

2025-10-27T00:34:54.143Z,1761525294.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  -3.0 (Local)

2025-10-27T00:34:54.145Z,1761525294.145 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.4

2025-10-27T00:34:54.153Z,1761525294.153 [DAT](INFO): DAT read: 00:34:55.2542 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.25,-3.100, 1.502,-2.914,-3.115, PHS= 0.118,-1.620, 0.157, RAW= 151.1,  15.1, CAL= 151.4,  17.0, ROT= 358.6, -17.0

2025-10-27T00:34:54.155Z,1761525294.155 [DAT](INFO): got valid direction response:
 00:34:55.2542 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.25,-3.100, 1.502,-2.914,-3.115, PHS= 0.118,-1.620, 0.157, RAW= 151.1,  15.1, CAL= 151.4,  17.0, ROT= 358.6, -17.0

2025-10-27T00:34:54.155Z,1761525294.155 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-10-27T00:34:54.156Z,1761525294.156 [DAT](INFO): direction in FSK: [0.956019,-0.023364,0.292372]
2025-10-27T00:34:54.156Z,1761525294.156 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:54.188Z,1761525294.188 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.957432
2025-10-27T00:34:54.260Z,1761525294.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.503172 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T00:34:54.261Z,1761525294.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.931658 m,
      bearing: 198.430743 deg,
      lat: 36.779400 deg,
      lon: -121.859627 deg,
      deltaT: 0.503172 s,
      deltaX: 0.000027 m,
      approachRate: 0.000053 m/s,
      posRepo size: 4

2025-10-27T00:34:54.262Z,1761525294.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m.
2025-10-27T00:34:54.269Z,1761525294.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.931658 m,
      nav range: 15.981800 m,
      bearing: 198.044412 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.157713 deg/s,
      cmd heading: 192.896358 deg,
      new cmd heading: 192.672273 deg.

2025-10-27T00:34:54.270Z,1761525294.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.362766 target range: 16.931658 and range: 17.00 m.
2025-10-27T00:34:54.393Z,1761525294.393 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.161854
2025-10-27T00:34:54.645Z,1761525294.645 [DAT](INFO): DAT read: Rx Time:00:34:55.7540 

2025-10-27T00:34:54.645Z,1761525294.645 [DAT](INFO): Rx dataTimestamp_ set to:1761525294.644886
2025-10-27T00:34:54.646Z,1761525294.646 [DAT](INFO): DAT read: Bearing 353.9,  -2.4 (Local)

2025-10-27T00:34:54.647Z,1761525294.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,  -2.4 (Local)

2025-10-27T00:34:54.649Z,1761525294.649 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.4

2025-10-27T00:34:54.654Z,1761525294.654 [DAT](INFO): DAT read: 00:34:55.7540 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.08, 2.416, 0.687, 2.621, 2.315, PHS= 0.203,-1.583, 0.262, RAW= 151.6,  12.3, CAL= 151.6,  13.6, ROT= 358.4, -13.6

2025-10-27T00:34:54.656Z,1761525294.656 [DAT](INFO): got valid direction response:
 00:34:55.7540 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.08, 2.416, 0.687, 2.621, 2.315, PHS= 0.203,-1.583, 0.262, RAW= 151.6,  12.3, CAL= 151.6,  13.6, ROT= 358.4, -13.6

2025-10-27T00:34:54.656Z,1761525294.656 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-27T00:34:54.657Z,1761525294.657 [DAT](INFO): direction in FSK: [0.971582,-0.027139,0.235142]
2025-10-27T00:34:54.657Z,1761525294.657 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:54.661Z,1761525294.661 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.430731
2025-10-27T00:34:54.680Z,1761525294.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.504149 s,
      deltaX: -0.500000 m,
      approachRate: -0.991770 m/s,
      rangeRepo size: 4

2025-10-27T00:34:54.683Z,1761525294.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.433666 m,
      bearing: 197.487574 deg,
      lat: 36.779399 deg,
      lon: -121.859626 deg,
      deltaT: 0.504149 s,
      deltaX: -0.497992 m,
      approachRate: -0.987786 m/s,
      posRepo size: 4

2025-10-27T00:34:54.684Z,1761525294.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.43 m.
2025-10-27T00:34:54.688Z,1761525294.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.433666 m,
      nav range: 15.743581 m,
      bearing: 197.624599 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.157713 deg/s,
      cmd heading: 192.672274 deg,
      new cmd heading: 192.471620 deg.

2025-10-27T00:34:54.689Z,1761525294.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.359263 target range: 16.433666 and range: 16.50 m.
2025-10-27T00:34:54.900Z,1761525294.900 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.668129
2025-10-27T00:34:55.039Z,1761525295.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960026,0.264947,0.090294],[-0.277523,-0.942995,-0.183688],[0.036479,-0.201404,0.978829]]
2025-10-27T00:34:55.143Z,1761525295.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:55.145Z,1761525295.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.43 m.
2025-10-27T00:34:55.149Z,1761525295.149 [DAT](INFO): DAT read: Rx Time:00:34:56.2538 

2025-10-27T00:34:55.149Z,1761525295.149 [DAT](INFO): Rx dataTimestamp_ set to:1761525295.148852
2025-10-27T00:34:55.150Z,1761525295.150 [DAT](INFO): DAT read: Bearing 356.6,  -2.2 (Local)

2025-10-27T00:34:55.151Z,1761525295.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  -2.2 (Local)

2025-10-27T00:34:55.153Z,1761525295.153 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.8

2025-10-27T00:34:55.158Z,1761525295.158 [DAT](INFO): DAT read: 00:34:56.2538 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.31,-3.026, 1.561,-2.856,-3.066, PHS= 0.142,-1.612, 0.165, RAW= 150.7,  14.6, CAL= 150.9,  16.4, ROT= 359.1, -16.4

2025-10-27T00:34:55.159Z,1761525295.159 [DAT](INFO): got valid direction response:
 00:34:56.2538 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.31,-3.026, 1.561,-2.856,-3.066, PHS= 0.142,-1.612, 0.165, RAW= 150.7,  14.6, CAL= 150.9,  16.4, ROT= 359.1, -16.4

2025-10-27T00:34:55.159Z,1761525295.159 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-27T00:34:55.167Z,1761525295.167 [DAT](INFO): direction in FSK: [0.959196,-0.015068,0.282341]
2025-10-27T00:34:55.167Z,1761525295.167 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:55.172Z,1761525295.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.433666 m,
      nav range: 15.473867 m,
      bearing: 197.640019 deg,
      approach rate: -0.577941 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 192.471616 deg,
      new cmd heading: 192.518682 deg.

2025-10-27T00:34:55.173Z,1761525295.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.360085 target range: 16.433666 and range: 16.50 m.
2025-10-27T00:34:55.184Z,1761525295.184 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.939955
2025-10-27T00:34:55.401Z,1761525295.401 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.169821
2025-10-27T00:34:55.528Z,1761525295.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.503966 s,
      deltaX: -0.299999 m,
      approachRate: -0.595277 m/s,
      rangeRepo size: 4

2025-10-27T00:34:55.530Z,1761525295.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.135073 m,
      bearing: 198.667912 deg,
      lat: 36.779400 deg,
      lon: -121.859627 deg,
      deltaT: 0.503966 s,
      deltaX: -0.298594 m,
      approachRate: -0.592487 m/s,
      posRepo size: 4

2025-10-27T00:34:55.531Z,1761525295.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.14 m.
2025-10-27T00:34:55.533Z,1761525295.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.135073 m,
      nav range: 15.261763 m,
      bearing: 198.044906 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 192.518676 deg,
      new cmd heading: 192.557184 deg.

2025-10-27T00:34:55.534Z,1761525295.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.360757 target range: 16.135073 and range: 16.20 m.
2025-10-27T00:34:55.653Z,1761525295.653 [DAT](INFO): DAT read: Rx Time:00:34:56.7536 

2025-10-27T00:34:55.653Z,1761525295.653 [DAT](INFO): Rx dataTimestamp_ set to:1761525295.652806
2025-10-27T00:34:55.654Z,1761525295.654 [DAT](INFO): DAT read: Bearing 354.9,  -1.5 (Local)

2025-10-27T00:34:55.655Z,1761525295.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.9,  -1.5 (Local)

2025-10-27T00:34:55.657Z,1761525295.657 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.4

2025-10-27T00:34:55.661Z,1761525295.661 [DAT](INFO): DAT read: 00:34:56.7536 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.24,-0.305,-2.026,-0.137,-0.391, PHS= 0.188,-1.590, 0.210, RAW= 150.6,  13.3, CAL= 150.7,  14.7, ROT= 359.3, -14.7

2025-10-27T00:34:55.662Z,1761525295.662 [DAT](INFO): got valid direction response:
 00:34:56.7536 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.24,-0.305,-2.026,-0.137,-0.391, PHS= 0.188,-1.590, 0.210, RAW= 150.6,  13.3, CAL= 150.7,  14.7, ROT= 359.3, -14.7

2025-10-27T00:34:55.663Z,1761525295.663 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-27T00:34:55.664Z,1761525295.664 [DAT](INFO): direction in FSK: [0.967196,-0.011817,0.253758]
2025-10-27T00:34:55.664Z,1761525295.664 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:55.668Z,1761525295.668 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.437595
2025-10-27T00:34:55.882Z,1761525295.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960495,0.262693,0.091880],[-0.275688,-0.943240,-0.185187],[0.038017,-0.203202,0.978399]]
2025-10-27T00:34:55.908Z,1761525295.908 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.677019
2025-10-27T00:34:55.984Z,1761525295.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503954 s,
      deltaX: -0.300001 m,
      approachRate: -0.595295 m/s,
      rangeRepo size: 4

2025-10-27T00:34:55.986Z,1761525295.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.836274 m,
      bearing: 198.410294 deg,
      lat: 36.779400 deg,
      lon: -121.859629 deg,
      deltaT: 0.503954 s,
      deltaX: -0.298799 m,
      approachRate: -0.592908 m/s,
      posRepo size: 4

2025-10-27T00:34:55.986Z,1761525295.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.84 m.
2025-10-27T00:34:55.993Z,1761525295.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.836274 m,
      nav range: 15.041821 m,
      bearing: 198.480344 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 192.557185 deg,
      new cmd heading: 192.603136 deg.

2025-10-27T00:34:55.994Z,1761525295.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.361559 target range: 15.836274 and range: 15.90 m.
2025-10-27T00:34:56.157Z,1761525296.157 [DAT](INFO): DAT read: Rx Time:00:34:57.2535 

2025-10-27T00:34:56.157Z,1761525296.157 [DAT](INFO): Rx dataTimestamp_ set to:1761525296.156705
2025-10-27T00:34:56.158Z,1761525296.158 [DAT](INFO): DAT read: Bearing 356.8,  -1.7 (Local)

2025-10-27T00:34:56.159Z,1761525296.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  -1.7 (Local)

2025-10-27T00:34:56.161Z,1761525296.161 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed 0.8

2025-10-27T00:34:56.166Z,1761525296.166 [DAT](INFO): DAT read: 00:34:57.2535 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497,-0.04, 1.592,-0.092, 1.747, 1.557, PHS= 0.137,-1.604, 0.145, RAW= 150.2,  15.0, CAL= 150.5,  16.7, ROT= 359.5, -16.7

2025-10-27T00:34:56.167Z,1761525296.167 [DAT](INFO): got valid direction response:
 00:34:57.2535 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497,-0.04, 1.592,-0.092, 1.747, 1.557, PHS= 0.137,-1.604, 0.145, RAW= 150.2,  15.0, CAL= 150.5,  16.7, ROT= 359.5, -16.7

2025-10-27T00:34:56.167Z,1761525296.167 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-27T00:34:56.168Z,1761525296.168 [DAT](INFO): direction in FSK: [0.957786,-0.008358,0.287361]
2025-10-27T00:34:56.168Z,1761525296.168 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:56.172Z,1761525296.172 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.941479
2025-10-27T00:34:56.320Z,1761525296.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960868,0.261133,0.092423],[-0.274196,-0.944026,-0.183391],[0.039360,-0.201556,0.978686]]
2025-10-27T00:34:56.408Z,1761525296.408 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.177315
2025-10-27T00:34:56.421Z,1761525296.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.503899 s,
      deltaX: -0.099999 m,
      approachRate: -0.198451 m/s,
      rangeRepo size: 4

2025-10-27T00:34:56.427Z,1761525296.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.736748 m,
      bearing: 198.939180 deg,
      lat: 36.779399 deg,
      lon: -121.859629 deg,
      deltaT: 0.503899 s,
      deltaX: -0.099526 m,
      approachRate: -0.197513 m/s,
      posRepo size: 4

2025-10-27T00:34:56.428Z,1761525296.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.74 m.
2025-10-27T00:34:56.435Z,1761525296.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.736748 m,
      nav range: 14.865346 m,
      bearing: 198.477372 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 192.603138 deg,
      new cmd heading: 192.647274 deg.

2025-10-27T00:34:56.436Z,1761525296.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.362329 target range: 15.736748 and range: 15.80 m.
2025-10-27T00:34:56.543Z,1761525296.543 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:34:56.661Z,1761525296.661 [DAT](INFO): DAT read: Rx Time:00:34:57.7532 

2025-10-27T00:34:56.661Z,1761525296.661 [DAT](INFO): Rx dataTimestamp_ set to:1761525296.660825
2025-10-27T00:34:56.662Z,1761525296.662 [DAT](INFO): DAT read: Bearing 353.6,  -0.2 (Local)

2025-10-27T00:34:56.663Z,1761525296.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  -0.2 (Local)

2025-10-27T00:34:56.665Z,1761525296.665 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.8

2025-10-27T00:34:56.670Z,1761525296.670 [DAT](INFO): DAT read: 00:34:57.7532 LVL= 31968, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.12, 1.988, 0.254, 2.130, 1.856, PHS= 0.235,-1.557, 0.230, RAW= 149.9,  12.2, CAL= 149.8,  13.4, ROT=   0.2, -13.4

2025-10-27T00:34:56.671Z,1761525296.671 [DAT](INFO): got valid direction response:
 00:34:57.7532 LVL= 31968, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.12, 1.988, 0.254, 2.130, 1.856, PHS= 0.235,-1.557, 0.230, RAW= 149.9,  12.2, CAL= 149.8,  13.4, ROT=   0.2, -13.4

2025-10-27T00:34:56.671Z,1761525296.671 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-27T00:34:56.672Z,1761525296.672 [DAT](INFO): direction in FSK: [0.972770,0.003396,0.231748]
2025-10-27T00:34:56.673Z,1761525296.673 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:56.677Z,1761525296.677 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.446276
2025-10-27T00:34:56.752Z,1761525296.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961267,0.259440,0.093040],[-0.272663,-0.944443,-0.183526],[0.040257,-0.201786,0.978602]]
2025-10-27T00:34:56.835Z,1761525296.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504120 s,
      deltaX: -0.500000 m,
      approachRate: -0.991827 m/s,
      rangeRepo size: 4

2025-10-27T00:34:56.837Z,1761525296.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.238750 m,
      bearing: 198.816076 deg,
      lat: 36.779399 deg,
      lon: -121.859629 deg,
      deltaT: 0.504120 s,
      deltaX: -0.497998 m,
      approachRate: -0.987857 m/s,
      posRepo size: 4

2025-10-27T00:34:56.838Z,1761525296.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.24 m.
2025-10-27T00:34:56.845Z,1761525296.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.238750 m,
      nav range: 14.674140 m,
      bearing: 198.612736 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 192.647275 deg,
      new cmd heading: 192.688602 deg.

2025-10-27T00:34:56.846Z,1761525296.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.363050 target range: 15.238750 and range: 15.30 m.
2025-10-27T00:34:56.913Z,1761525296.913 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.682013
2025-10-27T00:34:57.168Z,1761525297.168 [DAT](INFO): DAT read: Rx Time:00:34:58.2531 

2025-10-27T00:34:57.169Z,1761525297.169 [DAT](INFO): Rx dataTimestamp_ set to:1761525297.168465
2025-10-27T00:34:57.170Z,1761525297.170 [DAT](INFO): DAT read: Bearing 357.2,  -1.0 (Local)

2025-10-27T00:34:57.170Z,1761525297.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  -1.0 (Local)

2025-10-27T00:34:57.172Z,1761525297.172 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.5

2025-10-27T00:34:57.177Z,1761525297.177 [DAT](INFO): DAT read: 00:34:58.2531 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.15,-2.201, 2.414,-2.070,-2.229, PHS= 0.130,-1.595, 0.115, RAW= 149.6,  15.5, CAL= 149.8,  17.3, ROT=   0.2, -17.3

2025-10-27T00:34:57.178Z,1761525297.178 [DAT](INFO): got valid direction response:
 00:34:58.2531 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.15,-2.201, 2.414,-2.070,-2.229, PHS= 0.130,-1.595, 0.115, RAW= 149.6,  15.5, CAL= 149.8,  17.3, ROT=   0.2, -17.3

2025-10-27T00:34:57.178Z,1761525297.178 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-27T00:34:57.179Z,1761525297.179 [DAT](INFO): direction in FSK: [0.954755,0.003333,0.297375]
2025-10-27T00:34:57.180Z,1761525297.180 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:57.183Z,1761525297.183 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.952660
2025-10-27T00:34:57.252Z,1761525297.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961837,0.256755,0.094581],[-0.270377,-0.944922,-0.184443],[0.042015,-0.202977,0.978282]]
2025-10-27T00:34:57.344Z,1761525297.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.507640 s,
      deltaX: -0.100000 m,
      approachRate: -0.196991 m/s,
      rangeRepo size: 4

2025-10-27T00:34:57.346Z,1761525297.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.139188 m,
      bearing: 199.569288 deg,
      lat: 36.779399 deg,
      lon: -121.859630 deg,
      deltaT: 0.507640 s,
      deltaX: -0.099562 m,
      approachRate: -0.196127 m/s,
      posRepo size: 4

2025-10-27T00:34:57.355Z,1761525297.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.14 m.
2025-10-27T00:34:57.358Z,1761525297.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.139188 m,
      nav range: 14.349508 m,
      bearing: 198.850166 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 192.688598 deg,
      new cmd heading: 192.740380 deg.

2025-10-27T00:34:57.363Z,1761525297.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.363954 target range: 15.139188 and range: 15.20 m.
2025-10-27T00:34:57.417Z,1761525297.417 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.186331
2025-10-27T00:34:57.549Z,1761525297.549 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:34:57.669Z,1761525297.669 [DAT](INFO): DAT read: Rx Time:00:34:58.7528 

2025-10-27T00:34:57.669Z,1761525297.669 [DAT](INFO): Rx dataTimestamp_ set to:1761525297.668768
2025-10-27T00:34:57.670Z,1761525297.670 [DAT](INFO): DAT read: Bearing 355.0,   0.3 (Local)

2025-10-27T00:34:57.671Z,1761525297.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,   0.3 (Local)

2025-10-27T00:34:57.673Z,1761525297.673 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.5

2025-10-27T00:34:57.677Z,1761525297.677 [DAT](INFO): DAT read: 00:34:58.7528 LVL= 30912, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.30, 2.671, 0.952, 2.786, 2.569, PHS= 0.204,-1.572, 0.173, RAW= 149.1,  13.5, CAL= 149.1,  14.9, ROT=   0.9, -14.9

2025-10-27T00:34:57.678Z,1761525297.678 [DAT](INFO): got valid direction response:
 00:34:58.7528 LVL= 30912, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.30, 2.671, 0.952, 2.786, 2.569, PHS= 0.204,-1.572, 0.173, RAW= 149.1,  13.5, CAL= 149.1,  14.9, ROT=   0.9, -14.9

2025-10-27T00:34:57.683Z,1761525297.683 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-27T00:34:57.685Z,1761525297.685 [DAT](INFO): direction in FSK: [0.966257,0.015179,0.257133]
2025-10-27T00:34:57.685Z,1761525297.685 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:57.708Z,1761525297.708 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.476662
2025-10-27T00:34:57.796Z,1761525297.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.500303 s,
      deltaX: -0.500000 m,
      approachRate: -0.999394 m/s,
      rangeRepo size: 4

2025-10-27T00:34:57.798Z,1761525297.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.641188 m,
      bearing: 199.720254 deg,
      lat: 36.779399 deg,
      lon: -121.859630 deg,
      deltaT: 0.500303 s,
      deltaX: -0.498000 m,
      approachRate: -0.995397 m/s,
      posRepo size: 4

2025-10-27T00:34:57.798Z,1761525297.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-10-27T00:34:57.805Z,1761525297.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.641188 m,
      nav range: 14.104320 m,
      bearing: 198.972891 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 192.740384 deg,
      new cmd heading: 192.785463 deg.

2025-10-27T00:34:57.806Z,1761525297.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.364741 target range: 14.641188 and range: 14.70 m.
2025-10-27T00:34:57.920Z,1761525297.920 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.689468
2025-10-27T00:34:58.126Z,1761525298.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962577,0.253455,0.095946],[-0.267372,-0.945948,-0.183558],[0.044236,-0.202342,0.978315]]
2025-10-27T00:34:58.173Z,1761525298.173 [DAT](INFO): DAT read: Rx Time:00:34:59.2527 

2025-10-27T00:34:58.173Z,1761525298.173 [DAT](INFO): Rx dataTimestamp_ set to:1761525298.172736
2025-10-27T00:34:58.174Z,1761525298.174 [DAT](INFO): DAT read: Bearing 354.3,   0.6 (Local)

2025-10-27T00:34:58.175Z,1761525298.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.3,   0.6 (Local)

2025-10-27T00:34:58.177Z,1761525298.177 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.6

2025-10-27T00:34:58.181Z,1761525298.181 [DAT](INFO): DAT read: 00:34:59.2527 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.38,-3.055, 1.483,-2.943, 3.104, PHS= 0.227,-1.576, 0.193, RAW= 149.1,  12.9, CAL= 149.0,  14.2, ROT=   1.0, -14.2

2025-10-27T00:34:58.182Z,1761525298.182 [DAT](INFO): got valid direction response:
 00:34:59.2527 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.38,-3.055, 1.483,-2.943, 3.104, PHS= 0.227,-1.576, 0.193, RAW= 149.1,  12.9, CAL= 149.0,  14.2, ROT=   1.0, -14.2

2025-10-27T00:34:58.183Z,1761525298.183 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-27T00:34:58.184Z,1761525298.184 [DAT](INFO): direction in FSK: [0.969298,0.016919,0.245307]
2025-10-27T00:34:58.184Z,1761525298.184 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:58.188Z,1761525298.188 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.957121
2025-10-27T00:34:58.214Z,1761525298.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.503968 s,
      deltaX: -0.099999 m,
      approachRate: -0.198424 m/s,
      rangeRepo size: 4

2025-10-27T00:34:58.220Z,1761525298.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.541589 m,
      bearing: 199.480220 deg,
      lat: 36.779399 deg,
      lon: -121.859632 deg,
      deltaT: 0.503968 s,
      deltaX: -0.099599 m,
      approachRate: -0.197629 m/s,
      posRepo size: 4

2025-10-27T00:34:58.221Z,1761525298.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.54 m.
2025-10-27T00:34:58.236Z,1761525298.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.541589 m,
      nav range: 13.888893 m,
      bearing: 199.420762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 192.785463 deg,
      new cmd heading: 192.828093 deg.

2025-10-27T00:34:58.237Z,1761525298.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365485 target range: 14.541589 and range: 14.60 m.
2025-10-27T00:34:58.424Z,1761525298.424 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.193502
2025-10-27T00:34:58.522Z,1761525298.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962999,0.251676,0.096392],[-0.265670,-0.946618,-0.182575],[0.045297,-0.201428,0.978455]]
2025-10-27T00:34:58.611Z,1761525298.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:34:58.613Z,1761525298.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.54 m.
2025-10-27T00:34:58.620Z,1761525298.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.541589 m,
      nav range: 13.648113 m,
      bearing: 199.419272 deg,
      approach rate: -0.601683 m/s,
      LOS rate: -0.003789 deg/s,
      cmd heading: 192.828097 deg,
      new cmd heading: 192.823549 deg.

2025-10-27T00:34:58.621Z,1761525298.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365406 target range: 14.541589 and range: 14.60 m.
2025-10-27T00:34:58.678Z,1761525298.678 [DAT](INFO): DAT read: Rx Time:00:34:59.7524 

2025-10-27T00:34:58.678Z,1761525298.678 [DAT](INFO): Rx dataTimestamp_ set to:1761525298.677722
2025-10-27T00:34:58.680Z,1761525298.680 [DAT](INFO): DAT read: Bearing 355.8,   0.2 (Local)

2025-10-27T00:34:58.681Z,1761525298.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,   0.2 (Local)

2025-10-27T00:34:58.684Z,1761525298.684 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.5

2025-10-27T00:34:58.691Z,1761525298.691 [DAT](INFO): DAT read: 00:34:59.7524 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.39, 2.426, 0.698, 2.535, 2.346, PHS= 0.182,-1.603, 0.145, RAW= 149.0,  14.3, CAL= 149.0,  15.9, ROT=   1.0, -15.9

2025-10-27T00:34:58.693Z,1761525298.693 [DAT](INFO): got valid direction response:
 00:34:59.7524 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.39, 2.426, 0.698, 2.535, 2.346, PHS= 0.182,-1.603, 0.145, RAW= 149.0,  14.3, CAL= 149.0,  15.9, ROT=   1.0, -15.9

2025-10-27T00:34:58.693Z,1761525298.693 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-27T00:34:58.695Z,1761525298.695 [DAT](INFO): direction in FSK: [0.961595,0.016785,0.273959]
2025-10-27T00:34:58.695Z,1761525298.695 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:58.701Z,1761525298.701 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.469917
2025-10-27T00:34:58.926Z,1761525298.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963461,0.249933,0.096317],[-0.263824,-0.947612,-0.180079],[0.046263,-0.198910,0.978925]]
2025-10-27T00:34:58.928Z,1761525298.928 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.697220
2025-10-27T00:34:59.036Z,1761525299.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.504986 s,
      deltaX: -0.500000 m,
      approachRate: -0.990126 m/s,
      rangeRepo size: 4

2025-10-27T00:34:59.038Z,1761525299.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.043843 m,
      bearing: 199.595677 deg,
      lat: 36.779399 deg,
      lon: -121.859632 deg,
      deltaT: 0.504986 s,
      deltaX: -0.497746 m,
      approachRate: -0.985662 m/s,
      posRepo size: 4

2025-10-27T00:34:59.043Z,1761525299.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m.
2025-10-27T00:34:59.046Z,1761525299.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.043843 m,
      nav range: 13.353543 m,
      bearing: 199.577604 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003789 deg/s,
      cmd heading: 192.823549 deg,
      new cmd heading: 192.818753 deg.

2025-10-27T00:34:59.047Z,1761525299.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365322 target range: 14.043843 and range: 14.10 m.
2025-10-27T00:34:59.182Z,1761525299.182 [DAT](INFO): DAT read: Rx Time:00:35:00.2522 

2025-10-27T00:34:59.182Z,1761525299.182 [DAT](INFO): Rx dataTimestamp_ set to:1761525299.181773
2025-10-27T00:34:59.184Z,1761525299.184 [DAT](INFO): DAT read: Bearing 355.4,   0.4 (Local)

2025-10-27T00:34:59.185Z,1761525299.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.4,   0.4 (Local)

2025-10-27T00:34:59.188Z,1761525299.188 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.5

2025-10-27T00:34:59.194Z,1761525299.194 [DAT](INFO): DAT read: 00:35:00.2522 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.31,-3.079, 1.484,-2.969, 3.115, PHS= 0.191,-1.586, 0.156, RAW= 149.0,  14.0, CAL= 149.1,  15.5, ROT=   0.9, -15.5

2025-10-27T00:34:59.196Z,1761525299.196 [DAT](INFO): got valid direction response:
 00:35:00.2522 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.31,-3.079, 1.484,-2.969, 3.115, PHS= 0.191,-1.586, 0.156, RAW= 149.0,  14.0, CAL= 149.1,  15.5, ROT=   0.9, -15.5

2025-10-27T00:34:59.196Z,1761525299.196 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-27T00:34:59.197Z,1761525299.197 [DAT](INFO): direction in FSK: [0.963512,0.015136,0.267238]
2025-10-27T00:34:59.198Z,1761525299.198 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:59.216Z,1761525299.216 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.984718
2025-10-27T00:34:59.376Z,1761525299.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963973,0.247848,0.096582],[-0.261753,-0.948474,-0.178559],[0.047350,-0.197406,0.979178]]
2025-10-27T00:34:59.425Z,1761525299.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.504051 s,
      deltaX: -0.300000 m,
      approachRate: -0.595178 m/s,
      rangeRepo size: 4

2025-10-27T00:34:59.428Z,1761525299.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.744870 m,
      bearing: 199.264094 deg,
      lat: 36.779399 deg,
      lon: -121.859632 deg,
      deltaT: 0.504051 s,
      deltaX: -0.298973 m,
      approachRate: -0.593141 m/s,
      posRepo size: 4

2025-10-27T00:34:59.428Z,1761525299.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.74 m.
2025-10-27T00:34:59.432Z,1761525299.432 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.201326
2025-10-27T00:34:59.433Z,1761525299.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.744870 m,
      nav range: 13.088786 m,
      bearing: 199.517573 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003789 deg/s,
      cmd heading: 192.818754 deg,
      new cmd heading: 192.814327 deg.

2025-10-27T00:34:59.434Z,1761525299.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365245 target range: 13.744870 and range: 13.80 m.
2025-10-27T00:34:59.686Z,1761525299.686 [DAT](INFO): DAT read: Rx Time:00:35:00.7519 

2025-10-27T00:34:59.686Z,1761525299.686 [DAT](INFO): Rx dataTimestamp_ set to:1761525299.685942
2025-10-27T00:34:59.688Z,1761525299.688 [DAT](INFO): DAT read: Bearing 352.4,   1.0 (Local)

2025-10-27T00:34:59.689Z,1761525299.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,   1.0 (Local)

2025-10-27T00:34:59.692Z,1761525299.692 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.5

2025-10-27T00:34:59.698Z,1761525299.698 [DAT](INFO): DAT read: 00:35:00.7519 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.26, 2.708, 0.937, 2.829, 2.538, PHS= 0.272,-1.555, 0.247, RAW= 149.3,  11.4, CAL= 149.1,  12.5, ROT=   0.9, -12.5

2025-10-27T00:34:59.700Z,1761525299.700 [DAT](INFO): got valid direction response:
 00:35:00.7519 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.26, 2.708, 0.937, 2.829, 2.538, PHS= 0.272,-1.555, 0.247, RAW= 149.3,  11.4, CAL= 149.1,  12.5, ROT=   0.9, -12.5

2025-10-27T00:34:59.700Z,1761525299.700 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-27T00:34:59.702Z,1761525299.702 [DAT](INFO): direction in FSK: [0.976176,0.015335,0.216440]
2025-10-27T00:34:59.702Z,1761525299.702 [DAT](INFO): publishing direction and range info
2025-10-27T00:34:59.708Z,1761525299.708 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.476778
2025-10-27T00:34:59.832Z,1761525299.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504169 s,
      deltaX: -0.400001 m,
      approachRate: -0.793386 m/s,
      rangeRepo size: 4

2025-10-27T00:34:59.834Z,1761525299.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.346467 m,
      bearing: 198.619051 deg,
      lat: 36.779399 deg,
      lon: -121.859632 deg,
      deltaT: 0.504169 s,
      deltaX: -0.398403 m,
      approachRate: -0.790218 m/s,
      posRepo size: 4

2025-10-27T00:34:59.835Z,1761525299.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.35 m.
2025-10-27T00:34:59.841Z,1761525299.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.346467 m,
      nav range: 12.869303 m,
      bearing: 199.426269 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003789 deg/s,
      cmd heading: 192.814328 deg,
      new cmd heading: 192.809755 deg.

2025-10-27T00:34:59.842Z,1761525299.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365165 target range: 13.346467 and range: 13.40 m.
2025-10-27T00:34:59.938Z,1761525299.938 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.706022
2025-10-27T00:35:00.188Z,1761525300.188 [DAT](INFO): DAT read: Rx Time:00:35:01.2518 

2025-10-27T00:35:00.189Z,1761525300.189 [DAT](INFO): Rx dataTimestamp_ set to:1761525300.188653
2025-10-27T00:35:00.190Z,1761525300.190 [DAT](INFO): DAT read: Bearing 346.0,  -0.7 (Local)

2025-10-27T00:35:00.191Z,1761525300.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  -0.7 (Local)

2025-10-27T00:35:00.193Z,1761525300.193 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.5

2025-10-27T00:35:00.197Z,1761525300.197 [DAT](INFO): DAT read: 00:35:01.2518 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 512, 0.13,-0.122,-2.055, 0.144,-0.424, PHS= 0.404,-1.586, 0.524, RAW= 152.9,   6.5, CAL= 152.2,   6.7, ROT= 357.8,  -6.7

2025-10-27T00:35:00.198Z,1761525300.198 [DAT](INFO): got valid direction response:
 00:35:01.2518 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 512, 0.13,-0.122,-2.055, 0.144,-0.424, PHS= 0.404,-1.586, 0.524, RAW= 152.9,   6.5, CAL= 152.2,   6.7, ROT= 357.8,  -6.7

2025-10-27T00:35:00.199Z,1761525300.199 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-27T00:35:00.200Z,1761525300.200 [DAT](INFO): direction in FSK: [0.992439,-0.038126,0.116671]
2025-10-27T00:35:00.200Z,1761525300.200 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:00.224Z,1761525300.224 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.993036
2025-10-27T00:35:00.363Z,1761525300.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.502711 s,
      deltaX: -0.200000 m,
      approachRate: -0.397843 m/s,
      rangeRepo size: 4

2025-10-27T00:35:00.372Z,1761525300.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.146925 m,
      bearing: 194.359301 deg,
      lat: 36.779398 deg,
      lon: -121.859631 deg,
      deltaT: 0.502711 s,
      deltaX: -0.199542 m,
      approachRate: -0.396932 m/s,
      posRepo size: 4

2025-10-27T00:35:00.373Z,1761525300.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.15 m.
2025-10-27T00:35:00.377Z,1761525300.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.146925 m,
      nav range: 12.607256 m,
      bearing: 198.930471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003789 deg/s,
      cmd heading: 192.809752 deg,
      new cmd heading: 192.803713 deg.

2025-10-27T00:35:00.378Z,1761525300.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365060 target range: 13.146925 and range: 13.20 m.
2025-10-27T00:35:00.441Z,1761525300.441 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.209827
2025-10-27T00:35:00.694Z,1761525300.694 [DAT](INFO): DAT read: Rx Time:00:35:01.7515 

2025-10-27T00:35:00.694Z,1761525300.694 [DAT](INFO): Rx dataTimestamp_ set to:1761525300.693996
2025-10-27T00:35:00.696Z,1761525300.696 [DAT](INFO): DAT read: Bearing 352.6,   0.3 (Local)

2025-10-27T00:35:00.697Z,1761525300.697 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.6,   0.3 (Local)

2025-10-27T00:35:00.700Z,1761525300.700 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.5

2025-10-27T00:35:00.707Z,1761525300.707 [DAT](INFO): DAT read: 00:35:01.7515 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.04,-1.326,-3.083,-1.182,-1.473, PHS= 0.248,-1.566, 0.247, RAW= 150.0,  11.8, CAL= 149.8,  13.0, ROT=   0.2, -13.0

2025-10-27T00:35:00.709Z,1761525300.709 [DAT](INFO): got valid direction response:
 00:35:01.7515 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.04,-1.326,-3.083,-1.182,-1.473, PHS= 0.248,-1.566, 0.247, RAW= 150.0,  11.8, CAL= 149.8,  13.0, ROT=   0.2, -13.0

2025-10-27T00:35:00.709Z,1761525300.709 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-27T00:35:00.711Z,1761525300.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966017,0.239577,0.097026],[-0.253499,-0.951454,-0.174564],[0.050494,-0.193228,0.979854]]
2025-10-27T00:35:00.727Z,1761525300.727 [DAT](INFO): direction in FSK: [0.974364,0.003401,0.224951]
2025-10-27T00:35:00.727Z,1761525300.727 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:00.739Z,1761525300.739 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.500019
2025-10-27T00:35:00.788Z,1761525300.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.505343 s,
      deltaX: -0.400000 m,
      approachRate: -0.791541 m/s,
      rangeRepo size: 4

2025-10-27T00:35:00.790Z,1761525300.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.748533 m,
      bearing: 197.492495 deg,
      lat: 36.779398 deg,
      lon: -121.859630 deg,
      deltaT: 0.505343 s,
      deltaX: -0.398392 m,
      approachRate: -0.788359 m/s,
      posRepo size: 4

2025-10-27T00:35:00.799Z,1761525300.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.75 m.
2025-10-27T00:35:00.802Z,1761525300.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.748533 m,
      nav range: 12.321639 m,
      bearing: 198.309716 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003789 deg/s,
      cmd heading: 192.803714 deg,
      new cmd heading: 192.798835 deg.

2025-10-27T00:35:00.811Z,1761525300.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.364974 target range: 12.748533 and range: 12.80 m.
2025-10-27T00:35:00.944Z,1761525300.944 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.713404
2025-10-27T00:35:01.142Z,1761525301.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966831,0.236453,0.096578],[-0.250223,-0.952711,-0.172424],[0.051241,-0.190871,0.980277]]
2025-10-27T00:35:01.181Z,1761525301.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:01.197Z,1761525301.197 [DAT](INFO): DAT read: Rx Time:00:35:02.2514 

2025-10-27T00:35:01.197Z,1761525301.197 [DAT](INFO): Rx dataTimestamp_ set to:1761525301.196782
2025-10-27T00:35:01.198Z,1761525301.198 [DAT](INFO): DAT read: Bearing 352.3,  -0.3 (Local)

2025-10-27T00:35:01.199Z,1761525301.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.3,  -0.3 (Local)

2025-10-27T00:35:01.201Z,1761525301.201 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.5

2025-10-27T00:35:01.205Z,1761525301.205 [DAT](INFO): DAT read: 00:35:02.2514 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.00,-0.326,-2.075,-0.154,-0.461, PHS= 0.237,-1.569, 0.263, RAW= 150.7,  11.7, CAL= 150.6,  12.9, ROT= 359.4, -12.9

2025-10-27T00:35:01.206Z,1761525301.206 [DAT](INFO): got valid direction response:
 00:35:02.2514 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.00,-0.326,-2.075,-0.154,-0.461, PHS= 0.237,-1.569, 0.263, RAW= 150.7,  11.7, CAL= 150.6,  12.9, ROT= 359.4, -12.9

2025-10-27T00:35:01.207Z,1761525301.207 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-27T00:35:01.208Z,1761525301.208 [DAT](INFO): direction in FSK: [0.974708,-0.010208,0.223250]
2025-10-27T00:35:01.208Z,1761525301.208 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:01.213Z,1761525301.213 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.981976
2025-10-27T00:35:01.220Z,1761525301.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.502786 s,
      deltaX: -0.200000 m,
      approachRate: -0.397783 m/s,
      rangeRepo size: 4

2025-10-27T00:35:01.221Z,1761525301.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.75 m.
2025-10-27T00:35:01.228Z,1761525301.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.748533 m,
      nav range: 12.064296 m,
      bearing: 198.156869 deg,
      approach rate: -0.595603 m/s,
      LOS rate: -0.361299 deg/s,
      cmd heading: 192.798837 deg,
      new cmd heading: 192.330526 deg.

2025-10-27T00:35:01.229Z,1761525301.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.356801 target range: 12.748533 and range: 12.60 m.
2025-10-27T00:35:01.448Z,1761525301.448 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.217382
2025-10-27T00:35:01.546Z,1761525301.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967651,0.233310,0.096007],[-0.246909,-0.953944,-0.170372],[0.051835,-0.188566,0.980692]]
2025-10-27T00:35:01.636Z,1761525301.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.75 m.
2025-10-27T00:35:01.650Z,1761525301.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.748533 m,
      nav range: 11.800245 m,
      bearing: 197.997275 deg,
      approach rate: -0.652436 m/s,
      LOS rate: -0.403161 deg/s,
      cmd heading: 192.330532 deg,
      new cmd heading: 191.841048 deg.

2025-10-27T00:35:01.651Z,1761525301.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.348258 target range: 12.748533 and range: 12.60 m.
2025-10-27T00:35:01.701Z,1761525301.701 [DAT](INFO): DAT read: Rx Time:00:35:02.7511 

2025-10-27T00:35:01.702Z,1761525301.702 [DAT](INFO): Rx dataTimestamp_ set to:1761525301.701678
2025-10-27T00:35:01.704Z,1761525301.704 [DAT](INFO): DAT read: Bearing 352.3,  -0.7 (Local)

2025-10-27T00:35:01.704Z,1761525301.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.3,  -0.7 (Local)

2025-10-27T00:35:01.708Z,1761525301.708 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.6

2025-10-27T00:35:01.714Z,1761525301.714 [DAT](INFO): DAT read: 00:35:02.7511 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.03,-1.643, 2.899,-1.455,-1.763, PHS= 0.223,-1.576, 0.264, RAW= 151.1,  11.9, CAL= 151.1,  13.2, ROT= 358.9, -13.2

2025-10-27T00:35:01.719Z,1761525301.719 [DAT](INFO): got valid direction response:
 00:35:02.7511 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.03,-1.643, 2.899,-1.455,-1.763, PHS= 0.223,-1.576, 0.264, RAW= 151.1,  11.9, CAL= 151.1,  13.2, ROT= 358.9, -13.2

2025-10-27T00:35:01.720Z,1761525301.720 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-27T00:35:01.721Z,1761525301.721 [DAT](INFO): direction in FSK: [0.973399,-0.018690,0.228351]
2025-10-27T00:35:01.721Z,1761525301.721 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:01.750Z,1761525301.750 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.519165
2025-10-27T00:35:01.952Z,1761525301.952 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.721483
2025-10-27T00:35:02.101Z,1761525302.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969100,0.227641,0.095001],[-0.241101,-0.955524,-0.169833],[0.052115,-0.187490,0.980883]]
2025-10-27T00:35:02.164Z,1761525302.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504896 s,
      deltaX: -0.300000 m,
      approachRate: -0.594182 m/s,
      rangeRepo size: 4

2025-10-27T00:35:02.166Z,1761525302.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.250388 m,
      bearing: 195.433345 deg,
      lat: 36.779395 deg,
      lon: -121.859627 deg,
      deltaT: 1.007682 s,
      deltaX: -0.498145 m,
      approachRate: -0.494348 m/s,
      posRepo size: 4

2025-10-27T00:35:02.166Z,1761525302.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.25 m.
2025-10-27T00:35:02.173Z,1761525302.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.250388 m,
      nav range: 11.769513 m,
      bearing: 196.023591 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.403161 deg/s,
      cmd heading: 191.841053 deg,
      new cmd heading: 191.194725 deg.

2025-10-27T00:35:02.174Z,1761525302.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.336977 target range: 12.250388 and range: 12.30 m.
2025-10-27T00:35:02.205Z,1761525302.205 [DAT](INFO): DAT read: Rx Time:00:35:03.2510 

2025-10-27T00:35:02.205Z,1761525302.205 [DAT](INFO): Rx dataTimestamp_ set to:1761525302.204786
2025-10-27T00:35:02.206Z,1761525302.206 [DAT](INFO): DAT read: Bearing 352.3,  -1.4 (Local)

2025-10-27T00:35:02.207Z,1761525302.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.3,  -1.4 (Local)

2025-10-27T00:35:02.209Z,1761525302.209 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.5

2025-10-27T00:35:02.214Z,1761525302.214 [DAT](INFO): DAT read: 00:35:03.2510 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.05,-0.524,-2.259,-0.316,-0.629, PHS= 0.207,-1.585, 0.269, RAW= 151.7,  12.1, CAL= 151.7,  13.4, ROT= 358.3, -13.4

2025-10-27T00:35:02.215Z,1761525302.215 [DAT](INFO): got valid direction response:
 00:35:03.2510 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.05,-0.524,-2.259,-0.316,-0.629, PHS= 0.207,-1.585, 0.269, RAW= 151.7,  12.1, CAL= 151.7,  13.4, ROT= 358.3, -13.4

2025-10-27T00:35:02.215Z,1761525302.215 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-27T00:35:02.216Z,1761525302.216 [DAT](INFO): direction in FSK: [0.972348,-0.028859,0.231748]
2025-10-27T00:35:02.216Z,1761525302.216 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:02.220Z,1761525302.220 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.989527
2025-10-27T00:35:02.442Z,1761525302.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969676,0.225297,0.094705],[-0.238792,-0.955909,-0.170925],[0.052020,-0.188357,0.980722]]
2025-10-27T00:35:02.456Z,1761525302.456 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.225300
2025-10-27T00:35:02.486Z,1761525302.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.503108 s,
      deltaX: -0.100000 m,
      approachRate: -0.198765 m/s,
      rangeRepo size: 4

2025-10-27T00:35:02.492Z,1761525302.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.150730 m,
      bearing: 194.752601 deg,
      lat: 36.779394 deg,
      lon: -121.859626 deg,
      deltaT: 0.503108 s,
      deltaX: -0.099658 m,
      approachRate: -0.198085 m/s,
      posRepo size: 4

2025-10-27T00:35:02.493Z,1761525302.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.15 m.
2025-10-27T00:35:02.500Z,1761525302.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.150730 m,
      nav range: 11.572104 m,
      bearing: 195.291464 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.403161 deg/s,
      cmd heading: 191.194726 deg,
      new cmd heading: 190.800243 deg.

2025-10-27T00:35:02.501Z,1761525302.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.330092 target range: 12.150730 and range: 12.20 m.
2025-10-27T00:35:02.709Z,1761525302.709 [DAT](INFO): DAT read: Rx Time:00:35:03.7507 

2025-10-27T00:35:02.710Z,1761525302.710 [DAT](INFO): Rx dataTimestamp_ set to:1761525302.709700
2025-10-27T00:35:02.712Z,1761525302.712 [DAT](INFO): DAT read: Bearing 352.4,  -2.8 (Local)

2025-10-27T00:35:02.712Z,1761525302.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,  -2.8 (Local)

2025-10-27T00:35:02.715Z,1761525302.715 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.5

2025-10-27T00:35:02.726Z,1761525302.726 [DAT](INFO): DAT read: 00:35:03.7507 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.01,-1.479, 3.077,-1.228,-1.552, PHS= 0.175,-1.609, 0.280, RAW= 152.8,  12.5, CAL= 152.9,  13.9, ROT= 357.1, -13.9

2025-10-27T00:35:02.727Z,1761525302.727 [DAT](INFO): got valid direction response:
 00:35:03.7507 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.01,-1.479, 3.077,-1.228,-1.552, PHS= 0.175,-1.609, 0.280, RAW= 152.8,  12.5, CAL= 152.9,  13.9, ROT= 357.1, -13.9

2025-10-27T00:35:02.728Z,1761525302.728 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-27T00:35:02.729Z,1761525302.729 [DAT](INFO): direction in FSK: [0.969473,-0.049112,0.240228]
2025-10-27T00:35:02.730Z,1761525302.730 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:02.736Z,1761525302.736 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.505127
2025-10-27T00:35:02.846Z,1761525302.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970348,0.222498,0.094445],[-0.235995,-0.956565,-0.171145],[0.052263,-0.188359,0.980709]]
2025-10-27T00:35:02.896Z,1761525302.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504914 s,
      deltaX: -0.500000 m,
      approachRate: -0.990268 m/s,
      rangeRepo size: 4

2025-10-27T00:35:02.898Z,1761525302.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.652749 m,
      bearing: 193.494256 deg,
      lat: 36.779395 deg,
      lon: -121.859626 deg,
      deltaT: 0.504914 s,
      deltaX: -0.497981 m,
      approachRate: -0.986269 m/s,
      posRepo size: 4

2025-10-27T00:35:02.899Z,1761525302.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.65 m.
2025-10-27T00:35:02.906Z,1761525302.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.652749 m,
      nav range: 11.302737 m,
      bearing: 195.152941 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.403161 deg/s,
      cmd heading: 190.800242 deg,
      new cmd heading: 190.313835 deg.

2025-10-27T00:35:02.906Z,1761525302.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.321603 target range: 11.652749 and range: 11.70 m.
2025-10-27T00:35:02.961Z,1761525302.961 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.730042
2025-10-27T00:35:03.213Z,1761525303.213 [DAT](INFO): DAT read: Rx Time:00:35:04.2505 

2025-10-27T00:35:03.213Z,1761525303.213 [DAT](INFO): Rx dataTimestamp_ set to:1761525303.212706
2025-10-27T00:35:03.214Z,1761525303.214 [DAT](INFO): DAT read: Bearing 351.2,  -3.4 (Local)

2025-10-27T00:35:03.215Z,1761525303.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.2,  -3.4 (Local)

2025-10-27T00:35:03.217Z,1761525303.217 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed 0.4

2025-10-27T00:35:03.221Z,1761525303.221 [DAT](INFO): DAT read: 00:35:04.2505 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.06,-0.788,-2.512,-0.503,-0.871, PHS= 0.185,-1.596, 0.324, RAW= 153.7,  11.7, CAL= 153.7,  13.0, ROT= 356.3, -13.0

2025-10-27T00:35:03.222Z,1761525303.222 [DAT](INFO): got valid direction response:
 00:35:04.2505 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.06,-0.788,-2.512,-0.503,-0.871, PHS= 0.185,-1.596, 0.324, RAW= 153.7,  11.7, CAL= 153.7,  13.0, ROT= 356.3, -13.0

2025-10-27T00:35:03.223Z,1761525303.223 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-27T00:35:03.224Z,1761525303.224 [DAT](INFO): direction in FSK: [0.972339,-0.062879,0.224951]
2025-10-27T00:35:03.224Z,1761525303.224 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:03.228Z,1761525303.228 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.997248
2025-10-27T00:35:03.254Z,1761525303.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970917,0.220054,0.094318],[-0.233697,-0.956671,-0.173684],[0.052011,-0.190675,0.980274]]
2025-10-27T00:35:03.368Z,1761525303.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.503006 s,
      deltaX: -0.300000 m,
      approachRate: -0.596415 m/s,
      rangeRepo size: 4

2025-10-27T00:35:03.370Z,1761525303.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.353946 m,
      bearing: 192.412053 deg,
      lat: 36.779395 deg,
      lon: -121.859625 deg,
      deltaT: 0.503006 s,
      deltaX: -0.298803 m,
      approachRate: -0.594035 m/s,
      posRepo size: 4

2025-10-27T00:35:03.375Z,1761525303.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.35 m.
2025-10-27T00:35:03.378Z,1761525303.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.353946 m,
      nav range: 11.004428 m,
      bearing: 194.551399 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.403161 deg/s,
      cmd heading: 190.313837 deg,
      new cmd heading: 189.732528 deg.

2025-10-27T00:35:03.383Z,1761525303.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.311457 target range: 11.353946 and range: 11.40 m.
2025-10-27T00:35:03.465Z,1761525303.465 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.234388
2025-10-27T00:35:03.717Z,1761525303.717 [DAT](INFO): DAT read: Rx Time:00:35:04.7502 

2025-10-27T00:35:03.718Z,1761525303.718 [DAT](INFO): Rx dataTimestamp_ set to:1761525303.717649
2025-10-27T00:35:03.719Z,1761525303.719 [DAT](INFO): DAT read: Bearing 351.6,  -3.7 (Local)

2025-10-27T00:35:03.720Z,1761525303.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.6,  -3.7 (Local)

2025-10-27T00:35:03.722Z,1761525303.722 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed 0.4

2025-10-27T00:35:03.731Z,1761525303.731 [DAT](INFO): DAT read: 00:35:04.7502 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.15,-2.110, 2.451,-1.820,-2.176, PHS= 0.168,-1.611, 0.312, RAW= 153.9,  12.2, CAL= 153.9,  13.5, ROT= 356.1, -13.5

2025-10-27T00:35:03.732Z,1761525303.732 [DAT](INFO): got valid direction response:
 00:35:04.7502 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.15,-2.110, 2.451,-1.820,-2.176, PHS= 0.168,-1.611, 0.312, RAW= 153.9,  12.2, CAL= 153.9,  13.5, ROT= 356.1, -13.5

2025-10-27T00:35:03.733Z,1761525303.733 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-27T00:35:03.734Z,1761525303.734 [DAT](INFO): direction in FSK: [0.970118,-0.066136,0.233445]
2025-10-27T00:35:03.734Z,1761525303.734 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:03.738Z,1761525303.738 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.506870
2025-10-27T00:35:03.779Z,1761525303.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.504943 s,
      deltaX: -0.400000 m,
      approachRate: -0.792168 m/s,
      rangeRepo size: 4

2025-10-27T00:35:03.781Z,1761525303.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.955563 m,
      bearing: 192.314532 deg,
      lat: 36.779395 deg,
      lon: -121.859622 deg,
      deltaT: 0.504943 s,
      deltaX: -0.398383 m,
      approachRate: -0.788967 m/s,
      posRepo size: 4

2025-10-27T00:35:03.782Z,1761525303.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.96 m.
2025-10-27T00:35:03.793Z,1761525303.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.955563 m,
      nav range: 10.690483 m,
      bearing: 192.994050 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.403161 deg/s,
      cmd heading: 189.732533 deg,
      new cmd heading: 189.260394 deg.

2025-10-27T00:35:03.794Z,1761525303.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.303217 target range: 10.955563 and range: 11.00 m.
2025-10-27T00:35:03.968Z,1761525303.968 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.737440
2025-10-27T00:35:04.113Z,1761525304.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971743,0.216689,0.093599],[-0.230346,-0.957133,-0.175608],[0.051535,-0.192206,0.980000]]
2025-10-27T00:35:04.182Z,1761525304.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:04.189Z,1761525304.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.96 m.
2025-10-27T00:35:04.196Z,1761525304.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.955563 m,
      nav range: 10.450208 m,
      bearing: 192.887550 deg,
      approach rate: -0.558351 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 189.260389 deg,
      new cmd heading: 188.933545 deg.

2025-10-27T00:35:04.197Z,1761525304.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.297513 target range: 10.955563 and range: 11.00 m.
2025-10-27T00:35:04.221Z,1761525304.221 [DAT](INFO): DAT read: Rx Time:00:35:05.2501 

2025-10-27T00:35:04.221Z,1761525304.221 [DAT](INFO): Rx dataTimestamp_ set to:1761525304.220808
2025-10-27T00:35:04.222Z,1761525304.222 [DAT](INFO): DAT read: Bearing 351.8,  -4.3 (Local)

2025-10-27T00:35:04.223Z,1761525304.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.8,  -4.3 (Local)

2025-10-27T00:35:04.225Z,1761525304.225 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.5

2025-10-27T00:35:04.230Z,1761525304.230 [DAT](INFO): DAT read: 00:35:05.2501 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 511, 0.32,-1.259,-2.970,-0.954,-1.305, PHS= 0.148,-1.620, 0.308, RAW= 154.3,  12.5, CAL= 154.4,  14.0, ROT= 355.6, -14.0

2025-10-27T00:35:04.231Z,1761525304.231 [DAT](INFO): got valid direction response:
 00:35:05.2501 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 511, 0.32,-1.259,-2.970,-0.954,-1.305, PHS= 0.148,-1.620, 0.308, RAW= 154.3,  12.5, CAL= 154.4,  14.0, ROT= 355.6, -14.0

2025-10-27T00:35:04.231Z,1761525304.231 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-27T00:35:04.232Z,1761525304.232 [DAT](INFO): direction in FSK: [0.967436,-0.074440,0.241922]
2025-10-27T00:35:04.232Z,1761525304.232 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:04.236Z,1761525304.236 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.005518
2025-10-27T00:35:04.472Z,1761525304.472 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.241350
2025-10-27T00:35:04.647Z,1761525304.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972017,0.215512,0.093479],[-0.229221,-0.957200,-0.176708],[0.051395,-0.193190,0.979814]]
2025-10-27T00:35:04.681Z,1761525304.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.503159 s,
      deltaX: -0.200000 m,
      approachRate: -0.397488 m/s,
      rangeRepo size: 4

2025-10-27T00:35:04.685Z,1761525304.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.756347 m,
      bearing: 191.692543 deg,
      lat: 36.779395 deg,
      lon: -121.859620 deg,
      deltaT: 0.503159 s,
      deltaX: -0.199216 m,
      approachRate: -0.395930 m/s,
      posRepo size: 4

2025-10-27T00:35:04.686Z,1761525304.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.76 m.
2025-10-27T00:35:04.690Z,1761525304.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.756347 m,
      nav range: 10.131654 m,
      bearing: 191.917799 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 188.933551 deg,
      new cmd heading: 188.560152 deg.

2025-10-27T00:35:04.692Z,1761525304.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.290996 target range: 10.756347 and range: 10.80 m.
2025-10-27T00:35:04.725Z,1761525304.725 [DAT](INFO): DAT read: Rx Time:00:35:05.7500 

2025-10-27T00:35:04.725Z,1761525304.725 [DAT](INFO): Rx dataTimestamp_ set to:1761525304.724753
2025-10-27T00:35:04.726Z,1761525304.726 [DAT](INFO): DAT read: Bearing 352.6,  -4.8 (Local)

2025-10-27T00:35:04.727Z,1761525304.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.6,  -4.8 (Local)

2025-10-27T00:35:04.729Z,1761525304.729 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-10-27T00:35:04.734Z,1761525304.734 [DAT](INFO): DAT read: 00:35:05.7500 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.33, 2.080, 0.361, 2.394, 2.061, PHS= 0.121,-1.655, 0.289, RAW= 154.5,  13.3, CAL= 154.7,  14.9, ROT= 355.3, -14.9

2025-10-27T00:35:04.735Z,1761525304.735 [DAT](INFO): got valid direction response:
 00:35:05.7500 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.33, 2.080, 0.361, 2.394, 2.061, PHS= 0.121,-1.655, 0.289, RAW= 154.5,  13.3, CAL= 154.7,  14.9, ROT= 355.3, -14.9

2025-10-27T00:35:04.735Z,1761525304.735 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-27T00:35:04.736Z,1761525304.736 [DAT](INFO): direction in FSK: [0.963127,-0.079184,0.257133]
2025-10-27T00:35:04.736Z,1761525304.736 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:04.740Z,1761525304.740 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.509344
2025-10-27T00:35:04.976Z,1761525304.976 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.745623
2025-10-27T00:35:05.106Z,1761525305.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972500,0.213727,0.092545],[-0.227241,-0.957819,-0.175910],[0.051045,-0.192102,0.980046]]
2025-10-27T00:35:05.159Z,1761525305.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.503945 s,
      deltaX: -0.300000 m,
      approachRate: -0.595303 m/s,
      rangeRepo size: 4

2025-10-27T00:35:05.161Z,1761525305.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.457559 m,
      bearing: 191.445951 deg,
      lat: 36.779395 deg,
      lon: -121.859620 deg,
      deltaT: 0.503945 s,
      deltaX: -0.298788 m,
      approachRate: -0.592898 m/s,
      posRepo size: 4

2025-10-27T00:35:05.162Z,1761525305.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m.
2025-10-27T00:35:05.165Z,1761525305.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.457559 m,
      nav range: 9.866671 m,
      bearing: 191.788800 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 188.560158 deg,
      new cmd heading: 188.196798 deg.

2025-10-27T00:35:05.166Z,1761525305.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.284654 target range: 10.457559 and range: 10.50 m.
2025-10-27T00:35:05.229Z,1761525305.229 [DAT](INFO): DAT read: Rx Time:00:35:06.2499 

2025-10-27T00:35:05.229Z,1761525305.229 [DAT](INFO): Rx dataTimestamp_ set to:1761525305.228995
2025-10-27T00:35:05.231Z,1761525305.231 [DAT](INFO): DAT read: Bearing 352.3,  -4.7 (Local)

2025-10-27T00:35:05.231Z,1761525305.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.3,  -4.7 (Local)

2025-10-27T00:35:05.233Z,1761525305.233 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed 0.4

2025-10-27T00:35:05.238Z,1761525305.238 [DAT](INFO): DAT read: 00:35:06.2499 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.06, 2.847, 1.128,-3.123, 2.824, PHS= 0.125,-1.651, 0.292, RAW= 154.4,  13.2, CAL= 154.7,  14.8, ROT= 355.3, -14.8

2025-10-27T00:35:05.239Z,1761525305.239 [DAT](INFO): got valid direction response:
 00:35:06.2499 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.06, 2.847, 1.128,-3.123, 2.824, PHS= 0.125,-1.651, 0.292, RAW= 154.4,  13.2, CAL= 154.7,  14.8, ROT= 355.3, -14.8

2025-10-27T00:35:05.239Z,1761525305.239 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-27T00:35:05.240Z,1761525305.240 [DAT](INFO): direction in FSK: [0.963572,-0.079220,0.255446]
2025-10-27T00:35:05.241Z,1761525305.241 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:05.262Z,1761525305.262 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.031546
2025-10-27T00:35:05.480Z,1761525305.480 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.249119
2025-10-27T00:35:05.619Z,1761525305.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973185,0.210824,0.091997],[-0.224449,-0.957854,-0.179270],[0.050325,-0.195112,0.979489]]
2025-10-27T00:35:05.646Z,1761525305.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.504242 s,
      deltaX: -0.100000 m,
      approachRate: -0.198318 m/s,
      rangeRepo size: 4

2025-10-27T00:35:05.648Z,1761525305.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.357939 m,
      bearing: 191.309825 deg,
      lat: 36.779394 deg,
      lon: -121.859620 deg,
      deltaT: 0.504242 s,
      deltaX: -0.099620 m,
      approachRate: -0.197564 m/s,
      posRepo size: 4

2025-10-27T00:35:05.649Z,1761525305.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.36 m.
2025-10-27T00:35:05.652Z,1761525305.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.357939 m,
      nav range: 9.662527 m,
      bearing: 191.638088 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 188.196792 deg,
      new cmd heading: 187.827213 deg.

2025-10-27T00:35:05.653Z,1761525305.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.278203 target range: 10.357939 and range: 10.40 m.
2025-10-27T00:35:05.734Z,1761525305.734 [DAT](INFO): DAT read: Rx Time:00:35:06.7496 

2025-10-27T00:35:05.735Z,1761525305.735 [DAT](INFO): Rx dataTimestamp_ set to:1761525305.734082
2025-10-27T00:35:05.737Z,1761525305.737 [DAT](INFO): DAT read: Bearing 351.9,  -3.5 (Local)

2025-10-27T00:35:05.737Z,1761525305.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,  -3.5 (Local)

2025-10-27T00:35:05.740Z,1761525305.740 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed 0.4

2025-10-27T00:35:05.745Z,1761525305.745 [DAT](INFO): DAT read: 00:35:06.7496 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.20,-3.037, 1.534,-2.768,-3.090, PHS= 0.155,-1.614, 0.278, RAW= 153.3,  12.8, CAL= 153.5,  14.3, ROT= 356.5, -14.3

2025-10-27T00:35:05.747Z,1761525305.747 [DAT](INFO): got valid direction response:
 00:35:06.7496 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.20,-3.037, 1.534,-2.768,-3.090, PHS= 0.155,-1.614, 0.278, RAW= 153.3,  12.8, CAL= 153.5,  14.3, ROT= 356.5, -14.3

2025-10-27T00:35:05.747Z,1761525305.747 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-27T00:35:05.748Z,1761525305.748 [DAT](INFO): direction in FSK: [0.967208,-0.059157,0.246999]
2025-10-27T00:35:05.748Z,1761525305.748 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:05.752Z,1761525305.752 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.521381
2025-10-27T00:35:05.984Z,1761525305.984 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.753300
2025-10-27T00:35:06.018Z,1761525306.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973719,0.208353,0.091977],[-0.222233,-0.957563,-0.183537],[0.049833,-0.199154,0.978700]]
2025-10-27T00:35:06.133Z,1761525306.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.505087 s,
      deltaX: -0.500000 m,
      approachRate: -0.989928 m/s,
      rangeRepo size: 4

2025-10-27T00:35:06.135Z,1761525306.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.859962 m,
      bearing: 192.332594 deg,
      lat: 36.779394 deg,
      lon: -121.859620 deg,
      deltaT: 0.505087 s,
      deltaX: -0.497977 m,
      approachRate: -0.985924 m/s,
      posRepo size: 4

2025-10-27T00:35:06.139Z,1761525306.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.86 m.
2025-10-27T00:35:06.140Z,1761525306.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-10-27T00:35:06.140Z,1761525306.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-27T00:35:06.143Z,1761525306.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 9.414137 m,
      bearing: 191.586957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 187.827211 deg,
      new cmd heading: 187.457455 deg.

2025-10-27T00:35:06.144Z,1761525306.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.271750 target range: 9.859962 and range: 9.90 m.
2025-10-27T00:35:06.238Z,1761525306.238 [DAT](INFO): DAT read: Rx Time:00:35:07.2496 

2025-10-27T00:35:06.238Z,1761525306.238 [DAT](INFO): Rx dataTimestamp_ set to:1761525306.237964
2025-10-27T00:35:06.240Z,1761525306.240 [DAT](INFO): DAT read: Bearing 350.6,  -2.9 (Local)

2025-10-27T00:35:06.240Z,1761525306.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  -2.9 (Local)

2025-10-27T00:35:06.242Z,1761525306.242 [DAT](INFO): DAT read: Range 11 to 50 :     9.9 m (trip time 6.6 ms) speed 0.4

2025-10-27T00:35:06.247Z,1761525306.247 [DAT](INFO): DAT read: 00:35:07.2496 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.15, 0.991,-0.736, 1.252, 0.902, PHS= 0.191,-1.593, 0.306, RAW= 153.1,  11.9, CAL= 153.1,  13.1, ROT= 356.9, -13.1

2025-10-27T00:35:06.248Z,1761525306.248 [DAT](INFO): got valid direction response:
 00:35:07.2496 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.15, 0.991,-0.736, 1.252, 0.902, PHS= 0.191,-1.593, 0.306, RAW= 153.1,  11.9, CAL= 153.1,  13.1, ROT= 356.9, -13.1

2025-10-27T00:35:06.248Z,1761525306.248 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-27T00:35:06.249Z,1761525306.249 [DAT](INFO): direction in FSK: [0.972551,-0.052671,0.226651]
2025-10-27T00:35:06.250Z,1761525306.250 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:06.253Z,1761525306.253 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.022671
2025-10-27T00:35:06.483Z,1761525306.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974236,0.205767,0.092331],[-0.220049,-0.956970,-0.189175],[0.049433,-0.204618,0.977593]]
2025-10-27T00:35:06.488Z,1761525306.488 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.257332
2025-10-27T00:35:06.539Z,1761525306.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 0.503882 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T00:35:06.541Z,1761525306.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.859913 m,
      bearing: 192.422064 deg,
      lat: 36.779394 deg,
      lon: -121.859620 deg,
      deltaT: 0.503882 s,
      deltaX: -0.000049 m,
      approachRate: -0.000097 m/s,
      posRepo size: 4

2025-10-27T00:35:06.544Z,1761525306.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-10-27T00:35:06.553Z,1761525306.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 9.176227 m,
      bearing: 191.582629 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 187.457451 deg,
      new cmd heading: 187.148871 deg.

2025-10-27T00:35:06.574Z,1761525306.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.266364 target range: 9.859962 and range: 9.90 m.
2025-10-27T00:35:06.742Z,1761525306.742 [DAT](INFO): DAT read: Rx Time:00:35:07.7493 

2025-10-27T00:35:06.742Z,1761525306.742 [DAT](INFO): Rx dataTimestamp_ set to:1761525306.741929
2025-10-27T00:35:06.744Z,1761525306.744 [DAT](INFO): DAT read: Bearing 354.5,  -4.0 (Local)

2025-10-27T00:35:06.745Z,1761525306.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,  -4.0 (Local)

2025-10-27T00:35:06.747Z,1761525306.747 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed 0.6

2025-10-27T00:35:06.752Z,1761525306.752 [DAT](INFO): DAT read: 00:35:07.7493 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.16, 1.458,-0.254, 1.705, 1.475, PHS= 0.085,-1.684, 0.186, RAW= 152.8,  15.3, CAL= 153.2,  17.3, ROT= 356.8, -17.3

2025-10-27T00:35:06.753Z,1761525306.753 [DAT](INFO): got valid direction response:
 00:35:07.7493 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.16, 1.458,-0.254, 1.705, 1.475, PHS= 0.085,-1.684, 0.186, RAW= 152.8,  15.3, CAL= 153.2,  17.3, ROT= 356.8, -17.3

2025-10-27T00:35:06.753Z,1761525306.753 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-27T00:35:06.754Z,1761525306.754 [DAT](INFO): direction in FSK: [0.953272,-0.053296,0.297375]
2025-10-27T00:35:06.755Z,1761525306.755 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:06.759Z,1761525306.759 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.528606
2025-10-27T00:35:06.948Z,1761525306.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974717,0.203314,0.092687],[-0.218008,-0.956269,-0.194991],[0.048990,-0.210268,0.976416]]
2025-10-27T00:35:06.980Z,1761525306.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.503965 s,
      deltaX: -0.400000 m,
      approachRate: -0.793705 m/s,
      rangeRepo size: 4

2025-10-27T00:35:06.982Z,1761525306.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.461533 m,
      bearing: 193.249334 deg,
      lat: 36.779394 deg,
      lon: -121.859621 deg,
      deltaT: 1.007847 s,
      deltaX: -0.398429 m,
      approachRate: -0.395327 m/s,
      posRepo size: 4

2025-10-27T00:35:06.983Z,1761525306.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.46 m. 9.86 m.
2025-10-27T00:35:06.985Z,1761525306.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 8.936831 m,
      bearing: 191.581264 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 187.148877 deg,
      new cmd heading: 186.814207 deg.

2025-10-27T00:35:06.986Z,1761525306.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.260523 target range: 9.859962 and range: 9.50 m.
2025-10-27T00:35:06.992Z,1761525306.992 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.761341
2025-10-27T00:35:07.245Z,1761525307.245 [DAT](INFO): DAT read: Rx Time:00:35:08.2491 

2025-10-27T00:35:07.245Z,1761525307.245 [DAT](INFO): Rx dataTimestamp_ set to:1761525307.244700
2025-10-27T00:35:07.246Z,1761525307.246 [DAT](INFO): DAT read: Bearing 356.8,  -5.1 (Local)

2025-10-27T00:35:07.247Z,1761525307.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  -5.1 (Local)

2025-10-27T00:35:07.249Z,1761525307.249 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-10-27T00:35:07.253Z,1761525307.253 [DAT](INFO): DAT read: 00:35:08.2491 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.45, 0.753,-0.917, 1.007, 0.846, PHS= 0.009,-1.718, 0.117, RAW= 153.0,  17.5, CAL= 153.8,  20.0, ROT= 356.2, -20.0

2025-10-27T00:35:07.254Z,1761525307.254 [DAT](INFO): got valid direction response:
 00:35:08.2491 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.45, 0.753,-0.917, 1.007, 0.846, PHS= 0.009,-1.718, 0.117, RAW= 153.0,  17.5, CAL= 153.8,  20.0, ROT= 356.2, -20.0

2025-10-27T00:35:07.255Z,1761525307.255 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-27T00:35:07.256Z,1761525307.256 [DAT](INFO): direction in FSK: [0.937627,-0.062277,0.342020]
2025-10-27T00:35:07.256Z,1761525307.256 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:07.260Z,1761525307.260 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.029114
2025-10-27T00:35:07.350Z,1761525307.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975200,0.200921,0.092822],[-0.215881,-0.955967,-0.198803],[0.048791,-0.213911,0.975634]]
2025-10-27T00:35:07.429Z,1761525307.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.502771 s,
      deltaX: -0.300000 m,
      approachRate: -0.596694 m/s,
      rangeRepo size: 4

2025-10-27T00:35:07.439Z,1761525307.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.162721 m,
      bearing: 193.256000 deg,
      lat: 36.779395 deg,
      lon: -121.859622 deg,
      deltaT: 1.510618 s,
      deltaX: -0.697241 m,
      approachRate: -0.461560 m/s,
      posRepo size: 4

2025-10-27T00:35:07.440Z,1761525307.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.16 m. 9.86 m.
2025-10-27T00:35:07.443Z,1761525307.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 8.704382 m,
      bearing: 191.590170 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 186.814212 deg,
      new cmd heading: 186.473941 deg.

2025-10-27T00:35:07.444Z,1761525307.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.254584 target range: 9.859962 and range: 9.20 m.
2025-10-27T00:35:07.497Z,1761525307.497 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.266239
2025-10-27T00:35:07.749Z,1761525307.749 [DAT](INFO): DAT read: Rx Time:00:35:08.7489 

2025-10-27T00:35:07.749Z,1761525307.749 [DAT](INFO): Rx dataTimestamp_ set to:1761525307.748793
2025-10-27T00:35:07.750Z,1761525307.750 [DAT](INFO): DAT read: Bearing 355.8,  -4.1 (Local)

2025-10-27T00:35:07.751Z,1761525307.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  -4.1 (Local)

2025-10-27T00:35:07.753Z,1761525307.753 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.4

2025-10-27T00:35:07.758Z,1761525307.758 [DAT](INFO): DAT read: 00:35:08.7489 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.09,-0.340,-2.047,-0.114,-0.283, PHS= 0.045,-1.719, 0.125, RAW= 152.2,  16.9, CAL= 152.8,  19.1, ROT= 357.2, -19.1

2025-10-27T00:35:07.768Z,1761525307.768 [DAT](INFO): got valid direction response:
 00:35:08.7489 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.09,-0.340,-2.047,-0.114,-0.283, PHS= 0.045,-1.719, 0.125, RAW= 152.2,  16.9, CAL= 152.8,  19.1, ROT= 357.2, -19.1

2025-10-27T00:35:07.769Z,1761525307.769 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-27T00:35:07.770Z,1761525307.770 [DAT](INFO): direction in FSK: [0.943821,-0.046160,0.327218]
2025-10-27T00:35:07.770Z,1761525307.770 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:07.774Z,1761525307.774 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.543056
2025-10-27T00:35:07.789Z,1761525307.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975853,0.198065,0.092096],[-0.212912,-0.956687,-0.198541],[0.048783,-0.213355,0.975756]]
2025-10-27T00:35:07.848Z,1761525307.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504093 s,
      deltaX: -0.300000 m,
      approachRate: -0.595129 m/s,
      rangeRepo size: 4

2025-10-27T00:35:07.850Z,1761525307.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.863936 m,
      bearing: 193.841159 deg,
      lat: 36.779395 deg,
      lon: -121.859622 deg,
      deltaT: 2.014711 s,
      deltaX: -0.996025 m,
      approachRate: -0.494376 m/s,
      posRepo size: 4

2025-10-27T00:35:07.855Z,1761525307.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.86 m. 9.86 m.
2025-10-27T00:35:07.857Z,1761525307.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 8.488386 m,
      bearing: 191.603319 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 186.473945 deg,
      new cmd heading: 186.158013 deg.

2025-10-27T00:35:07.858Z,1761525307.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.249070 target range: 9.859962 and range: 8.90 m.
2025-10-27T00:35:08.000Z,1761525308.000 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.769627
2025-10-27T00:35:08.208Z,1761525308.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:08.210Z,1761525308.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-10-27T00:35:08.214Z,1761525308.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 8.265828 m,
      bearing: 191.602252 deg,
      approach rate: -0.606235 m/s,
      LOS rate: -0.002984 deg/s,
      cmd heading: 186.158008 deg,
      new cmd heading: 186.154722 deg.

2025-10-27T00:35:08.215Z,1761525308.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.249013 target range: 9.859962 and range: 8.90 m.
2025-10-27T00:35:08.253Z,1761525308.253 [DAT](INFO): DAT read: Rx Time:00:35:09.2488 

2025-10-27T00:35:08.253Z,1761525308.253 [DAT](INFO): Rx dataTimestamp_ set to:1761525308.252895
2025-10-27T00:35:08.254Z,1761525308.254 [DAT](INFO): DAT read: Bearing 355.9,  -3.4 (Local)

2025-10-27T00:35:08.255Z,1761525308.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,  -3.4 (Local)

2025-10-27T00:35:08.257Z,1761525308.257 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed 0.4

2025-10-27T00:35:08.262Z,1761525308.262 [DAT](INFO): DAT read: 00:35:09.2488 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.13, 2.612, 0.880, 2.811, 2.661, PHS= 0.053,-1.736, 0.105, RAW= 151.4,  17.1, CAL= 152.0,  19.3, ROT= 358.0, -19.3

2025-10-27T00:35:08.263Z,1761525308.263 [DAT](INFO): got valid direction response:
 00:35:09.2488 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.13, 2.612, 0.880, 2.811, 2.661, PHS= 0.053,-1.736, 0.105, RAW= 151.4,  17.1, CAL= 152.0,  19.3, ROT= 358.0, -19.3

2025-10-27T00:35:08.263Z,1761525308.263 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-27T00:35:08.264Z,1761525308.264 [DAT](INFO): direction in FSK: [0.943226,-0.032938,0.330514]
2025-10-27T00:35:08.264Z,1761525308.264 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:08.276Z,1761525308.276 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.045357
2025-10-27T00:35:08.505Z,1761525308.505 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.274010
2025-10-27T00:35:08.608Z,1761525308.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977332,0.191465,0.090355],[-0.206006,-0.958461,-0.197267],[0.048832,-0.211409,0.976177]]
2025-10-27T00:35:08.646Z,1761525308.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.504102 s,
      deltaX: -0.200000 m,
      approachRate: -0.396745 m/s,
      rangeRepo size: 4

2025-10-27T00:35:08.653Z,1761525308.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.664723 m,
      bearing: 194.238238 deg,
      lat: 36.779395 deg,
      lon: -121.859623 deg,
      deltaT: 2.518813 s,
      deltaX: -1.195238 m,
      approachRate: -0.474524 m/s,
      posRepo size: 4

2025-10-27T00:35:08.654Z,1761525308.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.66 m. 9.86 m.
2025-10-27T00:35:08.660Z,1761525308.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 8.026076 m,
      bearing: 191.613070 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 186.154716 deg,
      new cmd heading: 185.823685 deg.

2025-10-27T00:35:08.661Z,1761525308.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.243235 target range: 9.859962 and range: 8.70 m.
2025-10-27T00:35:08.757Z,1761525308.757 [DAT](INFO): DAT read: Rx Time:00:35:09.7485 

2025-10-27T00:35:08.757Z,1761525308.757 [DAT](INFO): Rx dataTimestamp_ set to:1761525308.756949
2025-10-27T00:35:08.759Z,1761525308.759 [DAT](INFO): DAT read: Bearing 355.8,  -2.2 (Local)

2025-10-27T00:35:08.759Z,1761525308.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  -2.2 (Local)

2025-10-27T00:35:08.761Z,1761525308.761 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed 0.4

2025-10-27T00:35:08.771Z,1761525308.771 [DAT](INFO): DAT read: 00:35:09.7485 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510, 0.48, 1.457,-0.310, 1.616, 1.484, PHS= 0.075,-1.749, 0.088, RAW= 150.3,  17.0, CAL= 150.8,  19.1, ROT= 359.2, -19.1

2025-10-27T00:35:08.787Z,1761525308.787 [DAT](INFO): got valid direction response:
 00:35:09.7485 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510, 0.48, 1.457,-0.310, 1.616, 1.484, PHS= 0.075,-1.749, 0.088, RAW= 150.3,  17.0, CAL= 150.8,  19.1, ROT= 359.2, -19.1

2025-10-27T00:35:08.795Z,1761525308.795 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-27T00:35:08.796Z,1761525308.796 [DAT](INFO): direction in FSK: [0.944857,-0.013193,0.327218]
2025-10-27T00:35:08.797Z,1761525308.797 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:08.805Z,1761525308.805 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.573788
2025-10-27T00:35:08.992Z,1761525308.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978114,0.187627,0.089936],[-0.202200,-0.959075,-0.198217],[0.049064,-0.212064,0.976023]]
2025-10-27T00:35:09.008Z,1761525309.008 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.777363
2025-10-27T00:35:09.032Z,1761525309.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.504054 s,
      deltaX: -0.400000 m,
      approachRate: -0.793565 m/s,
      rangeRepo size: 4

2025-10-27T00:35:09.034Z,1761525309.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.266346 m,
      bearing: 195.169440 deg,
      lat: 36.779396 deg,
      lon: -121.859623 deg,
      deltaT: 3.022867 s,
      deltaX: -1.593616 m,
      approachRate: -0.527187 m/s,
      posRepo size: 4

2025-10-27T00:35:09.046Z,1761525309.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.27 m. 9.86 m.
2025-10-27T00:35:09.070Z,1761525309.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 7.805151 m,
      bearing: 191.629958 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 185.823684 deg,
      new cmd heading: 185.543326 deg.

2025-10-27T00:35:09.078Z,1761525309.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.238342 target range: 9.859962 and range: 8.30 m.
2025-10-27T00:35:09.261Z,1761525309.261 [DAT](INFO): DAT read: Rx Time:00:35:10.2485 

2025-10-27T00:35:09.262Z,1761525309.262 [DAT](INFO): Rx dataTimestamp_ set to:1761525309.261341
2025-10-27T00:35:09.264Z,1761525309.264 [DAT](INFO): DAT read: Bearing 356.2,  -1.3 (Local)

2025-10-27T00:35:09.264Z,1761525309.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  -1.3 (Local)

2025-10-27T00:35:09.266Z,1761525309.266 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed 0.4

2025-10-27T00:35:09.270Z,1761525309.270 [DAT](INFO): DAT read: 00:35:10.2485 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510,-0.19, 1.585,-0.180, 1.708, 1.611, PHS= 0.076,-1.747, 0.052, RAW= 149.3,  17.5, CAL= 149.8,  19.6, ROT=   0.2, -19.6

2025-10-27T00:35:09.276Z,1761525309.276 [DAT](INFO): got valid direction response:
 00:35:10.2485 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510,-0.19, 1.585,-0.180, 1.708, 1.611, PHS= 0.076,-1.747, 0.052, RAW= 149.3,  17.5, CAL= 149.8,  19.6, ROT=   0.2, -19.6

2025-10-27T00:35:09.276Z,1761525309.276 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-27T00:35:09.277Z,1761525309.277 [DAT](INFO): direction in FSK: [0.942052,0.003288,0.335452]
2025-10-27T00:35:09.277Z,1761525309.277 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:09.281Z,1761525309.281 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.050308
2025-10-27T00:35:09.468Z,1761525309.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979044,0.182995,0.089368],[-0.197564,-0.959933,-0.198741],[0.049419,-0.212232,0.975969]]
2025-10-27T00:35:09.512Z,1761525309.512 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.281528
2025-10-27T00:35:09.613Z,1761525309.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.504392 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T00:35:09.619Z,1761525309.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.266315 m,
      bearing: 196.014303 deg,
      lat: 36.779396 deg,
      lon: -121.859624 deg,
      deltaT: 3.527259 s,
      deltaX: -1.593646 m,
      approachRate: -0.451809 m/s,
      posRepo size: 4

2025-10-27T00:35:09.620Z,1761525309.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.27 m. 9.86 m.
2025-10-27T00:35:09.622Z,1761525309.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 7.511942 m,
      bearing: 191.607853 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 185.543332 deg,
      new cmd heading: 185.089787 deg.

2025-10-27T00:35:09.627Z,1761525309.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.230426 target range: 9.859962 and range: 8.30 m.
2025-10-27T00:35:09.765Z,1761525309.765 [DAT](INFO): DAT read: Rx Time:00:35:10.7482 

2025-10-27T00:35:09.765Z,1761525309.765 [DAT](INFO): Rx dataTimestamp_ set to:1761525309.764797
2025-10-27T00:35:09.766Z,1761525309.766 [DAT](INFO): DAT read: Bearing 356.0,  -0.3 (Local)

2025-10-27T00:35:09.767Z,1761525309.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0,  -0.3 (Local)

2025-10-27T00:35:09.769Z,1761525309.769 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed 0.5

2025-10-27T00:35:09.774Z,1761525309.774 [DAT](INFO): DAT read: 00:35:10.7482 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.00, 1.053,-0.738, 1.142, 1.063, PHS= 0.092,-1.756, 0.035, RAW= 148.5,  17.6, CAL= 148.7,  19.5, ROT=   1.3, -19.5

2025-10-27T00:35:09.775Z,1761525309.775 [DAT](INFO): got valid direction response:
 00:35:10.7482 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.00, 1.053,-0.738, 1.142, 1.063, PHS= 0.092,-1.756, 0.035, RAW= 148.5,  17.6, CAL= 148.7,  19.5, ROT=   1.3, -19.5

2025-10-27T00:35:09.776Z,1761525309.776 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-27T00:35:09.777Z,1761525309.777 [DAT](INFO): direction in FSK: [0.942399,0.021386,0.333807]
2025-10-27T00:35:09.777Z,1761525309.777 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:09.781Z,1761525309.781 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.550716
2025-10-27T00:35:09.992Z,1761525309.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.503456 s,
      deltaX: -0.500000 m,
      approachRate: -0.993135 m/s,
      rangeRepo size: 4

2025-10-27T00:35:09.994Z,1761525309.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.768344 m,
      bearing: 197.075956 deg,
      lat: 36.779396 deg,
      lon: -121.859625 deg,
      deltaT: 4.030715 s,
      deltaX: -2.091617 m,
      approachRate: -0.518920 m/s,
      posRepo size: 4

2025-10-27T00:35:09.995Z,1761525309.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.77 m. 9.86 m.
2025-10-27T00:35:09.998Z,1761525309.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 7.231034 m,
      bearing: 191.584994 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 185.089794 deg,
      new cmd heading: 184.801499 deg.

2025-10-27T00:35:09.999Z,1761525309.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.225395 target range: 9.859962 and range: 7.80 m.
2025-10-27T00:35:10.017Z,1761525310.017 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.786423
2025-10-27T00:35:10.269Z,1761525310.269 [DAT](INFO): DAT read: Rx Time:00:35:11.2481 

2025-10-27T00:35:10.269Z,1761525310.269 [DAT](INFO): Rx dataTimestamp_ set to:1761525310.269167
2025-10-27T00:35:10.271Z,1761525310.271 [DAT](INFO): DAT read: Bearing 355.1,   0.9 (Local)

2025-10-27T00:35:10.271Z,1761525310.271 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,   0.9 (Local)

2025-10-27T00:35:10.273Z,1761525310.273 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.4

2025-10-27T00:35:10.286Z,1761525310.286 [DAT](INFO): DAT read: 00:35:11.2481 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.21, 2.467, 0.637, 2.522, 2.438, PHS= 0.131,-1.756, 0.040, RAW= 147.5,  16.9, CAL= 147.6,  18.7, ROT=   2.4, -18.7

2025-10-27T00:35:10.299Z,1761525310.299 [DAT](INFO): got valid direction response:
 00:35:11.2481 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.21, 2.467, 0.637, 2.522, 2.438, PHS= 0.131,-1.756, 0.040, RAW= 147.5,  16.9, CAL= 147.6,  18.7, ROT=   2.4, -18.7

2025-10-27T00:35:10.300Z,1761525310.300 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-10-27T00:35:10.301Z,1761525310.301 [DAT](INFO): direction in FSK: [0.946379,0.039665,0.320613]
2025-10-27T00:35:10.301Z,1761525310.301 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:10.305Z,1761525310.305 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.073849
2025-10-27T00:35:10.366Z,1761525310.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981141,0.172218,0.087766],[-0.186579,-0.962434,-0.197252],[0.050498,-0.209907,0.976416]]
2025-10-27T00:35:10.474Z,1761525310.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.504370 s,
      deltaX: -0.100000 m,
      approachRate: -0.198268 m/s,
      rangeRepo size: 4

2025-10-27T00:35:10.476Z,1761525310.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.668706 m,
      bearing: 197.281131 deg,
      lat: 36.779395 deg,
      lon: -121.859627 deg,
      deltaT: 4.535085 s,
      deltaX: -2.191256 m,
      approachRate: -0.483178 m/s,
      posRepo size: 4

2025-10-27T00:35:10.477Z,1761525310.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.67 m. 9.86 m.
2025-10-27T00:35:10.484Z,1761525310.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 6.950637 m,
      bearing: 191.452987 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 184.801505 deg,
      new cmd heading: 184.435953 deg.

2025-10-27T00:35:10.484Z,1761525310.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.219015 target range: 9.859962 and range: 7.70 m.
2025-10-27T00:35:10.520Z,1761525310.520 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.289425
2025-10-27T00:35:10.773Z,1761525310.773 [DAT](INFO): DAT read: Rx Time:00:35:11.7478 

2025-10-27T00:35:10.773Z,1761525310.773 [DAT](INFO): Rx dataTimestamp_ set to:1761525310.772746
2025-10-27T00:35:10.774Z,1761525310.774 [DAT](INFO): DAT read: Bearing 356.0,   0.8 (Local)

2025-10-27T00:35:10.775Z,1761525310.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0,   0.8 (Local)

2025-10-27T00:35:10.781Z,1761525310.781 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed 0.5

2025-10-27T00:35:10.786Z,1761525310.786 [DAT](INFO): DAT read: 00:35:11.7478 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.39, 1.137,-0.657, 1.187, 1.144, PHS= 0.095,-1.756,-0.001, RAW= 147.3,  18.0, CAL= 147.5,  20.0, ROT=   2.5, -20.0

2025-10-27T00:35:10.788Z,1761525310.788 [DAT](INFO): got valid direction response:
 00:35:11.7478 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.39, 1.137,-0.657, 1.187, 1.144, PHS= 0.095,-1.756,-0.001, RAW= 147.3,  18.0, CAL= 147.5,  20.0, ROT=   2.5, -20.0

2025-10-27T00:35:10.788Z,1761525310.788 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-27T00:35:10.789Z,1761525310.789 [DAT](INFO): direction in FSK: [0.938798,0.040989,0.342020]
2025-10-27T00:35:10.789Z,1761525310.789 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:10.793Z,1761525310.793 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.562435
2025-10-27T00:35:10.876Z,1761525310.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983355,0.159476,0.087069],[-0.174123,-0.964029,-0.200824],[0.051910,-0.212641,0.975750]]
2025-10-27T00:35:10.920Z,1761525310.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.503579 s,
      deltaX: -0.500000 m,
      approachRate: -0.992893 m/s,
      rangeRepo size: 4

2025-10-27T00:35:10.922Z,1761525310.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.170738 m,
      bearing: 197.031141 deg,
      lat: 36.779396 deg,
      lon: -121.859627 deg,
      deltaT: 5.038664 s,
      deltaX: -2.689223 m,
      approachRate: -0.533718 m/s,
      posRepo size: 4

2025-10-27T00:35:10.927Z,1761525310.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.17 m. 9.86 m.
2025-10-27T00:35:10.930Z,1761525310.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 6.677777 m,
      bearing: 191.343973 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 184.435953 deg,
      new cmd heading: 184.100413 deg.

2025-10-27T00:35:10.935Z,1761525310.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.213158 target range: 9.859962 and range: 7.20 m.
2025-10-27T00:35:11.025Z,1761525311.025 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.794121
2025-10-27T00:35:11.277Z,1761525311.277 [DAT](INFO): DAT read: Rx Time:00:35:12.2475 

2025-10-27T00:35:11.277Z,1761525311.277 [DAT](INFO): Rx dataTimestamp_ set to:1761525311.276832
2025-10-27T00:35:11.278Z,1761525311.278 [DAT](INFO): DAT read: Bearing 355.0,   2.3 (Local)

2025-10-27T00:35:11.283Z,1761525311.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,   2.3 (Local)

2025-10-27T00:35:11.293Z,1761525311.293 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed 0.5

2025-10-27T00:35:11.297Z,1761525311.297 [DAT](INFO): DAT read: 00:35:12.2475 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502,-0.45, 0.327,-1.532, 0.332, 0.283, PHS= 0.146,-1.770, 0.005, RAW= 146.2,  17.2, CAL= 146.1,  18.9, ROT=   3.9, -18.9

2025-10-27T00:35:11.299Z,1761525311.299 [DAT](INFO): got valid direction response:
 00:35:12.2475 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502,-0.45, 0.327,-1.532, 0.332, 0.283, PHS= 0.146,-1.770, 0.005, RAW= 146.2,  17.2, CAL= 146.1,  18.9, ROT=   3.9, -18.9

2025-10-27T00:35:11.327Z,1761525311.327 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-27T00:35:11.328Z,1761525311.328 [DAT](INFO): direction in FSK: [0.943894,0.064348,0.323917]
2025-10-27T00:35:11.328Z,1761525311.328 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:11.340Z,1761525311.340 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.109470
2025-10-27T00:35:11.372Z,1761525311.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.504086 s,
      deltaX: -0.400000 m,
      approachRate: -0.793515 m/s,
      rangeRepo size: 4

2025-10-27T00:35:11.374Z,1761525311.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.772346 m,
      bearing: 198.136797 deg,
      lat: 36.779396 deg,
      lon: -121.859627 deg,
      deltaT: 5.542750 s,
      deltaX: -3.087615 m,
      approachRate: -0.557055 m/s,
      posRepo size: 4

2025-10-27T00:35:11.383Z,1761525311.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.77 m. 9.86 m.
2025-10-27T00:35:11.385Z,1761525311.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 6.406771 m,
      bearing: 191.149982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 184.100413 deg,
      new cmd heading: 183.760107 deg.

2025-10-27T00:35:11.386Z,1761525311.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.207219 target range: 9.859962 and range: 6.80 m.
2025-10-27T00:35:11.528Z,1761525311.528 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.297348
2025-10-27T00:35:11.729Z,1761525311.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:11.736Z,1761525311.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-10-27T00:35:11.739Z,1761525311.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 6.179068 m,
      bearing: 190.973785 deg,
      approach rate: -0.610566 m/s,
      LOS rate: -0.489866 deg/s,
      cmd heading: 183.760106 deg,
      new cmd heading: 183.212055 deg.

2025-10-27T00:35:11.744Z,1761525311.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.197654 target range: 9.859962 and range: 6.80 m.
2025-10-27T00:35:11.781Z,1761525311.781 [DAT](INFO): DAT read: Rx Time:00:35:12.7472 

2025-10-27T00:35:11.782Z,1761525311.782 [DAT](INFO): Rx dataTimestamp_ set to:1761525311.781222
2025-10-27T00:35:11.783Z,1761525311.783 [DAT](INFO): DAT read: Bearing 354.6,   2.9 (Local)

2025-10-27T00:35:11.783Z,1761525311.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,   2.9 (Local)

2025-10-27T00:35:11.785Z,1761525311.785 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed 0.5

2025-10-27T00:35:11.790Z,1761525311.790 [DAT](INFO): DAT read: 00:35:12.7472 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.46, 1.145,-0.731, 1.131, 1.090, PHS= 0.157,-1.776,-0.003, RAW= 145.7,  17.1, CAL= 145.5,  18.8, ROT=   4.5, -18.8

2025-10-27T00:35:11.791Z,1761525311.791 [DAT](INFO): got valid direction response:
 00:35:12.7472 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.46, 1.145,-0.731, 1.131, 1.090, PHS= 0.157,-1.776,-0.003, RAW= 145.7,  17.1, CAL= 145.5,  18.8, ROT=   4.5, -18.8

2025-10-27T00:35:11.791Z,1761525311.791 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-27T00:35:11.792Z,1761525311.792 [DAT](INFO): direction in FSK: [0.943731,0.074273,0.322266]
2025-10-27T00:35:11.793Z,1761525311.793 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:11.809Z,1761525311.809 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.577873
2025-10-27T00:35:12.036Z,1761525312.036 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.805122
2025-10-27T00:35:12.125Z,1761525312.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986587,0.139452,0.084851],[-0.154371,-0.966031,-0.207254],[0.053067,-0.217572,0.974601]]
2025-10-27T00:35:12.219Z,1761525312.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.504390 s,
      deltaX: -0.500000 m,
      approachRate: -0.991296 m/s,
      rangeRepo size: 4

2025-10-27T00:35:12.221Z,1761525312.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.274379 m,
      bearing: 197.648485 deg,
      lat: 36.779396 deg,
      lon: -121.859628 deg,
      deltaT: 6.047140 s,
      deltaX: -3.585582 m,
      approachRate: -0.592939 m/s,
      posRepo size: 4

2025-10-27T00:35:12.222Z,1761525312.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.27 m. 9.86 m.
2025-10-27T00:35:12.229Z,1761525312.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 5.905725 m,
      bearing: 190.798506 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 183.212052 deg,
      new cmd heading: 182.848427 deg.

2025-10-27T00:35:12.230Z,1761525312.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.191307 target range: 9.859962 and range: 6.30 m.
2025-10-27T00:35:12.285Z,1761525312.285 [DAT](INFO): DAT read: Rx Time:00:35:13.2471 

2025-10-27T00:35:12.285Z,1761525312.285 [DAT](INFO): Rx dataTimestamp_ set to:1761525312.284854
2025-10-27T00:35:12.286Z,1761525312.286 [DAT](INFO): DAT read: Bearing 353.3,   3.0 (Local)

2025-10-27T00:35:12.287Z,1761525312.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.3,   3.0 (Local)

2025-10-27T00:35:12.290Z,1761525312.290 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.6

2025-10-27T00:35:12.297Z,1761525312.297 [DAT](INFO): DAT read: 00:35:13.2471 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497, 0.44,-3.118, 1.274,-3.132, 3.081, PHS= 0.186,-1.761, 0.026, RAW= 145.8,  16.3, CAL= 145.5,  17.9, ROT=   4.5, -17.9

2025-10-27T00:35:12.298Z,1761525312.298 [DAT](INFO): got valid direction response:
 00:35:13.2471 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497, 0.44,-3.118, 1.274,-3.132, 3.081, PHS= 0.186,-1.761, 0.026, RAW= 145.8,  16.3, CAL= 145.5,  17.9, ROT=   4.5, -17.9

2025-10-27T00:35:12.299Z,1761525312.299 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-27T00:35:12.300Z,1761525312.300 [DAT](INFO): direction in FSK: [0.948661,0.074661,0.307357]
2025-10-27T00:35:12.301Z,1761525312.301 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:12.317Z,1761525312.317 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.086288
2025-10-27T00:35:12.506Z,1761525312.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987612,0.132616,0.083878],[-0.147493,-0.966998,-0.207752],[0.053559,-0.217550,0.974579]]
2025-10-27T00:35:12.536Z,1761525312.536 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.305283
2025-10-27T00:35:12.634Z,1761525312.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.503632 s,
      deltaX: -0.100000 m,
      approachRate: -0.198558 m/s,
      rangeRepo size: 4

2025-10-27T00:35:12.640Z,1761525312.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.174771 m,
      bearing: 197.025523 deg,
      lat: 36.779396 deg,
      lon: -121.859628 deg,
      deltaT: 6.550772 s,
      deltaX: -3.685191 m,
      approachRate: -0.562558 m/s,
      posRepo size: 4

2025-10-27T00:35:12.641Z,1761525312.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.86 m.
2025-10-27T00:35:12.648Z,1761525312.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 5.638531 m,
      bearing: 190.546641 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 182.848426 deg,
      new cmd heading: 182.530574 deg.

2025-10-27T00:35:12.648Z,1761525312.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.185760 target range: 9.859962 and range: 6.20 m.
2025-10-27T00:35:12.789Z,1761525312.789 [DAT](INFO): DAT read: Rx Time:00:35:13.7468 

2025-10-27T00:35:12.789Z,1761525312.789 [DAT](INFO): Rx dataTimestamp_ set to:1761525312.788864
2025-10-27T00:35:12.793Z,1761525312.793 [DAT](INFO): DAT read: Bearing 353.3,   3.0 (Local)

2025-10-27T00:35:12.793Z,1761525312.793 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.3,   3.0 (Local)

2025-10-27T00:35:12.796Z,1761525312.796 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed 0.6

2025-10-27T00:35:12.802Z,1761525312.802 [DAT](INFO): DAT read: 00:35:13.7468 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510, 0.37, 2.616, 0.701, 2.595, 2.539, PHS= 0.178,-1.794, 0.012, RAW= 145.6,  16.7, CAL= 145.4,  18.2, ROT=   4.6, -18.2

2025-10-27T00:35:12.804Z,1761525312.804 [DAT](INFO): got valid direction response:
 00:35:13.7468 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510, 0.37, 2.616, 0.701, 2.595, 2.539, PHS= 0.178,-1.794, 0.012, RAW= 145.6,  16.7, CAL= 145.4,  18.2, ROT=   4.6, -18.2

2025-10-27T00:35:12.804Z,1761525312.804 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-27T00:35:12.805Z,1761525312.805 [DAT](INFO): direction in FSK: [0.946912,0.076187,0.312335]
2025-10-27T00:35:12.805Z,1761525312.805 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:12.813Z,1761525312.813 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.582542
2025-10-27T00:35:12.996Z,1761525312.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988660,0.125451,0.082538],[-0.140221,-0.967934,-0.208428],[0.053744,-0.217639,0.974549]]
2025-10-27T00:35:13.019Z,1761525313.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.504010 s,
      deltaX: -0.300000 m,
      approachRate: -0.595226 m/s,
      rangeRepo size: 4

2025-10-27T00:35:13.021Z,1761525313.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.875992 m,
      bearing: 196.779114 deg,
      lat: 36.779396 deg,
      lon: -121.859627 deg,
      deltaT: 7.054782 s,
      deltaX: -3.983970 m,
      approachRate: -0.564719 m/s,
      posRepo size: 4

2025-10-27T00:35:13.022Z,1761525313.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.88 m. 9.86 m.
2025-10-27T00:35:13.025Z,1761525313.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 5.398752 m,
      bearing: 190.318199 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 182.530576 deg,
      new cmd heading: 182.237819 deg.

2025-10-27T00:35:13.026Z,1761525313.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.180650 target range: 9.859962 and range: 5.90 m.
2025-10-27T00:35:13.040Z,1761525313.040 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.809269
2025-10-27T00:35:13.293Z,1761525313.293 [DAT](INFO): DAT read: Rx Time:00:35:14.2467 

2025-10-27T00:35:13.293Z,1761525313.293 [DAT](INFO): Rx dataTimestamp_ set to:1761525313.292959
2025-10-27T00:35:13.295Z,1761525313.295 [DAT](INFO): DAT read: Bearing 352.2,   3.5 (Local)

2025-10-27T00:35:13.295Z,1761525313.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2,   3.5 (Local)

2025-10-27T00:35:13.297Z,1761525313.297 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed 0.6

2025-10-27T00:35:13.302Z,1761525313.302 [DAT](INFO): DAT read: 00:35:14.2467 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509, 0.40, 2.949, 1.006, 2.916, 2.842, PHS= 0.209,-1.791, 0.030, RAW= 145.4,  16.0, CAL= 145.1,  17.5, ROT=   4.9, -17.5

2025-10-27T00:35:13.304Z,1761525313.304 [DAT](INFO): got valid direction response:
 00:35:14.2467 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 509, 0.40, 2.949, 1.006, 2.916, 2.842, PHS= 0.209,-1.791, 0.030, RAW= 145.4,  16.0, CAL= 145.1,  17.5, ROT=   4.9, -17.5

2025-10-27T00:35:13.304Z,1761525313.304 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-27T00:35:13.305Z,1761525313.305 [DAT](INFO): direction in FSK: [0.950231,0.081464,0.300706]
2025-10-27T00:35:13.305Z,1761525313.305 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:13.335Z,1761525313.335 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.104080
2025-10-27T00:35:13.398Z,1761525313.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989605,0.118342,0.081712],[-0.133265,-0.968199,-0.211734],[0.054057,-0.220422,0.973905]]
2025-10-27T00:35:13.474Z,1761525313.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.504095 s,
      deltaX: -0.200000 m,
      approachRate: -0.396751 m/s,
      rangeRepo size: 4

2025-10-27T00:35:13.484Z,1761525313.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.676780 m,
      bearing: 196.544368 deg,
      lat: 36.779394 deg,
      lon: -121.859627 deg,
      deltaT: 7.558877 s,
      deltaX: -4.183181 m,
      approachRate: -0.553413 m/s,
      posRepo size: 4

2025-10-27T00:35:13.485Z,1761525313.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.68 m. 9.86 m.
2025-10-27T00:35:13.489Z,1761525313.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 5.134178 m,
      bearing: 190.078630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 182.237821 deg,
      new cmd heading: 181.892536 deg.

2025-10-27T00:35:13.490Z,1761525313.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.174624 target range: 9.859962 and range: 5.70 m.
2025-10-27T00:35:13.548Z,1761525313.548 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.316517
2025-10-27T00:35:13.797Z,1761525313.797 [DAT](INFO): DAT read: Rx Time:00:35:14.7464 

2025-10-27T00:35:13.797Z,1761525313.797 [DAT](INFO): Rx dataTimestamp_ set to:1761525313.796785
2025-10-27T00:35:13.798Z,1761525313.798 [DAT](INFO): DAT read: Bearing 351.4,   4.1 (Local)

2025-10-27T00:35:13.799Z,1761525313.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.4,   4.1 (Local)

2025-10-27T00:35:13.801Z,1761525313.801 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed 0.5

2025-10-27T00:35:13.805Z,1761525313.805 [DAT](INFO): DAT read: 00:35:14.7464 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 506, 0.41, 1.654,-0.327, 1.601, 1.518, PHS= 0.238,-1.801, 0.038, RAW= 144.9,  15.5, CAL= 144.6,  16.9, ROT=   5.4, -16.9

2025-10-27T00:35:13.807Z,1761525313.807 [DAT](INFO): got valid direction response:
 00:35:14.7464 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 506, 0.41, 1.654,-0.327, 1.601, 1.518, PHS= 0.238,-1.801, 0.038, RAW= 144.9,  15.5, CAL= 144.6,  16.9, ROT=   5.4, -16.9

2025-10-27T00:35:13.807Z,1761525313.807 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-27T00:35:13.808Z,1761525313.808 [DAT](INFO): direction in FSK: [0.952567,0.090044,0.290702]
2025-10-27T00:35:13.808Z,1761525313.808 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:13.817Z,1761525313.817 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.586548
2025-10-27T00:35:13.918Z,1761525313.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.503826 s,
      deltaX: -0.400000 m,
      approachRate: -0.793924 m/s,
      rangeRepo size: 4

2025-10-27T00:35:13.924Z,1761525313.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.278410 m,
      bearing: 196.884212 deg,
      lat: 36.779394 deg,
      lon: -121.859627 deg,
      deltaT: 8.062703 s,
      deltaX: -4.581552 m,
      approachRate: -0.568240 m/s,
      posRepo size: 4

2025-10-27T00:35:13.925Z,1761525313.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.28 m. 9.86 m.
2025-10-27T00:35:13.940Z,1761525313.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 4.877825 m,
      bearing: 189.821621 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 181.892541 deg,
      new cmd heading: 181.555437 deg.

2025-10-27T00:35:13.941Z,1761525313.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.168740 target range: 9.859962 and range: 5.30 m.
2025-10-27T00:35:14.053Z,1761525314.053 [DAT](INFO): DAT read: Rx Time:00:35:15.2463 

2025-10-27T00:35:14.056Z,1761525314.056 [DAT](INFO): Rx dataTimestamp_ set to:1761525314.053857
2025-10-27T00:35:14.058Z,1761525314.058 [DAT](INFO): DAT read: Bearing 351.0,   4.4 (Local)

2025-10-27T00:35:14.060Z,1761525314.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.0,   4.4 (Local)

2025-10-27T00:35:14.062Z,1761525314.062 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.831120
2025-10-27T00:35:14.250Z,1761525314.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991542,0.102961,0.079010],[-0.117846,-0.969306,-0.215776],[0.054369,-0.223262,0.973241]]
2025-10-27T00:35:14.290Z,1761525314.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:14.293Z,1761525314.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-10-27T00:35:14.296Z,1761525314.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 4.642649 m,
      bearing: 189.655363 deg,
      approach rate: -0.626188 m/s,
      LOS rate: -0.465107 deg/s,
      cmd heading: 181.555444 deg,
      new cmd heading: 181.031422 deg.

2025-10-27T00:35:14.297Z,1761525314.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.159594 target range: 9.859962 and range: 5.30 m.
2025-10-27T00:35:14.302Z,1761525314.302 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.5

2025-10-27T00:35:14.306Z,1761525314.306 [DAT](INFO): DAT read: 00:35:15.2463 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 505, 0.44, 2.886, 0.883, 2.820, 2.742, PHS= 0.246,-1.813, 0.034, RAW= 144.6,  15.4, CAL= 144.2,  16.8, ROT=   5.8, -16.8

2025-10-27T00:35:14.324Z,1761525314.324 [DAT](INFO): got valid direction response:
 00:35:15.2463 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 505, 0.44, 2.886, 0.883, 2.820, 2.742, PHS= 0.246,-1.813, 0.034, RAW= 144.6,  15.4, CAL= 144.2,  16.8, ROT=   5.8, -16.8

2025-10-27T00:35:14.324Z,1761525314.324 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-27T00:35:14.325Z,1761525314.325 [DAT](INFO): direction in FSK: [0.952419,0.096743,0.289032]
2025-10-27T00:35:14.325Z,1761525314.325 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:14.329Z,1761525314.329 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.098370
2025-10-27T00:35:14.556Z,1761525314.556 [DAT](INFO): DAT read: Rx Time:00:35:15.7459 

2025-10-27T00:35:14.558Z,1761525314.558 [DAT](INFO): Rx dataTimestamp_ set to:1761525314.556849
2025-10-27T00:35:14.563Z,1761525314.563 [DAT](INFO): DAT read: Bearing 351.9,   4.2 (Local)

2025-10-27T00:35:14.565Z,1761525314.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,   4.2 (Local)

2025-10-27T00:35:14.568Z,1761525314.568 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.335884
2025-10-27T00:35:14.618Z,1761525314.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992472,0.095037,0.077247],[-0.109792,-0.969900,-0.217346],[0.054266,-0.224191,0.973033]]
2025-10-27T00:35:14.677Z,1761525314.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.502727 s,
      deltaX: -0.200000 m,
      approachRate: -0.397831 m/s,
      rangeRepo size: 4

2025-10-27T00:35:14.683Z,1761525314.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.079195 m,
      bearing: 195.954337 deg,
      lat: 36.779394 deg,
      lon: -121.859627 deg,
      deltaT: 8.565430 s,
      deltaX: -4.780766 m,
      approachRate: -0.558147 m/s,
      posRepo size: 4

2025-10-27T00:35:14.685Z,1761525314.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.08 m. 9.86 m.
2025-10-27T00:35:14.693Z,1761525314.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 4.431370 m,
      bearing: 189.513298 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 181.031418 deg,
      new cmd heading: 180.739796 deg.

2025-10-27T00:35:14.695Z,1761525314.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.154505 target range: 9.859962 and range: 5.10 m.
2025-10-27T00:35:14.807Z,1761525314.807 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.4

2025-10-27T00:35:14.813Z,1761525314.813 [DAT](INFO): DAT read: 00:35:15.7459 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.43, 2.291, 0.264, 2.213, 2.187, PHS= 0.206,-1.878,-0.018, RAW= 144.4,  16.8, CAL= 144.0,  18.3, ROT=   6.0, -18.3

2025-10-27T00:35:14.814Z,1761525314.814 [DAT](INFO): got valid direction response:
 00:35:15.7459 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.43, 2.291, 0.264, 2.213, 2.187, PHS= 0.206,-1.878,-0.018, RAW= 144.4,  16.8, CAL= 144.0,  18.3, ROT=   6.0, -18.3

2025-10-27T00:35:14.814Z,1761525314.814 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-27T00:35:14.815Z,1761525314.815 [DAT](INFO): direction in FSK: [0.944224,0.099242,0.313992]
2025-10-27T00:35:14.815Z,1761525314.815 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:14.823Z,1761525314.823 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.588081
2025-10-27T00:35:15.060Z,1761525315.060 [DAT](INFO): DAT read: Rx Time:00:35:16.2461 

2025-10-27T00:35:15.062Z,1761525315.062 [DAT](INFO): Rx dataTimestamp_ set to:1761525315.061098
2025-10-27T00:35:15.066Z,1761525315.066 [DAT](INFO): DAT read: Bearing 351.9,   4.8 (Local)

2025-10-27T00:35:15.068Z,1761525315.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,   4.8 (Local)

2025-10-27T00:35:15.077Z,1761525315.077 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed 0.5

2025-10-27T00:35:15.084Z,1761525315.084 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-10-27T00:35:15.098Z,1761525315.098 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.866413
2025-10-27T00:35:15.121Z,1761525315.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.761586 s,
      deltaX: -0.300000 m,
      approachRate: -0.393914 m/s,
      rangeRepo size: 4

2025-10-27T00:35:15.131Z,1761525315.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.780420 m,
      bearing: 196.532663 deg,
      lat: 36.779393 deg,
      lon: -121.859627 deg,
      deltaT: 9.327016 s,
      deltaX: -5.079542 m,
      approachRate: -0.544605 m/s,
      posRepo size: 4

2025-10-27T00:35:15.132Z,1761525315.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.86 m.
2025-10-27T00:35:15.135Z,1761525315.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 4.191107 m,
      bearing: 189.334311 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 180.739796 deg,
      new cmd heading: 180.402513 deg.

2025-10-27T00:35:15.136Z,1761525315.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.148618 target range: 9.859962 and range: 4.80 m.
2025-10-27T00:35:15.312Z,1761525315.312 [DAT](INFO): DAT read: 00:35:16.2461 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501,-0.46, 1.314,-0.736, 1.204, 1.207, PHS= 0.210,-1.897,-0.047, RAW= 143.6,  17.1, CAL= 143.1,  18.6, ROT=   6.9, -18.6

2025-10-27T00:35:15.313Z,1761525315.313 [DAT](INFO): got valid direction response:
 00:35:16.2461 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501,-0.46, 1.314,-0.736, 1.204, 1.207, PHS= 0.210,-1.897,-0.047, RAW= 143.6,  17.1, CAL= 143.1,  18.6, ROT=   6.9, -18.6

2025-10-27T00:35:15.313Z,1761525315.313 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-10-27T00:35:15.314Z,1761525315.314 [DAT](INFO): direction in FSK: [0.940904,0.113862,0.318959]
2025-10-27T00:35:15.322Z,1761525315.322 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.091667
2025-10-27T00:35:15.564Z,1761525315.564 [DAT](INFO): DAT read: Rx Time:00:35:16.7458 

2025-10-27T00:35:15.566Z,1761525315.566 [DAT](INFO): Rx dataTimestamp_ set to:1761525315.564736
2025-10-27T00:35:15.589Z,1761525315.589 [DAT](INFO): DAT read: Bearing 350.2,   5.1 (Local)

2025-10-27T00:35:15.590Z,1761525315.590 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.2,   5.1 (Local)

2025-10-27T00:35:15.616Z,1761525315.616 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.5

2025-10-27T00:35:15.629Z,1761525315.629 [DAT](INFO): DAT read: 00:35:16.7458 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.17,-1.492, 2.700,-1.604,-1.645, PHS= 0.255,-1.893,-0.003, RAW= 143.7,  15.9, CAL= 143.2,  17.3, ROT=   6.8, -17.3

2025-10-27T00:35:15.630Z,1761525315.630 [DAT](INFO): got valid direction response:
 00:35:16.7458 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.17,-1.492, 2.700,-1.604,-1.645, PHS= 0.255,-1.893,-0.003, RAW= 143.7,  15.9, CAL= 143.2,  17.3, ROT=   6.8, -17.3

2025-10-27T00:35:15.630Z,1761525315.630 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-27T00:35:15.644Z,1761525315.644 [DAT](INFO): direction in FSK: [0.948045,0.113047,0.297375]
2025-10-27T00:35:15.644Z,1761525315.644 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:15.664Z,1761525315.664 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.432774
2025-10-27T00:35:15.666Z,1761525315.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994639,0.073472,0.072766],[-0.088265,-0.969826,-0.227257],[0.053873,-0.232462,0.971112]]
2025-10-27T00:35:15.792Z,1761525315.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.503638 s,
      deltaX: -0.400000 m,
      approachRate: -0.794221 m/s,
      rangeRepo size: 4

2025-10-27T00:35:15.794Z,1761525315.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.382055 m,
      bearing: 195.947364 deg,
      lat: 36.779393 deg,
      lon: -121.859627 deg,
      deltaT: 9.830654 s,
      deltaX: -5.477907 m,
      approachRate: -0.557227 m/s,
      posRepo size: 4

2025-10-27T00:35:15.800Z,1761525315.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.38 m. 9.86 m.
2025-10-27T00:35:15.802Z,1761525315.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 3.784703 m,
      bearing: 189.200996 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 180.402508 deg,
      new cmd heading: 179.892591 deg.

2025-10-27T00:35:15.808Z,1761525315.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.139718 target range: 9.859962 and range: 4.40 m.
2025-10-27T00:35:15.812Z,1761525315.812 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.581406
2025-10-27T00:35:16.069Z,1761525316.069 [DAT](INFO): DAT read: Rx Time:00:35:17.2458 

2025-10-27T00:35:16.071Z,1761525316.071 [DAT](INFO): Rx dataTimestamp_ set to:1761525316.070006
2025-10-27T00:35:16.075Z,1761525316.075 [DAT](INFO): DAT read: Bearing 349.2,   5.2 (Local)

2025-10-27T00:35:16.077Z,1761525316.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2,   5.2 (Local)

2025-10-27T00:35:16.083Z,1761525316.083 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.4

2025-10-27T00:35:16.086Z,1761525316.086 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-10-27T00:35:16.091Z,1761525316.091 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.859165
2025-10-27T00:35:16.274Z,1761525316.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995282,0.066074,0.071055],[-0.080760,-0.970026,-0.229187],[0.053782,-0.233844,0.970786]]
2025-10-27T00:35:16.323Z,1761525316.323 [DAT](INFO): DAT read: 00:35:17.2458 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 497, 0.09, 0.133,-1.930, 0.027,-0.034, PHS= 0.269,-1.851, 0.017, RAW= 143.8,  15.4, CAL= 143.3,  16.7, ROT=   6.7, -16.7

2025-10-27T00:35:16.325Z,1761525316.325 [DAT](INFO): got valid direction response:
 00:35:17.2458 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 497, 0.09, 0.133,-1.930, 0.027,-0.034, PHS= 0.269,-1.851, 0.017, RAW= 143.8,  15.4, CAL= 143.3,  16.7, ROT=   6.7, -16.7

2025-10-27T00:35:16.325Z,1761525316.325 [DAT](INFO): #Rx 83: Read direction message, but no range.
2025-10-27T00:35:16.326Z,1761525316.326 [DAT](INFO): direction in FSK: [0.951281,0.111750,0.287361]
2025-10-27T00:35:16.330Z,1761525316.330 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.099148
2025-10-27T00:35:16.346Z,1761525316.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.505270 s,
      deltaX: -0.200000 m,
      approachRate: -0.395829 m/s,
      rangeRepo size: 4

2025-10-27T00:35:16.369Z,1761525316.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.182934 m,
      bearing: 195.281282 deg,
      lat: 36.779392 deg,
      lon: -121.859627 deg,
      deltaT: 10.335924 s,
      deltaX: -5.677027 m,
      approachRate: -0.549252 m/s,
      posRepo size: 4

2025-10-27T00:35:16.370Z,1761525316.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.86 m.
2025-10-27T00:35:16.377Z,1761525316.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 3.488579 m,
      bearing: 189.203823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 179.892593 deg,
      new cmd heading: 179.471931 deg.

2025-10-27T00:35:16.378Z,1761525316.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.132376 target range: 9.859962 and range: 4.20 m.
2025-10-27T00:35:16.574Z,1761525316.574 [DAT](INFO): DAT read: Rx Time:00:35:17.7456 

2025-10-27T00:35:16.576Z,1761525316.576 [DAT](INFO): Rx dataTimestamp_ set to:1761525316.574414
2025-10-27T00:35:16.580Z,1761525316.580 [DAT](INFO): DAT read: Bearing 351.3,   2.4 (Local)

2025-10-27T00:35:16.581Z,1761525316.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.3,   2.4 (Local)

2025-10-27T00:35:16.599Z,1761525316.599 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.4

2025-10-27T00:35:16.644Z,1761525316.644 [DAT](INFO): DAT read: 00:35:17.7456 LVL= 32752, 30705, 32754, 32755, AGC= 47, IDX= 495,-0.41, 2.264, 0.341, 2.236, 2.239, PHS= 0.127,-1.853,-0.047, RAW= 145.4,  18.3, CAL= 145.2,  20.0, ROT=   4.8, -20.0

2025-10-27T00:35:16.671Z,1761525316.671 [DAT](INFO): got valid direction response:
 00:35:17.7456 LVL= 32752, 30705, 32754, 32755, AGC= 47, IDX= 495,-0.41, 2.264, 0.341, 2.236, 2.239, PHS= 0.127,-1.853,-0.047, RAW= 145.4,  18.3, CAL= 145.2,  20.0, ROT=   4.8, -20.0

2025-10-27T00:35:16.672Z,1761525316.672 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-27T00:35:16.673Z,1761525316.673 [DAT](INFO): direction in FSK: [0.936397,0.078631,0.342020]
2025-10-27T00:35:16.674Z,1761525316.674 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:16.711Z,1761525316.711 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.459972
2025-10-27T00:35:16.726Z,1761525316.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995868,0.058999,0.069039],[-0.073577,-0.969797,-0.232553],[0.053233,-0.236672,0.970130]]
2025-10-27T00:35:16.820Z,1761525316.820 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.589279
2025-10-27T00:35:16.828Z,1761525316.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.504408 s,
      deltaX: -0.300000 m,
      approachRate: -0.594756 m/s,
      rangeRepo size: 4

2025-10-27T00:35:16.830Z,1761525316.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.884154 m,
      bearing: 193.954065 deg,
      lat: 36.779392 deg,
      lon: -121.859626 deg,
      deltaT: 10.840332 s,
      deltaX: -5.975808 m,
      approachRate: -0.551257 m/s,
      posRepo size: 4

2025-10-27T00:35:16.836Z,1761525316.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m.
2025-10-27T00:35:16.838Z,1761525316.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 3.243345 m,
      bearing: 189.238307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 179.471936 deg,
      new cmd heading: 179.105789 deg.

2025-10-27T00:35:16.843Z,1761525316.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.125986 target range: 9.859962 and range: 3.90 m.
2025-10-27T00:35:17.078Z,1761525317.078 [DAT](INFO): DAT read: Rx Time:00:35:18.2455 

2025-10-27T00:35:17.080Z,1761525317.080 [DAT](INFO): Rx dataTimestamp_ set to:1761525317.078926
2025-10-27T00:35:17.084Z,1761525317.084 [DAT](INFO): DAT read: Bearing 350.5,  -1.9 (Local)

2025-10-27T00:35:17.085Z,1761525317.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.5,  -1.9 (Local)

2025-10-27T00:35:17.093Z,1761525317.093 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.4

2025-10-27T00:35:17.095Z,1761525317.095 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-10-27T00:35:17.098Z,1761525317.098 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.866894
2025-10-27T00:35:17.225Z,1761525317.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:17.255Z,1761525317.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.504512 s,
      deltaX: -0.100000 m,
      approachRate: -0.198212 m/s,
      rangeRepo size: 4

2025-10-27T00:35:17.263Z,1761525317.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-10-27T00:35:17.287Z,1761525317.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 2.986664 m,
      bearing: 189.280465 deg,
      approach rate: -0.612067 m/s,
      LOS rate: 0.109169 deg/s,
      cmd heading: 179.105783 deg,
      new cmd heading: 179.243128 deg.

2025-10-27T00:35:17.289Z,1761525317.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.128383 target range: 9.859962 and range: 3.80 m.
2025-10-27T00:35:17.329Z,1761525317.329 [DAT](INFO): DAT read: 00:35:18.2455 LVL= 32752, 28017, 27986, 32755, AGC= 45, IDX= 510, 0.22, 1.339,-0.257, 1.452, 1.389, PHS= 0.052,-1.601, 0.019, RAW= 149.0,  18.3, CAL= 149.7,  20.9, ROT=   0.3, -20.9

2025-10-27T00:35:17.331Z,1761525317.331 [DAT](INFO): got valid direction response:
 00:35:18.2455 LVL= 32752, 28017, 27986, 32755, AGC= 45, IDX= 510, 0.22, 1.339,-0.257, 1.452, 1.389, PHS= 0.052,-1.601, 0.019, RAW= 149.0,  18.3, CAL= 149.7,  20.9, ROT=   0.3, -20.9

2025-10-27T00:35:17.331Z,1761525317.331 [DAT](INFO): #Rx 86: Read direction message, but no range.
2025-10-27T00:35:17.333Z,1761525317.333 [DAT](INFO): direction in FSK: [0.934192,0.004891,0.356738]
2025-10-27T00:35:17.338Z,1761525317.338 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.107101
2025-10-27T00:35:17.577Z,1761525317.577 [DAT](INFO): DAT read: Rx Time:00:35:18.7453 

2025-10-27T00:35:17.577Z,1761525317.577 [DAT](INFO): Rx dataTimestamp_ set to:1761525317.577168
2025-10-27T00:35:17.579Z,1761525317.579 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.4

2025-10-27T00:35:17.579Z,1761525317.579 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-10-27T00:35:17.580Z,1761525317.580 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.349560
2025-10-27T00:35:17.601Z,1761525317.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997252,0.040064,0.062324],[-0.053780,-0.970025,-0.236979],[0.050962,-0.239680,0.969514]]
2025-10-27T00:35:17.704Z,1761525317.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.498242 s,
      deltaX: -0.300000 m,
      approachRate: -0.602117 m/s,
      rangeRepo size: 4

2025-10-27T00:35:17.711Z,1761525317.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.485877 m,
      bearing: 188.724572 deg,
      lat: 36.779391 deg,
      lon: -121.859625 deg,
      deltaT: 11.843086 s,
      deltaX: -6.374084 m,
      approachRate: -0.538211 m/s,
      posRepo size: 4

2025-10-27T00:35:17.713Z,1761525317.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.49 m. 9.86 m.
2025-10-27T00:35:17.720Z,1761525317.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 2.740254 m,
      bearing: 189.540689 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.253176 deg/s,
      cmd heading: 179.243124 deg,
      new cmd heading: 178.903158 deg.

2025-10-27T00:35:17.721Z,1761525317.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.122449 target range: 9.859962 and range: 3.50 m.
2025-10-27T00:35:17.829Z,1761525317.829 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.597965
2025-10-27T00:35:18.011Z,1761525318.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997632,0.034224,0.059665],[-0.047365,-0.970813,-0.235115],[0.049877,-0.237385,0.970134]]
2025-10-27T00:35:18.030Z,1761525318.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-10-27T00:35:18.056Z,1761525318.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 2.545608 m,
      bearing: 189.809797 deg,
      approach rate: -0.581587 m/s,
      LOS rate: 0.865550 deg/s,
      cmd heading: 178.903159 deg,
      new cmd heading: 179.772141 deg.

2025-10-27T00:35:18.058Z,1761525318.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.137616 target range: 9.859962 and range: 3.50 m.
2025-10-27T00:35:18.080Z,1761525318.080 [DAT](INFO): DAT read: Rx Time:00:35:19.2452 

2025-10-27T00:35:18.081Z,1761525318.081 [DAT](INFO): Rx dataTimestamp_ set to:1761525318.080451
2025-10-27T00:35:18.082Z,1761525318.082 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed 0.4

2025-10-27T00:35:18.083Z,1761525318.083 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-10-27T00:35:18.084Z,1761525318.084 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.852848
2025-10-27T00:35:18.332Z,1761525318.332 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.101215
2025-10-27T00:35:18.416Z,1761525318.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997950,0.029040,0.057037],[-0.041593,-0.971570,-0.233070],[0.048647,-0.234964,0.970786]]
2025-10-27T00:35:18.458Z,1761525318.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.503283 s,
      deltaX: -0.200000 m,
      approachRate: -0.397391 m/s,
      rangeRepo size: 4

2025-10-27T00:35:18.459Z,1761525318.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-10-27T00:35:18.462Z,1761525318.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.859962 m,
      nav range: 2.320530 m,
      bearing: 190.279172 deg,
      approach rate: -0.525703 m/s,
      LOS rate: 1.202616 deg/s,
      cmd heading: 179.772136 deg,
      new cmd heading: 181.316452 deg.

2025-10-27T00:35:18.483Z,1761525318.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.164569 target range: 9.859962 and range: 3.30 m.
2025-10-27T00:35:18.585Z,1761525318.585 [DAT](INFO): DAT read: Rx Time:00:35:19.7449 

2025-10-27T00:35:18.586Z,1761525318.586 [DAT](INFO): Rx dataTimestamp_ set to:1761525318.585474
2025-10-27T00:35:18.588Z,1761525318.588 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.4

2025-10-27T00:35:18.589Z,1761525318.589 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-10-27T00:35:18.590Z,1761525318.590 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.359112
2025-10-27T00:35:18.820Z,1761525318.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998239,0.023938,0.054281],[-0.035831,-0.972517,-0.230057],[0.047282,-0.231596,0.971662]]
2025-10-27T00:35:18.836Z,1761525318.836 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.605362
2025-10-27T00:35:18.842Z,1761525318.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.505023 s,
      deltaX: -0.400000 m,
      approachRate: -0.792043 m/s,
      rangeRepo size: 4

2025-10-27T00:35:18.842Z,1761525318.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-10-27T00:35:18.842Z,1761525318.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-27T00:35:19.088Z,1761525319.088 [DAT](INFO): DAT read: Rx Time:00:35:20.2448 

2025-10-27T00:35:19.089Z,1761525319.089 [DAT](INFO): Rx dataTimestamp_ set to:1761525319.088236
2025-10-27T00:35:19.090Z,1761525319.090 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.4

2025-10-27T00:35:19.090Z,1761525319.090 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-10-27T00:35:19.091Z,1761525319.091 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.860638
2025-10-27T00:35:19.221Z,1761525319.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998493,0.018934,0.051517],[-0.030081,-0.973872,-0.225096],[0.045909,-0.226306,0.972974]]
2025-10-27T00:35:19.271Z,1761525319.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:19.282Z,1761525319.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.502762 s,
      deltaX: -0.200000 m,
      approachRate: -0.397803 m/s,
      rangeRepo size: 4

2025-10-27T00:35:19.340Z,1761525319.340 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.109337
2025-10-27T00:35:19.592Z,1761525319.592 [DAT](INFO): DAT read: Rx Time:00:35:20.7446 

2025-10-27T00:35:19.593Z,1761525319.593 [DAT](INFO): Rx dataTimestamp_ set to:1761525319.592491
2025-10-27T00:35:19.594Z,1761525319.594 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.4

2025-10-27T00:35:19.595Z,1761525319.595 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-10-27T00:35:19.596Z,1761525319.596 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.364883
2025-10-27T00:35:19.648Z,1761525319.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998665,0.016368,0.048995],[-0.026839,-0.974816,-0.221391],[0.044137,-0.222410,0.973954]]
2025-10-27T00:35:19.696Z,1761525319.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504255 s,
      deltaX: -0.300000 m,
      approachRate: -0.594937 m/s,
      rangeRepo size: 4

2025-10-27T00:35:19.844Z,1761525319.844 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.613136
2025-10-27T00:35:20.031Z,1761525320.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998791,0.014840,0.046871],[-0.024691,-0.975816,-0.217194],[0.042515,-0.218088,0.975003]]
2025-10-27T00:35:20.099Z,1761525320.099 [DAT](INFO): DAT read: Rx Time:00:35:21.2445 

2025-10-27T00:35:20.099Z,1761525320.099 [DAT](INFO): Rx dataTimestamp_ set to:1761525320.099212
2025-10-27T00:35:20.101Z,1761525320.101 [DAT](INFO): DAT read: Bearing 111.9, -22.2 (Local)

2025-10-27T00:35:20.101Z,1761525320.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 111.9, -22.2 (Local)

2025-10-27T00:35:20.103Z,1761525320.103 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.4

2025-10-27T00:35:20.108Z,1761525320.108 [DAT](INFO): DAT read: 00:35:21.2445 LVL= 17824, 13441, 13090, 27987, AGC= 36, IDX= 502,-0.06,-2.673,-0.754,-2.009,-0.792, PHS=-1.780, 0.083,-1.261, RAW= 314.4,  32.1, CAL= 314.9,  37.5, ROT= 195.1, -37.5

2025-10-27T00:35:20.109Z,1761525320.109 [DAT](INFO): got valid direction response:
 00:35:21.2445 LVL= 17824, 13441, 13090, 27987, AGC= 36, IDX= 502,-0.06,-2.673,-0.754,-2.009,-0.792, PHS=-1.780, 0.083,-1.261, RAW= 314.4,  32.1, CAL= 314.9,  37.5, ROT= 195.1, -37.5

2025-10-27T00:35:20.109Z,1761525320.109 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-10-27T00:35:20.110Z,1761525320.110 [DAT](INFO): direction in FSK: [-0.765961,-0.206672,0.608761]
2025-10-27T00:35:20.110Z,1761525320.110 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:20.114Z,1761525320.114 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.883301
2025-10-27T00:35:20.131Z,1761525320.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.506721 s,
      deltaX: -0.100000 m,
      approachRate: -0.197348 m/s,
      rangeRepo size: 4

2025-10-27T00:35:20.133Z,1761525320.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.290696 m,
      bearing: 6.378403 deg,
      lat: 36.779391 deg,
      lon: -121.859624 deg,
      deltaT: 14.365130 s,
      deltaX: -7.569265 m,
      approachRate: -0.526919 m/s,
      posRepo size: 4

2025-10-27T00:35:20.348Z,1761525320.348 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.117428
2025-10-27T00:35:20.434Z,1761525320.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998928,0.013649,0.044227],[-0.022651,-0.977450,-0.209947],[0.040364,-0.210724,0.976712]]
2025-10-27T00:35:20.600Z,1761525320.600 [DAT](INFO): DAT read: Rx Time:00:35:21.7443 

2025-10-27T00:35:20.601Z,1761525320.601 [DAT](INFO): Rx dataTimestamp_ set to:1761525320.600230
2025-10-27T00:35:20.602Z,1761525320.602 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.4

2025-10-27T00:35:20.602Z,1761525320.602 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-10-27T00:35:20.603Z,1761525320.603 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.372623
2025-10-27T00:35:20.838Z,1761525320.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999034,0.013293,0.041889],[-0.021570,-0.978770,-0.203823],[0.038291,-0.204530,0.978111]]
2025-10-27T00:35:20.852Z,1761525320.852 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.621281
2025-10-27T00:35:20.858Z,1761525320.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.501018 s,
      deltaX: -0.300000 m,
      approachRate: -0.598781 m/s,
      rangeRepo size: 4

2025-10-27T00:35:21.105Z,1761525321.105 [DAT](INFO): DAT read: Rx Time:00:35:22.2442 

2025-10-27T00:35:21.106Z,1761525321.106 [DAT](INFO): Rx dataTimestamp_ set to:1761525321.105863
2025-10-27T00:35:21.108Z,1761525321.108 [DAT](INFO): DAT read: Bearing 112.0,   7.9 (Local)

2025-10-27T00:35:21.109Z,1761525321.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 112.0,   7.9 (Local)

2025-10-27T00:35:21.112Z,1761525321.112 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.3

2025-10-27T00:35:21.117Z,1761525321.117 [DAT](INFO): DAT read: 00:35:22.2442 LVL= 20784,  9121, 13522, 18931, AGC= 35, IDX= 499, 0.41,-1.635,-0.155,-2.280,-0.390, PHS=-1.144, 0.279,-1.934, RAW= 350.6,  27.0, CAL= 349.9,  31.9, ROT= 160.1, -31.9

2025-10-27T00:35:21.118Z,1761525321.118 [DAT](INFO): got valid direction response:
 00:35:22.2442 LVL= 20784,  9121, 13522, 18931, AGC= 35, IDX= 499, 0.41,-1.635,-0.155,-2.280,-0.390, PHS=-1.144, 0.279,-1.934, RAW= 350.6,  27.0, CAL= 349.9,  31.9, ROT= 160.1, -31.9

2025-10-27T00:35:21.118Z,1761525321.118 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-10-27T00:35:21.119Z,1761525321.119 [DAT](INFO): direction in FSK: [-0.798278,0.288973,0.528438]
2025-10-27T00:35:21.120Z,1761525321.120 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:21.123Z,1761525321.123 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.892616
2025-10-27T00:35:21.242Z,1761525321.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999113,0.014257,0.039615],[-0.021848,-0.979883,-0.198373],[0.035990,-0.199062,0.979326]]
2025-10-27T00:35:21.308Z,1761525321.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.505633 s,
      deltaX: -0.200000 m,
      approachRate: -0.395544 m/s,
      rangeRepo size: 4

2025-10-27T00:35:21.324Z,1761525321.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.792715 m,
      bearing: 335.751118 deg,
      lat: 36.779391 deg,
      lon: -121.859624 deg,
      deltaT: 1.006651 s,
      deltaX: -0.497980 m,
      approachRate: -0.494690 m/s,
      posRepo size: 4

2025-10-27T00:35:21.356Z,1761525321.356 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.125320
2025-10-27T00:35:21.609Z,1761525321.609 [DAT](INFO): DAT read: Rx Time:00:35:22.7440 

2025-10-27T00:35:21.610Z,1761525321.610 [DAT](INFO): Rx dataTimestamp_ set to:1761525321.609324
2025-10-27T00:35:21.612Z,1761525321.612 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.2

2025-10-27T00:35:21.612Z,1761525321.612 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-27T00:35:21.614Z,1761525321.614 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.382954
2025-10-27T00:35:21.678Z,1761525321.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999178,0.015836,0.037307],[-0.022649,-0.981533,-0.189947],[0.033610,-0.190636,0.981085]]
2025-10-27T00:35:21.768Z,1761525321.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:21.771Z,1761525321.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503461 s,
      deltaX: -0.300000 m,
      approachRate: -0.595875 m/s,
      rangeRepo size: 4

2025-10-27T00:35:21.860Z,1761525321.860 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.629383
2025-10-27T00:35:22.107Z,1761525322.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999028,0.026033,0.035573],[-0.031534,-0.985947,-0.164055],[0.030803,-0.165018,0.985810]]
2025-10-27T00:35:22.113Z,1761525322.113 [DAT](INFO): DAT read: Rx Time:00:35:23.2439 

2025-10-27T00:35:22.113Z,1761525322.113 [DAT](INFO): Rx dataTimestamp_ set to:1761525322.112791
2025-10-27T00:35:22.114Z,1761525322.114 [DAT](INFO): DAT read: Bearing  34.6, -44.3 (Local)

2025-10-27T00:35:22.123Z,1761525322.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.6, -44.3 (Local)

2025-10-27T00:35:22.125Z,1761525322.125 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-10-27T00:35:22.130Z,1761525322.130 [DAT](INFO): DAT read: 00:35:23.2439 LVL= 23024, 20689, 30930, 32755, AGC= 45, IDX= 514,-0.45,-0.940,-0.682, 0.778, 1.001, PHS=-1.839,-1.638,-0.267, RAW= 216.7,  41.8, CAL= 215.5,  51.6, ROT= 294.5, -51.6

2025-10-27T00:35:22.143Z,1761525322.143 [DAT](INFO): got valid direction response:
 00:35:23.2439 LVL= 23024, 20689, 30930, 32755, AGC= 45, IDX= 514,-0.45,-0.940,-0.682, 0.778, 1.001, PHS=-1.839,-1.638,-0.267, RAW= 216.7,  41.8, CAL= 215.5,  51.6, ROT= 294.5, -51.6

2025-10-27T00:35:22.143Z,1761525322.143 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-10-27T00:35:22.144Z,1761525322.144 [DAT](INFO): direction in FSK: [0.257586,-0.565220,0.783693]
2025-10-27T00:35:22.145Z,1761525322.145 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:22.168Z,1761525322.168 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.937004
2025-10-27T00:35:22.183Z,1761525322.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503467 s,
      deltaX: -0.100000 m,
      approachRate: -0.198623 m/s,
      rangeRepo size: 4

2025-10-27T00:35:22.185Z,1761525322.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.394318 m,
      bearing: 120.137335 deg,
      lat: 36.779394 deg,
      lon: -121.859620 deg,
      deltaT: 1.006928 s,
      deltaX: -0.398397 m,
      approachRate: -0.395656 m/s,
      posRepo size: 4

2025-10-27T00:35:22.364Z,1761525322.364 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.133461
2025-10-27T00:35:22.500Z,1761525322.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997240,0.066840,0.032321],[-0.069558,-0.993333,-0.091933],[0.025960,-0.093928,0.995241]]
2025-10-27T00:35:22.617Z,1761525322.617 [DAT](INFO): DAT read: Rx Time:00:35:23.7442 

2025-10-27T00:35:22.618Z,1761525322.618 [DAT](INFO): Rx dataTimestamp_ set to:1761525322.617024
2025-10-27T00:35:22.619Z,1761525322.619 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T00:35:22.620Z,1761525322.620 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-10-27T00:35:22.622Z,1761525322.622 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.390766
2025-10-27T00:35:22.868Z,1761525322.868 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.637180
2025-10-27T00:35:22.902Z,1761525322.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993262,0.113069,0.025430],[-0.114279,-0.992051,-0.052669],[0.019273,-0.055221,0.998288]]
2025-10-27T00:35:22.922Z,1761525322.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504233 s,
      deltaX: 0.400000 m,
      approachRate: 0.793284 m/s,
      rangeRepo size: 4

2025-10-27T00:35:22.923Z,1761525322.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.80 m.
2025-10-27T00:35:23.121Z,1761525323.121 [DAT](INFO): DAT read: Rx Time:00:35:24.2444 

2025-10-27T00:35:23.121Z,1761525323.121 [DAT](INFO): Rx dataTimestamp_ set to:1761525323.121171
2025-10-27T00:35:23.123Z,1761525323.123 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T00:35:23.124Z,1761525323.124 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-10-27T00:35:23.125Z,1761525323.125 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.893917
2025-10-27T00:35:23.307Z,1761525323.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987126,0.158789,0.019172],[-0.159179,-0.987028,-0.020903],[0.015604,-0.023686,0.999598]]
2025-10-27T00:35:23.376Z,1761525323.376 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.144409
2025-10-27T00:35:23.395Z,1761525323.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504147 s,
      deltaX: 0.300000 m,
      approachRate: 0.595064 m/s,
      rangeRepo size: 4

2025-10-27T00:35:23.396Z,1761525323.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.10 m.
2025-10-27T00:35:23.396Z,1761525323.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-10-27T00:35:23.624Z,1761525323.624 [DAT](INFO): DAT read: Rx Time:00:35:24.7443 

2025-10-27T00:35:23.625Z,1761525323.625 [DAT](INFO): Rx dataTimestamp_ set to:1761525323.624215
2025-10-27T00:35:23.626Z,1761525323.626 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T00:35:23.626Z,1761525323.626 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-10-27T00:35:23.627Z,1761525323.627 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.396610
2025-10-27T00:35:23.712Z,1761525323.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980417,0.196491,0.013172],[-0.196477,-0.980506,0.002366],[0.013380,-0.000268,0.999910]]
2025-10-27T00:35:23.758Z,1761525323.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503044 s,
      deltaX: -0.100000 m,
      approachRate: -0.198790 m/s,
      rangeRepo size: 4

2025-10-27T00:35:23.772Z,1761525323.772 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T00:35:23.877Z,1761525323.877 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.646088
2025-10-27T00:35:24.111Z,1761525324.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975730,0.218840,0.007752],[-0.218605,-0.975524,0.023749],[0.012759,0.021478,0.999688]]
2025-10-27T00:35:24.128Z,1761525324.128 [DAT](INFO): DAT read: Rx Time:00:35:25.2441 

2025-10-27T00:35:24.129Z,1761525324.129 [DAT](INFO): Rx dataTimestamp_ set to:1761525324.128412
2025-10-27T00:35:24.130Z,1761525324.130 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T00:35:24.130Z,1761525324.130 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-10-27T00:35:24.132Z,1761525324.132 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.900795
2025-10-27T00:35:24.132Z,1761525324.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:24.135Z,1761525324.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504197 s,
      deltaX: -0.300000 m,
      approachRate: -0.595005 m/s,
      rangeRepo size: 4

2025-10-27T00:35:24.380Z,1761525324.380 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.149273
2025-10-27T00:35:24.649Z,1761525324.649 [DAT](INFO): DAT read: Rx Time:00:35:25.7440 

2025-10-27T00:35:24.650Z,1761525324.650 [DAT](INFO): Rx dataTimestamp_ set to:1761525324.649688
2025-10-27T00:35:24.652Z,1761525324.652 [DAT](INFO): DAT read: Bearing 128.0,   9.8 (Local)

2025-10-27T00:35:24.652Z,1761525324.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 128.0,   9.8 (Local)

2025-10-27T00:35:24.656Z,1761525324.656 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:24.671Z,1761525324.671 [DAT](INFO): DAT read: 00:35:25.7440 LVL= 13696, 11985, 19906, 15859, AGC= 40, IDX= 497,-0.27, 1.605,-3.117, 1.334, 2.927, PHS=-1.220, 0.285,-1.637, RAW= 341.9,  27.5, CAL= 341.3,  32.4, ROT= 168.7, -32.4

2025-10-27T00:35:24.672Z,1761525324.672 [DAT](INFO): got valid direction response:
 00:35:25.7440 LVL= 13696, 11985, 19906, 15859, AGC= 40, IDX= 497,-0.27, 1.605,-3.117, 1.334, 2.927, PHS=-1.220, 0.285,-1.637, RAW= 341.9,  27.5, CAL= 341.3,  32.4, ROT= 168.7, -32.4

2025-10-27T00:35:24.672Z,1761525324.672 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-27T00:35:24.673Z,1761525324.673 [DAT](INFO): direction in FSK: [-0.827960,0.165443,0.535827]
2025-10-27T00:35:24.674Z,1761525324.674 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:24.684Z,1761525324.684 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.453613
2025-10-27T00:35:24.900Z,1761525324.900 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.669304
2025-10-27T00:35:24.918Z,1761525324.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964797,0.262905,0.006891],[-0.262717,-0.964649,0.020773],[0.012109,0.018231,0.999760]]
2025-10-27T00:35:24.940Z,1761525324.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.521276 s,
      deltaX: -0.200000 m,
      approachRate: -0.383674 m/s,
      rangeRepo size: 4

2025-10-27T00:35:24.942Z,1761525324.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.493848 m,
      bearing: 4.666453 deg,
      lat: 36.779398 deg,
      lon: -121.859620 deg,
      deltaT: 2.536897 s,
      deltaX: 0.099530 m,
      approachRate: 0.039233 m/s,
      posRepo size: 4

2025-10-27T00:35:25.155Z,1761525325.155 [DAT](INFO): DAT read: Rx Time:00:35:26.2440 

2025-10-27T00:35:25.155Z,1761525325.155 [DAT](INFO): Rx dataTimestamp_ set to:1761525325.154793
2025-10-27T00:35:25.156Z,1761525325.156 [DAT](INFO): DAT read: Bearing  91.8,  13.0 (Local)

2025-10-27T00:35:25.157Z,1761525325.157 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.8,  13.0 (Local)

2025-10-27T00:35:25.159Z,1761525325.159 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:25.163Z,1761525325.163 [DAT](INFO): DAT read: 00:35:26.2440 LVL= 12928,  9841,  5474, 12707, AGC= 43, IDX=   2,-0.22,-2.215,-1.851,-2.495,-0.890, PHS=-1.223,-0.916,-1.649, RAW=   5.3,  64.5, CAL=   4.5,  67.2, ROT= 145.5, -67.2

2025-10-27T00:35:25.164Z,1761525325.164 [DAT](INFO): got valid direction response:
 00:35:26.2440 LVL= 12928,  9841,  5474, 12707, AGC= 43, IDX=   2,-0.22,-2.215,-1.851,-2.495,-0.890, PHS=-1.223,-0.916,-1.649, RAW=   5.3,  64.5, CAL=   4.5,  67.2, ROT= 145.5, -67.2

2025-10-27T00:35:25.165Z,1761525325.165 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-27T00:35:25.166Z,1761525325.166 [DAT](INFO): direction in FSK: [-0.319362,0.219491,0.921863]
2025-10-27T00:35:25.166Z,1761525325.166 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:25.170Z,1761525325.170 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.939671
2025-10-27T00:35:25.324Z,1761525325.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955159,0.295644,0.016302],[-0.295707,-0.955277,-0.001579],[0.015106,-0.006329,0.999866]]
2025-10-27T00:35:25.407Z,1761525325.407 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.175388
2025-10-27T00:35:25.413Z,1761525325.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.505105 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T00:35:25.419Z,1761525325.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.493848 m,
      bearing: 343.136352 deg,
      lat: 36.779398 deg,
      lon: -121.859620 deg,
      deltaT: 0.505105 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-27T00:35:25.656Z,1761525325.656 [DAT](INFO): DAT read: Rx Time:00:35:26.7440 

2025-10-27T00:35:25.657Z,1761525325.657 [DAT](INFO): Rx dataTimestamp_ set to:1761525325.656304
2025-10-27T00:35:25.658Z,1761525325.658 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:25.658Z,1761525325.658 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-10-27T00:35:25.660Z,1761525325.660 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.429424
2025-10-27T00:35:25.744Z,1761525325.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943842,0.328950,0.030886],[-0.329812,-0.943604,-0.028894],[0.019639,-0.037458,0.999105]]
2025-10-27T00:35:25.812Z,1761525325.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.501511 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-27T00:35:25.909Z,1761525325.909 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.677841
2025-10-27T00:35:26.130Z,1761525326.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933183,0.356874,0.042550],[-0.358633,-0.932379,-0.045305],[0.023504,-0.057537,0.998067]]
2025-10-27T00:35:26.146Z,1761525326.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:26.160Z,1761525326.160 [DAT](INFO): DAT read: Rx Time:00:35:27.2444 

2025-10-27T00:35:26.161Z,1761525326.161 [DAT](INFO): Rx dataTimestamp_ set to:1761525326.160617
2025-10-27T00:35:26.162Z,1761525326.162 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T00:35:26.163Z,1761525326.163 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-10-27T00:35:26.164Z,1761525326.164 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.932999
2025-10-27T00:35:26.413Z,1761525326.413 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.181980
2025-10-27T00:35:26.537Z,1761525326.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924314,0.378351,0.049945],[-0.380752,-0.923139,-0.053317],[0.025933,-0.068298,0.997328]]
2025-10-27T00:35:26.610Z,1761525326.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504313 s,
      deltaX: 0.600000 m,
      approachRate: 1.189737 m/s,
      rangeRepo size: 4

2025-10-27T00:35:26.665Z,1761525326.665 [DAT](INFO): DAT read: Rx Time:00:35:27.7443 

2025-10-27T00:35:26.665Z,1761525326.665 [DAT](INFO): Rx dataTimestamp_ set to:1761525326.664935
2025-10-27T00:35:26.667Z,1761525326.667 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T00:35:26.668Z,1761525326.668 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-10-27T00:35:26.669Z,1761525326.669 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.438732
2025-10-27T00:35:26.916Z,1761525326.916 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.685497
2025-10-27T00:35:26.943Z,1761525326.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917451,0.394496,0.051544],[-0.396981,-0.916290,-0.053101],[0.026281,-0.069180,0.997258]]
2025-10-27T00:35:26.968Z,1761525326.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504318 s,
      deltaX: -0.100000 m,
      approachRate: -0.198287 m/s,
      rangeRepo size: 4

2025-10-27T00:35:27.168Z,1761525327.168 [DAT](INFO): DAT read: Rx Time:00:35:28.2444 

2025-10-27T00:35:27.169Z,1761525327.169 [DAT](INFO): Rx dataTimestamp_ set to:1761525327.168346
2025-10-27T00:35:27.170Z,1761525327.170 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T00:35:27.170Z,1761525327.170 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-10-27T00:35:27.171Z,1761525327.171 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.940742
2025-10-27T00:35:27.341Z,1761525327.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910783,0.410191,0.047094],[-0.412248,-0.909778,-0.048527],[0.022939,-0.063612,0.997711]]
2025-10-27T00:35:27.408Z,1761525327.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503411 s,
      deltaX: 0.100000 m,
      approachRate: 0.198645 m/s,
      rangeRepo size: 4

2025-10-27T00:35:27.423Z,1761525327.423 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.192036
2025-10-27T00:35:27.671Z,1761525327.671 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:35:27.673Z,1761525327.673 [DAT](INFO): DAT read: Rx Time:00:35:28.7443 

2025-10-27T00:35:27.674Z,1761525327.674 [DAT](INFO): Rx dataTimestamp_ set to:1761525327.673199
2025-10-27T00:35:27.675Z,1761525327.675 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-10-27T00:35:27.675Z,1761525327.675 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-10-27T00:35:27.676Z,1761525327.676 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.445595
2025-10-27T00:35:27.758Z,1761525327.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904605,0.424503,0.038565],[-0.425891,-0.903851,-0.040858],[0.017512,-0.053385,0.998420]]
2025-10-27T00:35:27.794Z,1761525327.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504853 s,
      deltaX: -0.100000 m,
      approachRate: -0.198077 m/s,
      rangeRepo size: 4

2025-10-27T00:35:27.924Z,1761525327.924 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.693283
2025-10-27T00:35:28.149Z,1761525328.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899781,0.435500,0.027105],[-0.436207,-0.899312,-0.031019],[0.010867,-0.039734,0.999151]]
2025-10-27T00:35:28.166Z,1761525328.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:28.176Z,1761525328.176 [DAT](INFO): DAT read: Rx Time:00:35:29.2444 

2025-10-27T00:35:28.177Z,1761525328.177 [DAT](INFO): Rx dataTimestamp_ set to:1761525328.176392
2025-10-27T00:35:28.178Z,1761525328.178 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-10-27T00:35:28.178Z,1761525328.178 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-10-27T00:35:28.179Z,1761525328.179 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.948776
2025-10-27T00:35:28.431Z,1761525328.431 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.199516
2025-10-27T00:35:28.577Z,1761525328.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896963,0.441978,0.010659],[-0.442087,-0.896887,-0.012368],[0.004093,-0.015806,0.999867]]
2025-10-27T00:35:28.620Z,1761525328.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503193 s,
      deltaX: 0.100000 m,
      approachRate: 0.198731 m/s,
      rangeRepo size: 4

2025-10-27T00:35:28.676Z,1761525328.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:35:28.681Z,1761525328.681 [DAT](INFO): DAT read: Rx Time:00:35:29.7437 

2025-10-27T00:35:28.682Z,1761525328.682 [DAT](INFO): Rx dataTimestamp_ set to:1761525328.681643
2025-10-27T00:35:28.684Z,1761525328.684 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-10-27T00:35:28.685Z,1761525328.685 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-10-27T00:35:28.686Z,1761525328.686 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.455467
2025-10-27T00:35:28.932Z,1761525328.932 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.701206
2025-10-27T00:35:28.962Z,1761525328.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895632,0.444719,-0.008272],[-0.444795,-0.895517,0.014375],[-0.001015,0.016554,0.999862]]
2025-10-27T00:35:28.992Z,1761525328.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.505251 s,
      deltaX: -1.000000 m,
      approachRate: -1.979214 m/s,
      rangeRepo size: 4

2025-10-27T00:35:29.185Z,1761525329.185 [DAT](INFO): DAT read: Rx Time:00:35:30.2441 

2025-10-27T00:35:29.185Z,1761525329.185 [DAT](INFO): Rx dataTimestamp_ set to:1761525329.184847
2025-10-27T00:35:29.187Z,1761525329.187 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T00:35:29.188Z,1761525329.188 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-10-27T00:35:29.189Z,1761525329.189 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.958477
2025-10-27T00:35:29.365Z,1761525329.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895993,0.443566,-0.021095],[-0.444059,-0.895251,0.036556],[-0.002670,0.042121,0.999109]]
2025-10-27T00:35:29.398Z,1761525329.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503204 s,
      deltaX: 0.600000 m,
      approachRate: 1.192359 m/s,
      rangeRepo size: 4

2025-10-27T00:35:29.439Z,1761525329.439 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.207870
2025-10-27T00:35:29.689Z,1761525329.689 [DAT](INFO): DAT read: Rx Time:00:35:30.7440 

2025-10-27T00:35:29.690Z,1761525329.690 [DAT](INFO): Rx dataTimestamp_ set to:1761525329.689295
2025-10-27T00:35:29.692Z,1761525329.692 [DAT](INFO): DAT read: Bearing 107.5, -12.1 (Local)

2025-10-27T00:35:29.692Z,1761525329.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing 107.5, -12.1 (Local)

2025-10-27T00:35:29.695Z,1761525329.695 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:29.717Z,1761525329.717 [DAT](INFO): DAT read: 00:35:30.7440 LVL= 17232, 20897, 17250, 20051, AGC= 41, IDX= 502,-0.45,-1.217,-0.345,-0.626, 0.449, PHS=-1.564,-0.749,-1.119, RAW= 296.9,  59.8, CAL= 298.6,  62.9, ROT= 211.4, -62.9

2025-10-27T00:35:29.718Z,1761525329.718 [DAT](INFO): got valid direction response:
 00:35:30.7440 LVL= 17232, 20897, 17250, 20051, AGC= 41, IDX= 502,-0.45,-1.217,-0.345,-0.626, 0.449, PHS=-1.564,-0.749,-1.119, RAW= 296.9,  59.8, CAL= 298.6,  62.9, ROT= 211.4, -62.9

2025-10-27T00:35:29.719Z,1761525329.719 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-27T00:35:29.720Z,1761525329.720 [DAT](INFO): direction in FSK: [-0.388831,-0.237343,0.890213]
2025-10-27T00:35:29.720Z,1761525329.720 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:29.725Z,1761525329.725 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.494167
2025-10-27T00:35:29.817Z,1761525329.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897074,0.441703,-0.012538],[-0.441874,-0.896546,0.030851],[0.002386,0.033216,0.999445]]
2025-10-27T00:35:29.900Z,1761525329.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504448 s,
      deltaX: -0.200000 m,
      approachRate: -0.396473 m/s,
      rangeRepo size: 4

2025-10-27T00:35:29.902Z,1761525329.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.493828 m,
      bearing: 60.534036 deg,
      lat: 36.779394 deg,
      lon: -121.859620 deg,
      deltaT: 4.534502 s,
      deltaX: -0.000021 m,
      approachRate: -0.000005 m/s,
      posRepo size: 4

2025-10-27T00:35:29.907Z,1761525329.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.50 m. Lat: 36.779394 Lon: -121.859620 Cable present.
2025-10-27T00:35:29.907Z,1761525329.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-10-27T00:35:29.908Z,1761525329.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-10-27T00:35:29.908Z,1761525329.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-10-27T00:35:29.940Z,1761525329.940 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.709465
2025-10-27T00:35:30.192Z,1761525330.192 [DAT](INFO): DAT read: Rx Time:00:35:31.2441 

2025-10-27T00:35:30.193Z,1761525330.193 [DAT](INFO): Rx dataTimestamp_ set to:1761525330.192653
2025-10-27T00:35:30.194Z,1761525330.194 [DAT](INFO): DAT read: Bearing 107.1, -22.6 (Local)

2025-10-27T00:35:30.195Z,1761525330.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 107.1, -22.6 (Local)

2025-10-27T00:35:30.197Z,1761525330.197 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T00:35:30.201Z,1761525330.201 [DAT](INFO): DAT read: 00:35:31.2441 LVL= 18480, 19857, 13490, 20547, AGC= 39, IDX= 503, 0.04, 2.876,-2.358,-2.465,-1.586, PHS=-1.720,-0.727,-0.923, RAW= 280.8,  52.6, CAL= 283.1,  57.5, ROT= 226.9, -57.5

2025-10-27T00:35:30.202Z,1761525330.202 [DAT](INFO): got valid direction response:
 00:35:31.2441 LVL= 18480, 19857, 13490, 20547, AGC= 39, IDX= 503, 0.04, 2.876,-2.358,-2.465,-1.586, PHS=-1.720,-0.727,-0.923, RAW= 280.8,  52.6, CAL= 283.1,  57.5, ROT= 226.9, -57.5

2025-10-27T00:35:30.203Z,1761525330.203 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-10-27T00:35:30.204Z,1761525330.204 [DAT](INFO): direction in FSK: [-0.367123,-0.392316,0.843391]
2025-10-27T00:35:30.204Z,1761525330.204 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:30.208Z,1761525330.208 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.976841
2025-10-27T00:35:30.212Z,1761525330.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899547,0.436821,-0.001752],[-0.436739,-0.899285,0.023363],[0.008630,0.021781,0.999725]]
2025-10-27T00:35:30.287Z,1761525330.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-10-27T00:35:30.287Z,1761525330.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-10-27T00:35:30.287Z,1761525330.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-10-27T00:35:30.448Z,1761525330.448 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.215839
2025-10-27T00:35:30.625Z,1761525330.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904666,0.426041,0.008239],[-0.425871,-0.904629,0.016721],[0.014577,0.011619,0.999826]]
2025-10-27T00:35:30.674Z,1761525330.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:30.676Z,1761525330.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-10-27T00:35:30.677Z,1761525330.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T00:35:30.677Z,1761525330.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-10-27T00:35:30.677Z,1761525330.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-27T00:35:30.677Z,1761525330.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-10-27T00:35:30.678Z,1761525330.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-27T00:35:30.678Z,1761525330.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-10-27T00:35:30.678Z,1761525330.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-10-27T00:35:30.678Z,1761525330.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-10-27T00:35:30.678Z,1761525330.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-10-27T00:35:30.678Z,1761525330.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T00:35:30.697Z,1761525330.697 [DAT](INFO): DAT read: Rx Time:00:35:31.7440 

2025-10-27T00:35:30.698Z,1761525330.698 [DAT](INFO): Rx dataTimestamp_ set to:1761525330.697556
2025-10-27T00:35:30.700Z,1761525330.700 [DAT](INFO): DAT read: Bearing  98.5, -18.3 (Local)

2025-10-27T00:35:30.700Z,1761525330.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.5, -18.3 (Local)

2025-10-27T00:35:30.707Z,1761525330.707 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:30.713Z,1761525330.713 [DAT](INFO): DAT read: 00:35:31.7440 LVL= 14640, 23025, 13906, 19651, AGC= 41, IDX= 502,-0.08,-1.490,-0.795,-0.801, 0.092, PHS=-1.481,-0.842,-0.937, RAW= 277.9,  62.6, CAL= 279.5,  66.4, ROT= 230.5, -66.4

2025-10-27T00:35:30.715Z,1761525330.715 [DAT](INFO): got valid direction response:
 00:35:31.7440 LVL= 14640, 23025, 13906, 19651, AGC= 41, IDX= 502,-0.08,-1.490,-0.795,-0.801, 0.092, PHS=-1.481,-0.842,-0.937, RAW= 277.9,  62.6, CAL= 279.5,  66.4, ROT= 230.5, -66.4

2025-10-27T00:35:30.716Z,1761525330.716 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-27T00:35:30.717Z,1761525330.717 [DAT](INFO): direction in FSK: [-0.254653,-0.308919,0.916363]
2025-10-27T00:35:30.717Z,1761525330.717 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:30.734Z,1761525330.734 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.503075
2025-10-27T00:35:30.948Z,1761525330.948 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.717293
2025-10-27T00:35:31.026Z,1761525331.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912145,0.409555,0.015968],[-0.409356,-0.912262,0.014357],[0.020447,0.006559,0.999769]]
2025-10-27T00:35:31.081Z,1761525331.081 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-10-27T00:35:31.081Z,1761525331.081 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-10-27T00:35:31.081Z,1761525331.081 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-10-27T00:35:31.081Z,1761525331.081 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-10-27T00:35:31.081Z,1761525331.081 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-10-27T00:35:31.081Z,1761525331.081 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-10-27T00:35:31.082Z,1761525331.082 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-10-27T00:35:31.082Z,1761525331.082 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-10-27T00:35:31.082Z,1761525331.082 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-10-27T00:35:31.102Z,1761525331.102 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-10-27T00:35:31.102Z,1761525331.102 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-10-27T00:35:31.102Z,1761525331.102 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-10-27T00:35:31.102Z,1761525331.102 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-27T00:35:31.102Z,1761525331.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-10-27T00:35:31.102Z,1761525331.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-27T00:35:31.102Z,1761525331.102 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-10-27T00:35:31.103Z,1761525331.103 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-10-27T00:35:31.203Z,1761525331.203 [DAT](INFO): DAT read: Rx Time:00:35:32.2440 

2025-10-27T00:35:31.204Z,1761525331.204 [DAT](INFO): Rx dataTimestamp_ set to:1761525331.203541
2025-10-27T00:35:31.205Z,1761525331.205 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:31.206Z,1761525331.206 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-10-27T00:35:31.206Z,1761525331.206 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.975784
2025-10-27T00:35:31.441Z,1761525331.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920872,0.389314,0.020722],[-0.389020,-0.921075,0.016860],[0.025651,0.007465,0.999643]]
2025-10-27T00:35:31.456Z,1761525331.456 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.224949
2025-10-27T00:35:31.516Z,1761525331.516 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-10-27T00:35:31.517Z,1761525331.517 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-10-27T00:35:31.705Z,1761525331.705 [DAT](INFO): DAT read: Rx Time:00:35:32.7440 

2025-10-27T00:35:31.706Z,1761525331.706 [DAT](INFO): Rx dataTimestamp_ set to:1761525331.704986
2025-10-27T00:35:31.707Z,1761525331.707 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:31.708Z,1761525331.708 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-10-27T00:35:31.709Z,1761525331.709 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.478519
2025-10-27T00:35:31.833Z,1761525331.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930373,0.365860,0.023500],[-0.365429,-0.930609,0.020707],[0.029445,0.010678,0.999509]]
2025-10-27T00:35:31.890Z,1761525331.890 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-10-27T00:35:31.891Z,1761525331.891 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-10-27T00:35:31.895Z,1761525331.895 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-10-27T00:35:31.956Z,1761525331.956 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.725212
2025-10-27T00:35:32.208Z,1761525332.208 [DAT](INFO): DAT read: Rx Time:00:35:33.2441 

2025-10-27T00:35:32.209Z,1761525332.209 [DAT](INFO): Rx dataTimestamp_ set to:1761525332.208674
2025-10-27T00:35:32.210Z,1761525332.210 [DAT](INFO): DAT read: Bearing  85.7,  10.0 (Local)

2025-10-27T00:35:32.211Z,1761525332.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.7,  10.0 (Local)

2025-10-27T00:35:32.213Z,1761525332.213 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T00:35:32.217Z,1761525332.217 [DAT](INFO): DAT read: 00:35:33.2441 LVL= 10464, 24433, 13538, 15603, AGC= 41, IDX= 502, 0.06,-2.907,-2.829,-3.060,-1.739, PHS=-1.066,-1.045,-1.366, RAW=  26.7,  75.8, CAL=  26.1,  77.4, ROT= 123.9, -77.4

2025-10-27T00:35:32.218Z,1761525332.218 [DAT](INFO): got valid direction response:
 00:35:33.2441 LVL= 10464, 24433, 13538, 15603, AGC= 41, IDX= 502, 0.06,-2.907,-2.829,-3.060,-1.739, PHS=-1.066,-1.045,-1.366, RAW=  26.7,  75.8, CAL=  26.1,  77.4, ROT= 123.9, -77.4

2025-10-27T00:35:32.219Z,1761525332.219 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-27T00:35:32.220Z,1761525332.220 [DAT](INFO): direction in FSK: [-0.121668,0.181062,0.975917]
2025-10-27T00:35:32.220Z,1761525332.220 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:32.246Z,1761525332.246 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.015213
2025-10-27T00:35:32.265Z,1761525332.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939919,0.340284,0.027549],[-0.339717,-0.940239,0.023307],[0.033834,0.012548,0.999349]]
2025-10-27T00:35:32.463Z,1761525332.463 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.231483
2025-10-27T00:35:32.641Z,1761525332.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948915,0.313948,0.031577],[-0.313214,-0.949323,0.026129],[0.038180,0.014904,0.999160]]
2025-10-27T00:35:32.713Z,1761525332.713 [DAT](INFO): DAT read: Rx Time:00:35:33.7440 

2025-10-27T00:35:32.714Z,1761525332.714 [DAT](INFO): Rx dataTimestamp_ set to:1761525332.713317
2025-10-27T00:35:32.715Z,1761525332.715 [DAT](INFO): DAT read: Bearing  51.1,  26.9 (Local)

2025-10-27T00:35:32.716Z,1761525332.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.1,  26.9 (Local)

2025-10-27T00:35:32.718Z,1761525332.718 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:32.723Z,1761525332.723 [DAT](INFO): DAT read: 00:35:33.7440 LVL= 10656, 23361, 15506, 17827, AGC= 40, IDX= 496,-0.43, 2.689, 1.356, 1.788,-2.973, PHS=-0.519,-1.910,-1.566, RAW= 103.7,  48.4, CAL= 101.9,  53.9, ROT=  48.1, -53.9

2025-10-27T00:35:32.725Z,1761525332.725 [DAT](INFO): got valid direction response:
 00:35:33.7440 LVL= 10656, 23361, 15506, 17827, AGC= 40, IDX= 496,-0.43, 2.689, 1.356, 1.788,-2.973, PHS=-0.519,-1.910,-1.566, RAW= 103.7,  48.4, CAL= 101.9,  53.9, ROT=  48.1, -53.9

2025-10-27T00:35:32.725Z,1761525332.725 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-27T00:35:32.726Z,1761525332.726 [DAT](INFO): direction in FSK: [0.393485,0.438546,0.807990]
2025-10-27T00:35:32.726Z,1761525332.726 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:32.738Z,1761525332.738 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.507286
2025-10-27T00:35:32.964Z,1761525332.964 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.733246
2025-10-27T00:35:33.078Z,1761525333.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957627,0.285765,0.035889],[-0.284891,-0.958163,0.027587],[0.042270,0.016193,0.998975]]
2025-10-27T00:35:33.216Z,1761525333.216 [DAT](INFO): DAT read: Rx Time:00:35:34.2441 

2025-10-27T00:35:33.217Z,1761525333.217 [DAT](INFO): Rx dataTimestamp_ set to:1761525333.216689
2025-10-27T00:35:33.218Z,1761525333.218 [DAT](INFO): DAT read: Bearing  53.2,  18.5 (Local)

2025-10-27T00:35:33.219Z,1761525333.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.2,  18.5 (Local)

2025-10-27T00:35:33.221Z,1761525333.221 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T00:35:33.225Z,1761525333.225 [DAT](INFO): DAT read: 00:35:34.2441 LVL= 11504, 19889, 16194, 18627, AGC= 41, IDX= 497, 0.11, 0.294,-0.784,-0.283, 1.298, PHS=-0.902,-2.037,-1.625, RAW= 111.0,  58.3, CAL= 109.3,  62.6, ROT=  40.7, -62.6

2025-10-27T00:35:33.226Z,1761525333.226 [DAT](INFO): got valid direction response:
 00:35:34.2441 LVL= 11504, 19889, 16194, 18627, AGC= 41, IDX= 497, 0.11, 0.294,-0.784,-0.283, 1.298, PHS=-0.902,-2.037,-1.625, RAW= 111.0,  58.3, CAL= 109.3,  62.6, ROT=  40.7, -62.6

2025-10-27T00:35:33.227Z,1761525333.227 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-27T00:35:33.228Z,1761525333.228 [DAT](INFO): direction in FSK: [0.348893,0.300096,0.887815]
2025-10-27T00:35:33.228Z,1761525333.228 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:33.232Z,1761525333.232 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.000885
2025-10-27T00:35:33.453Z,1761525333.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965545,0.256986,0.041007],[-0.256231,-0.966346,0.022820],[0.045491,0.011526,0.998898]]
2025-10-27T00:35:33.470Z,1761525333.470 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.238945
2025-10-27T00:35:33.721Z,1761525333.721 [DAT](INFO): DAT read: Rx Time:00:35:34.7440 

2025-10-27T00:35:33.721Z,1761525333.721 [DAT](INFO): Rx dataTimestamp_ set to:1761525333.720760
2025-10-27T00:35:33.722Z,1761525333.722 [DAT](INFO): DAT read: Bearing  50.3,   7.7 (Local)

2025-10-27T00:35:33.723Z,1761525333.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.3,   7.7 (Local)

2025-10-27T00:35:33.725Z,1761525333.725 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:33.729Z,1761525333.729 [DAT](INFO): DAT read: 00:35:34.7440 LVL= 12400, 20817, 17394, 18995, AGC= 39, IDX= 497,-0.41, 0.567,-0.434, 0.354, 1.847, PHS=-1.177,-2.235,-1.536, RAW= 130.5,  62.0, CAL= 132.4,  67.3, ROT=  17.6, -67.3

2025-10-27T00:35:33.730Z,1761525333.730 [DAT](INFO): got valid direction response:
 00:35:34.7440 LVL= 12400, 20817, 17394, 18995, AGC= 39, IDX= 497,-0.41, 0.567,-0.434, 0.354, 1.847, PHS=-1.177,-2.235,-1.536, RAW= 130.5,  62.0, CAL= 132.4,  67.3, ROT=  17.6, -67.3

2025-10-27T00:35:33.731Z,1761525333.731 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-27T00:35:33.732Z,1761525333.732 [DAT](INFO): direction in FSK: [0.367842,0.116686,0.922538]
2025-10-27T00:35:33.732Z,1761525333.732 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:33.736Z,1761525333.736 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.505245
2025-10-27T00:35:33.854Z,1761525333.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972659,0.228346,0.042340],[-0.227743,-0.973543,0.018606],[0.045469,0.008455,0.998930]]
2025-10-27T00:35:33.972Z,1761525333.972 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.741261
2025-10-27T00:35:34.224Z,1761525334.224 [DAT](INFO): DAT read: Rx Time:00:35:35.2442 

2025-10-27T00:35:34.225Z,1761525334.225 [DAT](INFO): Rx dataTimestamp_ set to:1761525334.224663
2025-10-27T00:35:34.226Z,1761525334.226 [DAT](INFO): DAT read: Bearing  48.9,   6.3 (Local)

2025-10-27T00:35:34.227Z,1761525334.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.9,   6.3 (Local)

2025-10-27T00:35:34.229Z,1761525334.229 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-10-27T00:35:34.233Z,1761525334.233 [DAT](INFO): DAT read: 00:35:35.2442 LVL= 11808, 21217, 17730, 19443, AGC= 39, IDX= 498,-0.20, 1.398, 0.450, 1.235, 2.729, PHS=-1.229,-2.234,-1.538, RAW= 132.5,  63.2, CAL= 134.7,  68.4, ROT=  15.3, -68.4

2025-10-27T00:35:34.234Z,1761525334.234 [DAT](INFO): got valid direction response:
 00:35:35.2442 LVL= 11808, 21217, 17730, 19443, AGC= 39, IDX= 498,-0.20, 1.398, 0.450, 1.235, 2.729, PHS=-1.229,-2.234,-1.538, RAW= 132.5,  63.2, CAL= 134.7,  68.4, ROT=  15.3, -68.4

2025-10-27T00:35:34.235Z,1761525334.235 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-27T00:35:34.236Z,1761525334.236 [DAT](INFO): direction in FSK: [0.355077,0.097138,0.929776]
2025-10-27T00:35:34.236Z,1761525334.236 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:34.239Z,1761525334.239 [DAT](INFO): ****** received valid address query ******
2025-10-27T00:35:34.240Z,1761525334.240 [DAT](INFO): ****** received valid ping request ******
2025-10-27T00:35:34.240Z,1761525334.240 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-27T00:35:34.257Z,1761525334.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979049,0.199688,0.039846],[-0.199355,-0.979851,0.012203],[0.041480,0.004003,0.999131]]
2025-10-27T00:35:34.479Z,1761525334.479 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:35:34.661Z,1761525334.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984319,0.173221,0.033318],[-0.173167,-0.984882,0.004534],[0.033600,-0.001306,0.999435]]
2025-10-27T00:35:34.718Z,1761525334.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:34.719Z,1761525334.719 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-10-27T00:35:34.719Z,1761525334.719 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-10-27T00:35:34.719Z,1761525334.719 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-10-27T00:35:34.719Z,1761525334.719 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-10-27T00:35:34.729Z,1761525334.729 [DAT](INFO): DAT read: Rx Time:00:35:35.7441 

2025-10-27T00:35:34.729Z,1761525334.729 [DAT](INFO): Rx dataTimestamp_ set to:1761525334.728863
2025-10-27T00:35:34.730Z,1761525334.730 [DAT](INFO): DAT read: Bearing  47.4,   5.5 (Local)

2025-10-27T00:35:34.731Z,1761525334.731 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.4,   5.5 (Local)

2025-10-27T00:35:34.733Z,1761525334.733 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T00:35:34.738Z,1761525334.738 [DAT](INFO): DAT read: 00:35:35.7441 LVL= 11840, 20673, 17730, 18931, AGC= 41, IDX= 497,-0.07, 0.589,-0.324, 0.444, 1.946, PHS=-1.255,-2.225,-1.546, RAW= 133.0,  64.1, CAL= 135.2,  69.1, ROT=  14.8, -69.1

2025-10-27T00:35:34.739Z,1761525334.739 [DAT](INFO): got valid direction response:
 00:35:35.7441 LVL= 11840, 20673, 17730, 18931, AGC= 41, IDX= 497,-0.07, 0.589,-0.324, 0.444, 1.946, PHS=-1.255,-2.225,-1.546, RAW= 133.0,  64.1, CAL= 135.2,  69.1, ROT=  14.8, -69.1

2025-10-27T00:35:34.739Z,1761525334.739 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:35:34.740Z,1761525334.740 [DAT](INFO): direction in FSK: [0.344903,0.091127,0.934204]
2025-10-27T00:35:34.740Z,1761525334.740 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:34.752Z,1761525334.752 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:35:34.752Z,1761525334.752 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:35:34.980Z,1761525334.980 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:35:35.102Z,1761525335.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988522,0.149157,0.024000],[-0.149245,-0.988798,-0.001903],[0.023447,-0.005463,0.999710]]
2025-10-27T00:35:35.138Z,1761525335.138 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-10-27T00:35:35.138Z,1761525335.138 [lineCaptureHoming:LineCapture:M] Stopped
2025-10-27T00:35:35.141Z,1761525335.141 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture] Stopped
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:G] Stopped
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:H] Stopped
2025-10-27T00:35:35.142Z,1761525335.142 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-10-27T00:35:35.143Z,1761525335.143 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-10-27T00:35:35.151Z,1761525335.151 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-10-27T00:35:35.151Z,1761525335.151 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-10-27T00:35:35.151Z,1761525335.151 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-10-27T00:35:35.151Z,1761525335.151 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-27T00:35:35.151Z,1761525335.151 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-27T00:35:35.151Z,1761525335.151 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-27T00:35:35.151Z,1761525335.151 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-27T00:35:35.233Z,1761525335.233 [DAT](INFO): DAT read: Rx Time:00:35:36.2441 

2025-10-27T00:35:35.233Z,1761525335.233 [DAT](INFO): Rx dataTimestamp_ set to:1761525335.232802
2025-10-27T00:35:35.234Z,1761525335.234 [DAT](INFO): DAT read: Bearing  43.8,   9.3 (Local)

2025-10-27T00:35:35.235Z,1761525335.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing  43.8,   9.3 (Local)

2025-10-27T00:35:35.237Z,1761525335.237 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T00:35:35.241Z,1761525335.241 [DAT](INFO): DAT read: 00:35:36.2441 LVL= 10912, 20401, 16850, 18563, AGC= 41, IDX= 497,-0.01, 1.768, 0.735, 1.457, 2.967, PHS=-1.098,-2.187,-1.555, RAW= 125.3,  61.0, CAL= 126.0,  66.2, ROT=  24.0, -66.2

2025-10-27T00:35:35.242Z,1761525335.242 [DAT](INFO): got valid direction response:
 00:35:36.2441 LVL= 10912, 20401, 16850, 18563, AGC= 41, IDX= 497,-0.01, 1.768, 0.735, 1.457, 2.967, PHS=-1.098,-2.187,-1.555, RAW= 125.3,  61.0, CAL= 126.0,  66.2, ROT=  24.0, -66.2

2025-10-27T00:35:35.243Z,1761525335.243 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:35:35.244Z,1761525335.244 [DAT](INFO): direction in FSK: [0.368657,0.164137,0.914960]
2025-10-27T00:35:35.244Z,1761525335.244 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:35.248Z,1761525335.248 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:35:35.248Z,1761525335.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:35:35.469Z,1761525335.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991659,0.128094,0.014272],[-0.128241,-0.991693,-0.009942],[0.012880,-0.011689,0.999849]]
2025-10-27T00:35:35.484Z,1761525335.484 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:35:35.558Z,1761525335.558 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-10-27T00:35:35.558Z,1761525335.558 [lineCaptureHoming:Lap:B] Stopped
2025-10-27T00:35:35.558Z,1761525335.558 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-10-27T00:35:35.563Z,1761525335.563 [lineCaptureHoming:Lap:C] Running Loop=1
2025-10-27T00:35:35.736Z,1761525335.736 [DAT](INFO): DAT read: Rx Time:00:35:36.7440 

2025-10-27T00:35:35.737Z,1761525335.737 [DAT](INFO): Rx dataTimestamp_ set to:1761525335.736671
2025-10-27T00:35:35.738Z,1761525335.738 [DAT](INFO): DAT read: Bearing  36.2,  20.3 (Local)

2025-10-27T00:35:35.739Z,1761525335.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.2,  20.3 (Local)

2025-10-27T00:35:35.741Z,1761525335.741 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-10-27T00:35:35.745Z,1761525335.745 [DAT](INFO): DAT read: 00:35:36.7440 LVL= 11344, 20593, 16082, 19331, AGC= 41, IDX= 496, 0.03, 2.662, 1.223, 1.901,-2.860, PHS=-0.659,-2.155,-1.566, RAW= 113.0,  49.9, CAL= 110.9,  55.4, ROT=  39.1, -55.4

2025-10-27T00:35:35.746Z,1761525335.746 [DAT](INFO): got valid direction response:
 00:35:36.7440 LVL= 11344, 20593, 16082, 19331, AGC= 41, IDX= 496, 0.03, 2.662, 1.223, 1.901,-2.860, PHS=-0.659,-2.155,-1.566, RAW= 113.0,  49.9, CAL= 110.9,  55.4, ROT=  39.1, -55.4

2025-10-27T00:35:35.747Z,1761525335.747 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:35:35.748Z,1761525335.748 [DAT](INFO): direction in FSK: [0.440673,0.358125,0.823136]
2025-10-27T00:35:35.748Z,1761525335.748 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:35.761Z,1761525335.761 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:35:35.762Z,1761525335.762 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:35:35.874Z,1761525335.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993697,0.111990,0.005024],[-0.112065,-0.993525,-0.018682],[0.002899,-0.019127,0.999813]]
2025-10-27T00:35:35.928Z,1761525335.928 [lineCaptureHoming:Lap:C] Stopped
2025-10-27T00:35:35.928Z,1761525335.928 [lineCaptureHoming:Lap:D] Running Loop=1
2025-10-27T00:35:35.988Z,1761525335.988 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:35:36.240Z,1761525336.240 [DAT](INFO): DAT read: Rx Time:00:35:37.2441 

2025-10-27T00:35:36.241Z,1761525336.241 [DAT](INFO): Rx dataTimestamp_ set to:1761525336.240304
2025-10-27T00:35:36.242Z,1761525336.242 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-10-27T00:35:36.242Z,1761525336.242 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T00:35:36.243Z,1761525336.243 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:35:36.243Z,1761525336.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:35:36.277Z,1761525336.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994862,0.101092,-0.005390],[-0.100965,-0.994685,-0.020204],[-0.007404,-0.019556,0.999781]]
2025-10-27T00:35:36.337Z,1761525336.337 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-10-27T00:35:36.337Z,1761525336.337 [lineCaptureHoming:Lap:D] Stopped
2025-10-27T00:35:36.338Z,1761525336.338 [lineCaptureHoming:Lap:E] Running Loop=1
2025-10-27T00:35:36.338Z,1761525336.338 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-10-27T00:35:36.495Z,1761525336.495 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:35:36.691Z,1761525336.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995407,0.094462,-0.015559],[-0.094188,-0.995401,-0.017468],[-0.017137,-0.015923,0.999726]]
2025-10-27T00:35:36.744Z,1761525336.744 [DAT](INFO): DAT read: user:192>

2025-10-27T00:35:36.745Z,1761525336.745 [DAT](INFO): DAT read: user:192>

2025-10-27T00:35:36.746Z,1761525336.746 [DAT](INFO): DAT read: Tx time:00:35:38.1456

2025-10-27T00:35:36.746Z,1761525336.746 [DAT](INFO): Ping request sent.
2025-10-27T00:35:36.746Z,1761525336.746 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:35:36.746Z,1761525336.746 [DAT](INFO): publishing transmit ping time
2025-10-27T00:35:36.747Z,1761525336.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-27T00:35:36.776Z,1761525336.776 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-10-27T00:35:36.776Z,1761525336.776 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-10-27T00:35:36.776Z,1761525336.776 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-10-27T00:35:36.776Z,1761525336.776 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-10-27T00:35:36.776Z,1761525336.776 [lineCaptureHoming:restartDHCP:A] Stopped
2025-10-27T00:35:36.776Z,1761525336.776 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-10-27T00:35:36.777Z,1761525336.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:35:36.996Z,1761525336.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249983
2025-10-27T00:35:37.086Z,1761525337.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995364,0.092768,-0.025373],[-0.092477,-0.995637,-0.012416],[-0.026414,-0.010012,0.999601]]
2025-10-27T00:35:37.105Z,1761525337.105 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-10-27T00:35:37.106Z,1761525337.106 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-10-27T00:35:37.106Z,1761525337.106 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-10-27T00:35:37.106Z,1761525337.106 [lineCaptureHoming:restartDHCP] Stopped
2025-10-27T00:35:37.106Z,1761525337.106 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-10-27T00:35:37.149Z,1761525337.149 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-10-27T00:35:37.248Z,1761525337.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502455
2025-10-27T00:35:37.490Z,1761525337.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994909,0.094876,-0.033966],[-0.094741,-0.995486,-0.005568],[-0.034341,-0.002321,0.999407]]
2025-10-27T00:35:37.500Z,1761525337.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754185
2025-10-27T00:35:37.602Z,1761525337.602 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-10-27T00:35:37.602Z,1761525337.602 [lineCaptureHoming:Lap:E] Stopped
2025-10-27T00:35:37.603Z,1761525337.603 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-10-27T00:35:37.613Z,1761525337.613 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-10-27T00:35:37.614Z,1761525337.614 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-10-27T00:35:37.614Z,1761525337.614 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-10-27T00:35:37.630Z,1761525337.630 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-10-27UTC003537_sh
  
2025-10-27T00:35:37.752Z,1761525337.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006231
2025-10-27T00:35:37.894Z,1761525337.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994120,0.101396,-0.038017],[-0.101125,-0.994833,-0.009004],[-0.038734,-0.005107,0.999237]]
2025-10-27T00:35:37.998Z,1761525337.998 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-10-27T00:35:37.998Z,1761525337.998 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-10-27T00:35:37.998Z,1761525337.998 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-10-27T00:35:38.008Z,1761525338.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261350
2025-10-27T00:35:38.256Z,1761525338.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509952
2025-10-27T00:35:38.304Z,1761525338.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992859,0.112861,-0.038646],[-0.112522,-0.993590,-0.010832],[-0.039620,-0.006406,0.999194]]
2025-10-27T00:35:38.321Z,1761525338.321 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-10-27T00:35:38.321Z,1761525338.321 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-10-27T00:35:38.511Z,1761525338.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764559
2025-10-27T00:35:38.706Z,1761525338.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991426,0.125540,-0.036253],[-0.125345,-0.992084,-0.007601],[-0.036920,-0.002992,0.999314]]
2025-10-27T00:35:38.753Z,1761525338.753 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-10-27T00:35:38.753Z,1761525338.753 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-10-27T00:35:38.753Z,1761525338.753 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-10-27T00:35:38.754Z,1761525338.754 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-10-27T00:35:38.760Z,1761525338.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014031
2025-10-27T00:35:39.012Z,1761525339.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265909
2025-10-27T00:35:39.106Z,1761525339.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989723,0.139778,-0.030164],[-0.139697,-0.990183,-0.004791],[-0.030537,-0.000528,0.999534]]
2025-10-27T00:35:39.264Z,1761525339.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517949
2025-10-27T00:35:39.510Z,1761525339.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987379,0.156900,-0.021559],[-0.156869,-0.987614,-0.003119],[-0.021782,0.000303,0.999763]]
2025-10-27T00:35:39.517Z,1761525339.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770721
2025-10-27T00:35:39.768Z,1761525339.768 [DAT](INFO): DAT read: Rx Time:00:35:40.5511

2025-10-27T00:35:39.768Z,1761525339.768 [DAT](INFO): Rx dataTimestamp_ set to:1761525339.768118
2025-10-27T00:35:39.769Z,1761525339.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023039
2025-10-27T00:35:39.914Z,1761525339.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984591,0.174375,-0.013153],[-0.174394,-0.984676,0.000355],[-0.012889,0.002644,0.999913]]
2025-10-27T00:35:39.973Z,1761525339.973 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-27T00:35:40.021Z,1761525340.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274924
2025-10-27T00:35:40.088Z,1761525340.088 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-27T00:35:40.273Z,1761525340.273 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m  (Round-trip  1.5 ms) speed  0.0 m/s

2025-10-27T00:35:40.274Z,1761525340.274 [DAT](INFO): DAT read: user:193>

2025-10-27T00:35:40.274Z,1761525340.274 [DAT](INFO): DAT read: Tx time:00:35:41.6455

2025-10-27T00:35:40.275Z,1761525340.275 [DAT](INFO): Ping request sent.
2025-10-27T00:35:40.275Z,1761525340.275 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:35:40.275Z,1761525340.275 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-27T00:35:40.275Z,1761525340.275 [DAT](INFO): publishing transmit ping time
2025-10-27T00:35:40.276Z,1761525340.276 [DAT](INFO): publishing transmit ping time
2025-10-27T00:35:40.277Z,1761525340.277 [DAT](INFO): Requesting device enable set for address 50.
2025-10-27T00:35:40.347Z,1761525340.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981380,0.192031,-0.004067],[-0.192034,-0.981388,0.000561],[-0.003883,0.001332,0.999992]]
2025-10-27T00:35:40.524Z,1761525340.524 [DAT](INFO): Requesting device enable set for address 50.
2025-10-27T00:35:40.776Z,1761525340.776 [DAT](INFO): Requesting device enable set for address 50.
2025-10-27T00:35:41.129Z,1761525341.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973840,0.226870,0.012909],[-0.226880,-0.973923,0.000705],[0.012732,-0.002242,0.999916]]
2025-10-27T00:35:41.936Z,1761525341.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967924,0.250182,0.023045],[-0.249829,-0.968138,0.017155],[0.026602,0.010847,0.999587]]
2025-10-27T00:35:42.337Z,1761525342.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966202,0.256213,0.028425],[-0.255542,-0.966469,0.025216],[0.033933,0.017100,0.999278]]
2025-10-27T00:35:42.742Z,1761525342.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965391,0.258628,0.033652],[-0.257558,-0.965697,0.033064],[0.041049,0.023253,0.998887]]
2025-10-27T00:35:43.044Z,1761525343.044 [DAT](INFO): DAT read: Rx Time:00:35:44.0513

2025-10-27T00:35:43.045Z,1761525343.045 [DAT](INFO): Rx dataTimestamp_ set to:1761525343.044293
2025-10-27T00:35:43.150Z,1761525343.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965571,0.257436,0.037419],[-0.255974,-0.965866,0.039755],[0.046376,0.028808,0.998509]]
2025-10-27T00:35:43.590Z,1761525343.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967106,0.251266,0.039631],[-0.249547,-0.967377,0.043685],[0.049315,0.032358,0.998259]]
2025-10-27T00:35:43.705Z,1761525343.705 [DockingStepper](INFO): Changing to mode: 1
2025-10-27T00:35:43.805Z,1761525343.805 [DAT](INFO): DAT read: 00:35:44.0513 LVL= 11856, 20209, 16882, 18931, AGC= 41, IDX= 429,-0.49,-0.370,-1.669,-0.930, 0.606, PHS=-0.874,-2.230,-1.580, RAW= 118.6,  54.7, CAL= 117.6,  60.3, ROT=  32.4, -60.3

2025-10-27T00:35:43.807Z,1761525343.807 [DAT](INFO): got valid direction response:
 00:35:44.0513 LVL= 11856, 20209, 16882, 18931, AGC= 41, IDX= 429,-0.49,-0.370,-1.669,-0.930, 0.606, PHS=-0.874,-2.230,-1.580, RAW= 118.6,  54.7, CAL= 117.6,  60.3, ROT=  32.4, -60.3

2025-10-27T00:35:43.808Z,1761525343.808 [DAT](INFO): DAT read: Bearing  46.4,  17.4 (Local)

2025-10-27T00:35:43.808Z,1761525343.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.4,  17.4 (Local)

2025-10-27T00:35:43.809Z,1761525343.809 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-10-27T00:35:43.810Z,1761525343.810 [DAT](INFO): DAT read: user:194>

2025-10-27T00:35:43.815Z,1761525343.815 [DAT](INFO): DAT read: Tx time:00:35:45.1445

2025-10-27T00:35:43.816Z,1761525343.816 [DAT](INFO): Ping request sent.
2025-10-27T00:35:43.816Z,1761525343.816 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:35:43.816Z,1761525343.816 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-27T00:35:43.817Z,1761525343.817 [DAT](INFO): direction in FSK: [0.418330,0.265480,0.868631]
2025-10-27T00:35:43.817Z,1761525343.817 [DAT](INFO): publishing transmit ping time
2025-10-27T00:35:43.818Z,1761525343.818 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:43.822Z,1761525343.822 [DAT](INFO): publishing transmit ping time
2025-10-27T00:35:43.822Z,1761525343.822 [DAT](INFO): publishing direction and range info
2025-10-27T00:35:43.954Z,1761525343.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969912,0.240288,0.039138],[-0.238510,-0.970089,0.045167],[0.048821,0.034474,0.998212]]
2025-10-27T00:35:44.358Z,1761525344.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973850,0.224331,0.035945],[-0.222673,-0.973856,0.044965],[0.045092,0.035785,0.998342]]
2025-10-27T00:35:44.761Z,1761525344.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978788,0.202484,0.031199],[-0.201086,-0.978636,0.042858],[0.039211,0.035675,0.998594]]
2025-10-27T00:35:45.169Z,1761525345.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983913,0.176585,0.027084],[-0.175595,-0.983826,0.035402],[0.032898,0.030077,0.999006]]
2025-10-27T00:35:45.572Z,1761525345.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988904,0.146750,0.023112],[-0.146180,-0.988950,0.024663],[0.026476,0.021011,0.999429]]
2025-10-27T00:35:45.974Z,1761525345.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993341,0.113883,0.017450],[-0.113557,-0.993357,0.018643],[0.019457,0.016537,0.999674]]
2025-10-27T00:35:46.068Z,1761525346.068 [DAT](INFO): DAT read: Rx Time:00:35:47.0450

2025-10-27T00:35:46.069Z,1761525346.069 [DAT](INFO): Rx dataTimestamp_ set to:1761525346.068258
2025-10-27T00:35:46.378Z,1761525346.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996983,0.076909,0.010502],[-0.076738,-0.996925,0.015862],[0.011690,0.015009,0.999819]]
2025-10-27T00:35:46.572Z,1761525346.572 [DAT](INFO): DAT read: OK

2025-10-27T00:35:46.572Z,1761525346.572 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T00:35:46.573Z,1761525346.573 [DAT](INFO): DAT read: user:195>

2025-10-27T00:35:46.781Z,1761525346.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999246,0.038649,0.003660],[-0.038602,-0.999181,0.012160],[0.004127,0.012010,0.999919]]
2025-10-27T00:35:46.809Z,1761525346.809 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       +41.95,      +414.17-9.93,  20.00,700.31
2025-10-27T00:35:46.824Z,1761525346.824 [DAT](INFO): DAT read: Tx time:00:35:48.1445

2025-10-27T00:35:46.824Z,1761525346.824 [DAT](INFO): Ping request sent.
2025-10-27T00:35:46.825Z,1761525346.825 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:35:46.825Z,1761525346.825 [DAT](INFO): publishing transmit ping time
2025-10-27T00:35:47.188Z,1761525347.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999995,-0.000277,-0.003255],[0.000237,-0.999924,0.012313],[-0.003258,0.012313,0.999919]]
2025-10-27T00:35:47.591Z,1761525347.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999166,-0.039601,-0.009920],[0.039445,-0.999103,0.015410],[-0.010522,0.015006,0.999832]]
2025-10-27T00:35:47.994Z,1761525347.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996863,-0.077662,-0.015239],[0.077385,-0.996839,0.017987],[-0.016588,0.016751,0.999722]]
2025-10-27T00:35:48.802Z,1761525348.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989157,-0.145483,-0.020076],[0.145217,-0.989299,0.014151],[-0.021920,0.011082,0.999698]]
2025-10-27T00:35:49.100Z,1761525349.100 [DAT](INFO): DAT read: Rx Time:00:35:50.0451

2025-10-27T00:35:49.100Z,1761525349.100 [DAT](INFO): Rx dataTimestamp_ set to:1761525349.100166
2025-10-27T00:35:49.206Z,1761525349.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984662,-0.173442,-0.018936],[0.173249,-0.984812,0.011383],[-0.020623,0.007927,0.999756]]
2025-10-27T00:35:49.604Z,1761525349.604 [DAT](INFO): DAT read: OK

2025-10-27T00:35:49.604Z,1761525349.604 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T00:35:49.605Z,1761525349.605 [DAT](INFO): DAT read: user:196>

2025-10-27T00:35:49.605Z,1761525349.605 [DAT](INFO): DAT read: Tx time:00:35:51.1445

2025-10-27T00:35:49.606Z,1761525349.606 [DAT](INFO): Ping request sent.
2025-10-27T00:35:49.606Z,1761525349.606 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:35:49.606Z,1761525349.606 [DAT](INFO): publishing transmit ping time
2025-10-27T00:35:49.613Z,1761525349.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980197,-0.197376,-0.015996],[0.197265,-0.980316,0.008224],[-0.017304,0.004906,0.999838]]
2025-10-27T00:35:50.030Z,1761525350.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973151,-0.229956,-0.009855],[0.230013,-0.973174,-0.005125],[-0.008412,-0.007254,0.999938]]
2025-10-27T00:35:50.828Z,1761525350.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970504,-0.241026,-0.005388],[0.241081,-0.970384,-0.015331],[-0.001533,-0.016177,0.999868]]
2025-10-27T00:35:51.238Z,1761525351.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970528,-0.240950,-0.004206],[0.240987,-0.970416,-0.014781],[-0.000520,-0.015359,0.999882]]
2025-10-27T00:35:51.639Z,1761525351.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971750,-0.235983,-0.003715],[0.236012,-0.971633,-0.015093],[-0.000047,-0.015544,0.999879]]
2025-10-27T00:35:52.042Z,1761525352.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973849,-0.227168,-0.003667],[0.227197,-0.973754,-0.013595],[-0.000482,-0.014072,0.999901]]
2025-10-27T00:35:52.125Z,1761525352.125 [DAT](INFO): DAT read: Rx Time:00:35:53.0452

2025-10-27T00:35:52.125Z,1761525352.125 [DAT](INFO): Rx dataTimestamp_ set to:1761525352.125071
2025-10-27T00:35:52.440Z,1761525352.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976613,-0.214964,-0.004091],[0.214996,-0.976561,-0.010298],[-0.001782,-0.010937,0.999939]]
2025-10-27T00:35:52.628Z,1761525352.628 [DAT](INFO): DAT read: OK

2025-10-27T00:35:52.628Z,1761525352.628 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T00:35:52.842Z,1761525352.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979861,-0.199613,-0.005158],[0.199650,-0.979832,-0.008275],[-0.003402,-0.009138,0.999952]]
2025-10-27T00:35:53.246Z,1761525353.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983322,-0.181761,-0.006370],[0.181799,-0.983318,-0.005931],[-0.005186,-0.006990,0.999962]]
2025-10-27T00:35:53.651Z,1761525353.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986609,-0.162928,-0.007599],[0.162952,-0.986630,-0.002642],[-0.007067,-0.003845,0.999968]]
2025-10-27T00:35:54.055Z,1761525354.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989627,-0.143408,-0.008489],[0.143416,-0.989662,-0.000335],[-0.008353,-0.001549,0.999964]]
2025-10-27T00:35:54.458Z,1761525354.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992160,-0.124674,-0.008679],[0.124652,-0.992196,0.003025],[-0.008989,0.001920,0.999958]]
2025-10-27T00:35:54.862Z,1761525354.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994147,-0.107740,-0.007951],[0.107693,-0.994165,0.006157],[-0.008568,0.005265,0.999949]]
2025-10-27T00:35:55.265Z,1761525355.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995635,-0.093129,-0.006124],[0.093073,-0.995619,0.008971],[-0.006932,0.008361,0.999941]]
2025-10-27T00:35:55.671Z,1761525355.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996636,-0.081887,-0.003275],[0.081841,-0.996571,0.012216],[-0.004264,0.011907,0.999920]]
2025-10-27T00:35:56.074Z,1761525356.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997218,-0.074540,0.000930],[0.074545,-0.997075,0.016866],[-0.000329,0.016888,0.999857]]
2025-10-27T00:35:56.478Z,1761525356.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997358,-0.072360,0.006391],[0.072484,-0.997129,0.021895],[0.004788,0.022300,0.999740]]
2025-10-27T00:35:56.881Z,1761525356.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997058,-0.075544,0.012958],[0.075868,-0.996761,0.026662],[0.010902,0.027567,0.999560]]
2025-10-27T00:35:57.292Z,1761525357.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996256,-0.083996,0.020477],[0.084585,-0.995970,0.029833],[0.017888,0.031453,0.999345]]
2025-10-27T00:35:57.693Z,1761525357.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994788,-0.098000,0.028167],[0.098864,-0.994614,0.031139],[0.024964,0.033761,0.999118]]
2025-10-27T00:35:58.094Z,1761525358.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992460,-0.117446,0.035080],[0.118533,-0.992475,0.030709],[0.031210,0.034635,0.998913]]
2025-10-27T00:35:58.514Z,1761525358.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989115,-0.141730,0.039553],[0.142942,-0.989285,0.029707],[0.034919,0.035038,0.998776]]
2025-10-27T00:35:58.795Z,1761525358.795 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-27T00:35:58.902Z,1761525358.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984583,-0.170084,0.040849],[0.171259,-0.984850,0.027222],[0.035600,0.033798,0.998794]]
2025-10-27T00:35:59.306Z,1761525359.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979012,-0.200083,0.038749],[0.201039,-0.979324,0.022541],[0.033438,0.029858,0.998995]]
2025-10-27T00:35:59.717Z,1761525359.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972185,-0.231744,0.033928],[0.232401,-0.972474,0.016844],[0.029090,0.024260,0.999282]]
2025-10-27T00:35:59.799Z,1761525359.799 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-27T00:36:00.115Z,1761525360.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964402,-0.263041,0.027157],[0.263332,-0.964674,0.007714],[0.024168,0.014591,0.999601]]
2025-10-27T00:36:00.529Z,1761525360.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956041,-0.292588,0.019418],[0.292594,-0.956233,-0.002617],[0.019334,0.003180,0.999808]]
2025-10-27T00:36:00.930Z,1761525360.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947502,-0.319497,0.012738],[0.319459,-0.947587,-0.004943],[0.013650,-0.000614,0.999907]]
2025-10-27T00:36:01.332Z,1761525361.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938880,-0.344189,0.006244],[0.344165,-0.938898,-0.004544],[0.007426,-0.002117,0.999970]]
2025-10-27T00:36:01.730Z,1761525361.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931005,-0.365007,-0.000337],[0.365005,-0.930993,-0.004754],[0.001422,-0.004549,0.999989]]
2025-10-27T00:36:02.134Z,1761525362.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924242,-0.381770,-0.005249],[0.381779,-0.924253,-0.000795],[-0.004548,-0.002739,0.999986]]
2025-10-27T00:36:02.541Z,1761525362.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918819,-0.394580,-0.008850],[0.394542,-0.918860,0.005789],[-0.010416,0.001827,0.999944]]
2025-10-27T00:36:02.957Z,1761525362.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914793,-0.403696,-0.013542],[0.403647,-0.914893,0.006298],[-0.014932,0.000295,0.999888]]
2025-10-27T00:36:03.346Z,1761525363.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913070,-0.407449,-0.016970],[0.407438,-0.913223,0.004266],[-0.017235,-0.003019,0.999847]]
2025-10-27T00:36:03.750Z,1761525363.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913260,-0.407006,-0.017379],[0.407006,-0.913418,0.003669],[-0.017368,-0.003722,0.999842]]
2025-10-27T00:36:04.153Z,1761525364.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914856,-0.403509,-0.014807],[0.403487,-0.914974,0.004568],[-0.015391,-0.001796,0.999880]]
2025-10-27T00:36:04.564Z,1761525364.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918041,-0.396348,-0.010475],[0.396337,-0.918100,0.003162],[-0.010870,-0.001249,0.999940]]
2025-10-27T00:36:04.991Z,1761525364.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922284,-0.386488,-0.004369],[0.386477,-0.922294,0.003148],[-0.005246,0.001215,0.999986]]
2025-10-27T00:36:05.365Z,1761525365.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927294,-0.374330,0.001601],[0.374332,-0.927294,0.000953],[0.001128,0.001483,0.999998]]
2025-10-27T00:36:05.770Z,1761525365.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932879,-0.360128,0.006635],[0.360105,-0.932901,-0.004398],[0.007774,-0.001713,0.999968]]
2025-10-27T00:36:06.175Z,1761525366.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938558,-0.344921,0.011770],[0.344826,-0.938620,-0.009365],[0.014277,-0.004731,0.999887]]
2025-10-27T00:36:06.578Z,1761525366.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943861,-0.329845,0.018142],[0.329709,-0.944028,-0.010123],[0.020465,-0.003573,0.999784]]
2025-10-27T00:36:07.016Z,1761525367.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948605,-0.315419,0.025669],[0.315361,-0.948950,-0.006397],[0.026377,0.002026,0.999650]]
2025-10-27T00:36:07.386Z,1761525367.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952530,-0.302570,0.033737],[0.302719,-0.953080,-0.000715],[0.032370,0.009532,0.999430]]
2025-10-27T00:36:07.791Z,1761525367.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955643,-0.291615,0.041315],[0.292089,-0.956373,0.005822],[0.037815,0.017631,0.999129]]
2025-10-27T00:36:08.196Z,1761525368.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958340,-0.281945,0.045734],[0.282486,-0.959254,0.005709],[0.042261,0.018390,0.998937]]
2025-10-27T00:36:08.598Z,1761525368.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960693,-0.273678,0.046583],[0.274296,-0.961617,0.007320],[0.042792,0.019810,0.998888]]
2025-10-27T00:36:09.041Z,1761525369.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962399,-0.268144,0.043425],[0.268806,-0.963142,0.010070],[0.039125,0.021364,0.999006]]
2025-10-27T00:36:09.408Z,1761525369.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962964,-0.267148,0.036514],[0.267766,-0.963394,0.013152],[0.031664,0.022442,0.999247]]
2025-10-27T00:36:10.213Z,1761525370.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961274,-0.275128,0.016041],[0.275254,-0.961351,0.006234],[0.013706,0.010407,0.999852]]
2025-10-27T00:36:10.617Z,1761525370.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959487,-0.281684,0.006198],[0.281713,-0.959489,0.004369],[0.004716,0.005938,0.999971]]
2025-10-27T00:36:11.068Z,1761525371.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956540,-0.291592,-0.002397],[0.291560,-0.956510,0.009059],[-0.004934,0.007966,0.999956]]
2025-10-27T00:36:11.431Z,1761525371.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952848,-0.303272,-0.010314],[0.303128,-0.952854,0.013508],[-0.013924,0.009744,0.999856]]
2025-10-27T00:36:11.830Z,1761525371.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948843,-0.315285,-0.017110],[0.315021,-0.948942,0.016468],[-0.021429,0.010236,0.999718]]
2025-10-27T00:36:12.233Z,1761525372.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944043,-0.329049,-0.022581],[0.328583,-0.944218,0.022011],[-0.028565,0.013360,0.999503]]
2025-10-27T00:36:12.637Z,1761525372.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938386,-0.344602,-0.026111],[0.343900,-0.938591,0.027939],[-0.034136,0.017238,0.999268]]
2025-10-27T00:36:13.089Z,1761525373.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932876,-0.359009,-0.029226],[0.358368,-0.933246,0.025005],[-0.036251,0.012853,0.999260]]
2025-10-27T00:36:13.445Z,1761525373.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927297,-0.373236,-0.028569],[0.372631,-0.927660,0.024378],[-0.035601,0.011960,0.999295]]
2025-10-27T00:36:13.849Z,1761525373.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921806,-0.386825,-0.025286],[0.386313,-0.922083,0.022904],[-0.032176,0.011345,0.999418]]
2025-10-27T00:36:14.254Z,1761525374.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916843,-0.398767,-0.019570],[0.398385,-0.916984,0.020747],[-0.026219,0.011225,0.999593]]
2025-10-27T00:36:14.659Z,1761525374.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912500,-0.408875,-0.012824],[0.408644,-0.912529,0.017326],[-0.018786,0.010570,0.999768]]
2025-10-27T00:36:15.086Z,1761525375.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908435,-0.417977,-0.006389],[0.417879,-0.908415,0.012595],[-0.011068,0.008772,0.999900]]
2025-10-27T00:36:15.466Z,1761525375.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904882,-0.425657,-0.002166],[0.425653,-0.904884,0.002257],[-0.002920,0.001121,0.999995]]
2025-10-27T00:36:15.870Z,1761525375.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901471,-0.432829,0.002879],[0.432816,-0.901472,-0.004231],[0.004427,-0.002568,0.999987]]
2025-10-27T00:36:16.275Z,1761525376.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897738,-0.440430,0.009417],[0.440400,-0.897787,-0.005133],[0.010715,-0.000461,0.999942]]
2025-10-27T00:36:16.678Z,1761525376.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893738,-0.448342,0.014878],[0.448288,-0.893862,-0.006974],[0.016426,0.000437,0.999865]]
2025-10-27T00:36:16.745Z,1761525376.745 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T00:26:16.6Z
2025-10-27T00:36:16.745Z,1761525376.745 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-10-27T00:36:16.746Z,1761525376.746 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-10-27T00:36:16.747Z,1761525376.747 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-10-27T00:36:16.755Z,1761525376.755 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-10-27T00:36:16.755Z,1761525376.755 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-10-27T00:36:17.087Z,1761525377.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890032,-0.455426,0.020768],[0.455357,-0.890271,-0.008205],[0.022226,0.002153,0.999751]]
2025-10-27T00:36:17.172Z,1761525377.172 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-10-27T00:36:17.172Z,1761525377.172 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-10-27T00:36:17.173Z,1761525377.173 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-10-27T00:36:17.173Z,1761525377.173 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-10-27T00:36:17.173Z,1761525377.173 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-10-27T00:36:17.503Z,1761525377.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886115,-0.462676,0.027023],[0.462626,-0.886513,-0.008465],[0.027873,0.005000,0.999599]]
2025-10-27T00:36:17.901Z,1761525377.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881893,-0.470296,0.032956],[0.470279,-0.882475,-0.008750],[0.033198,0.007782,0.999418]]
2025-10-27T00:36:18.302Z,1761525378.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877720,-0.477623,0.038515],[0.477626,-0.878509,-0.009723],[0.038480,0.009861,0.999211]]
2025-10-27T00:36:18.713Z,1761525378.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873188,-0.485381,0.044136],[0.485514,-0.874189,-0.008360],[0.042641,0.014129,0.998991]]
2025-10-27T00:36:19.515Z,1761525379.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863905,-0.501363,0.047996],[0.501424,-0.865124,-0.011642],[0.047359,0.014009,0.998780]]
2025-10-27T00:36:19.918Z,1761525379.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859592,-0.508826,0.046869],[0.508815,-0.860777,-0.013058],[0.046988,0.012624,0.998816]]
2025-10-27T00:36:20.322Z,1761525380.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855307,-0.516281,0.043624],[0.516207,-0.856352,-0.013828],[0.044496,0.010692,0.998952]]
2025-10-27T00:36:20.727Z,1761525380.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851408,-0.523094,0.038436],[0.522905,-0.852248,-0.015614],[0.040924,0.006805,0.999139]]
2025-10-27T00:36:21.132Z,1761525381.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848207,-0.528774,0.030713],[0.528388,-0.848762,-0.020241],[0.036770,-0.000940,0.999323]]
2025-10-27T00:36:21.534Z,1761525381.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846448,-0.531968,0.023147],[0.531517,-0.846733,-0.023082],[0.031878,-0.007235,0.999466]]
2025-10-27T00:36:21.940Z,1761525381.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845838,-0.533204,0.015893],[0.532820,-0.845915,-0.023021],[0.025719,-0.011005,0.999609]]
2025-10-27T00:36:22.341Z,1761525382.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846309,-0.532628,0.008275],[0.532386,-0.846247,-0.020791],[0.018077,-0.013190,0.999750]]
2025-10-27T00:36:22.745Z,1761525382.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848750,-0.528794,-0.000359],[0.528706,-0.848597,-0.018789],[0.009630,-0.016137,0.999823]]
2025-10-27T00:36:23.150Z,1761525383.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852758,-0.522254,-0.007453],[0.522307,-0.852681,-0.011459],[-0.000371,-0.013665,0.999907]]
2025-10-27T00:36:23.560Z,1761525383.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857785,-0.513856,-0.012516],[0.513882,-0.857860,0.001293],[-0.011401,-0.005323,0.999921]]
2025-10-27T00:36:23.958Z,1761525383.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863948,-0.503218,-0.019098],[0.503102,-0.864159,0.010822],[-0.021950,-0.000259,0.999759]]
2025-10-27T00:36:24.361Z,1761525384.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871686,-0.489299,-0.027382],[0.489167,-0.872110,0.011801],[-0.029655,-0.003108,0.999555]]
2025-10-27T00:36:24.765Z,1761525384.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880401,-0.473192,-0.031344],[0.472970,-0.880957,0.014640],[-0.034540,-0.001935,0.999401]]
2025-10-27T00:36:25.172Z,1761525385.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889618,-0.455628,-0.031365],[0.455323,-0.890170,0.016674],[-0.035518,0.000553,0.999369]]
2025-10-27T00:36:25.574Z,1761525385.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898733,-0.437579,-0.028362],[0.437243,-0.899174,0.017453],[-0.033140,0.003285,0.999445]]
2025-10-27T00:36:25.987Z,1761525385.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907968,-0.418435,-0.022505],[0.418117,-0.908224,0.017546],[-0.027781,0.006522,0.999593]]
2025-10-27T00:36:26.785Z,1761525386.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923375,-0.383827,-0.007465],[0.383689,-0.923338,0.015140],[-0.012704,0.011116,0.999857]]
2025-10-27T00:36:27.189Z,1761525387.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928723,-0.370769,0.001998],[0.370763,-0.928640,0.012720],[-0.002861,0.012554,0.999917]]
2025-10-27T00:36:27.594Z,1761525387.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932303,-0.361439,0.013157],[0.361599,-0.932243,0.013025],[0.007558,0.016901,0.999829]]
2025-10-27T00:36:28.002Z,1761525388.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933800,-0.356836,0.026170],[0.357355,-0.933780,0.018779],[0.017736,0.026888,0.999481]]
2025-10-27T00:36:28.402Z,1761525388.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932911,-0.358148,0.037519],[0.359047,-0.933091,0.020650],[0.027613,0.032735,0.999083]]
2025-10-27T00:36:28.806Z,1761525388.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930354,-0.363947,0.044538],[0.364975,-0.930855,0.017394],[0.035128,0.032438,0.998856]]
2025-10-27T00:36:29.210Z,1761525389.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926240,-0.373883,0.047872],[0.375057,-0.926824,0.018146],[0.037585,0.034762,0.998689]]
2025-10-27T00:36:29.613Z,1761525389.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920149,-0.388914,0.045516],[0.390012,-0.920632,0.018074],[0.034874,0.034382,0.998800]]
2025-10-27T00:36:30.076Z,1761525390.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903891,-0.426684,0.030349],[0.427266,-0.903984,0.016013],[0.020603,0.027441,0.999411]]
2025-10-27T00:36:30.826Z,1761525390.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893552,-0.448522,0.019822],[0.448770,-0.893588,0.010337],[0.013076,0.018132,0.999750]]
2025-10-27T00:36:31.233Z,1761525391.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882680,-0.469882,0.009258],[0.469924,-0.882702,0.002937],[0.006792,0.006943,0.999953]]
2025-10-27T00:36:32.038Z,1761525392.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858836,-0.512249,-0.000948],[0.512198,-0.858773,0.012727],[-0.007333,0.010445,0.999919]]
2025-10-27T00:36:32.444Z,1761525392.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846807,-0.531889,-0.003413],[0.531735,-0.846688,0.019435],[-0.013228,0.014643,0.999805]]
2025-10-27T00:36:33.249Z,1761525393.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824908,-0.565163,-0.010859],[0.564927,-0.824925,0.018862],[-0.019618,0.009424,0.999763]]
2025-10-27T00:36:33.657Z,1761525393.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817370,-0.575971,-0.012780],[0.575797,-0.817455,0.015014],[-0.019095,0.004913,0.999806]]
2025-10-27T00:36:34.068Z,1761525394.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812615,-0.582662,-0.012706],[0.582581,-0.812715,0.009692],[-0.015974,0.000473,0.999872]]
2025-10-27T00:36:34.479Z,1761525394.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814287,-0.580398,-0.008605],[0.580440,-0.814295,-0.003460],[-0.004998,-0.007812,0.999957]]
2025-10-27T00:36:34.871Z,1761525394.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819849,-0.572547,-0.006115],[0.572579,-0.819791,-0.009818],[0.000608,-0.011551,0.999933]]
2025-10-27T00:36:35.274Z,1761525395.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828100,-0.560553,-0.005478],[0.560553,-0.827926,-0.017837],[0.005464,-0.017841,0.999826]]
2025-10-27T00:36:35.694Z,1761525395.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838779,-0.544459,-0.003676],[0.544405,-0.838553,-0.021265],[0.008495,-0.019837,0.999767]]
2025-10-27T00:36:36.098Z,1761525396.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851157,-0.524910,-0.000778],[0.524819,-0.850980,-0.019925],[0.009797,-0.017368,0.999801]]
2025-10-27T00:36:36.885Z,1761525396.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880658,-0.473749,0.001726],[0.473638,-0.880519,-0.018773],[0.010414,-0.015715,0.999822]]
2025-10-27T00:36:37.292Z,1761525397.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896955,-0.442115,0.002562],[0.442008,-0.896839,-0.017556],[0.010059,-0.014615,0.999843]]
2025-10-27T00:36:37.699Z,1761525397.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912861,-0.408256,0.003569],[0.408156,-0.912776,-0.015751],[0.009688,-0.012921,0.999870]]
2025-10-27T00:36:38.102Z,1761525398.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927822,-0.372990,0.004998],[0.372896,-0.927772,-0.013725],[0.009756,-0.010870,0.999893]]
2025-10-27T00:36:38.907Z,1761525398.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952827,-0.303356,0.009824],[0.303323,-0.952876,-0.004701],[0.010787,-0.001499,0.999941]]
2025-10-27T00:36:39.310Z,1761525399.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962376,-0.271433,0.012476],[0.271468,-0.962447,0.001133],[0.011700,0.004477,0.999922]]
2025-10-27T00:36:39.718Z,1761525399.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970067,-0.242349,0.015419],[0.242476,-0.970132,0.006946],[0.013275,0.010476,0.999857]]
2025-10-27T00:36:40.121Z,1761525400.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975903,-0.217450,0.018111],[0.217677,-0.975951,0.011691],[0.015133,0.015352,0.999768]]
2025-10-27T00:36:40.531Z,1761525400.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980220,-0.196835,0.020591],[0.197162,-0.980251,0.015301],[0.017173,0.019059,0.999671]]
2025-10-27T00:36:40.925Z,1761525400.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983175,-0.181226,0.022887],[0.181654,-0.983193,0.018246],[0.019195,0.022096,0.999572]]
2025-10-27T00:36:41.330Z,1761525401.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985005,-0.170766,0.024565],[0.171285,-0.985000,0.020875],[0.020632,0.024770,0.999480]]
2025-10-27T00:36:41.760Z,1761525401.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985825,-0.165815,0.025567],[0.166399,-0.985796,0.022728],[0.021435,0.026660,0.999415]]
2025-10-27T00:36:42.146Z,1761525402.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985771,-0.166088,0.025892],[0.166680,-0.985750,0.022667],[0.021758,0.026660,0.999408]]
2025-10-27T00:36:42.558Z,1761525402.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984945,-0.170945,0.025724],[0.171467,-0.984994,0.019660],[0.021977,0.023774,0.999476]]
2025-10-27T00:36:42.952Z,1761525402.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983370,-0.179882,0.025024],[0.180333,-0.983457,0.017109],[0.021533,0.021337,0.999540]]
2025-10-27T00:36:43.350Z,1761525403.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980835,-0.193342,0.024124],[0.193756,-0.980917,0.016168],[0.020538,0.020532,0.999578]]
2025-10-27T00:36:43.758Z,1761525403.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977299,-0.210669,0.022501],[0.210986,-0.977406,0.012775],[0.019301,0.017233,0.999665]]
2025-10-27T00:36:44.158Z,1761525404.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972941,-0.230143,0.020507],[0.230359,-0.973065,0.008857],[0.017916,0.013341,0.999750]]
2025-10-27T00:36:44.586Z,1761525404.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967711,-0.251384,0.018477],[0.251533,-0.967829,0.006187],[0.016327,0.010635,0.999810]]
2025-10-27T00:36:44.972Z,1761525404.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961583,-0.274045,0.016019],[0.274136,-0.961684,0.003750],[0.014377,0.007997,0.999865]]
2025-10-27T00:36:45.375Z,1761525405.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954833,-0.296849,0.013203],[0.296898,-0.954907,0.001859],[0.012056,0.005695,0.999911]]
2025-10-27T00:36:45.774Z,1761525405.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947557,-0.319424,0.010175],[0.319447,-0.947604,0.000681],[0.009424,0.003895,0.999948]]
2025-10-27T00:36:46.178Z,1761525406.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939824,-0.341586,0.007126],[0.341595,-0.939847,0.000138],[0.006650,0.002564,0.999975]]
2025-10-27T00:36:46.610Z,1761525406.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932105,-0.362168,0.003816],[0.362169,-0.932112,-0.000574],[0.003765,0.000847,0.999993]]
2025-10-27T00:36:46.995Z,1761525406.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924849,-0.380334,0.000372],[0.380333,-0.924848,-0.001572],[0.000942,-0.001313,0.999999]]
2025-10-27T00:36:47.390Z,1761525407.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918542,-0.395312,-0.003111],[0.395319,-0.918541,-0.002389],[-0.001914,-0.003424,0.999992]]
2025-10-27T00:36:47.793Z,1761525407.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913284,-0.407278,-0.006125],[0.407299,-0.913291,-0.002618],[-0.004528,-0.004885,0.999978]]
2025-10-27T00:36:48.207Z,1761525408.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909192,-0.416285,-0.008798],[0.416319,-0.909215,-0.002444],[-0.006982,-0.005885,0.999958]]
2025-10-27T00:36:48.640Z,1761525408.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906489,-0.422084,-0.011076],[0.422130,-0.906533,-0.002126],[-0.009143,-0.006602,0.999936]]
2025-10-27T00:36:49.006Z,1761525409.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905303,-0.424580,-0.012590],[0.424625,-0.905369,-0.001039],[-0.010957,-0.006287,0.999920]]
2025-10-27T00:36:49.410Z,1761525409.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905291,-0.424587,-0.013176],[0.424611,-0.905375,0.001023],[-0.012363,-0.004668,0.999913]]
2025-10-27T00:36:49.815Z,1761525409.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906542,-0.421911,-0.013134],[0.421920,-0.906630,0.002275],[-0.012867,-0.003479,0.999911]]
2025-10-27T00:36:50.217Z,1761525410.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909060,-0.416479,-0.012444],[0.416487,-0.909139,0.002121],[-0.012196,-0.003255,0.999920]]
2025-10-27T00:36:50.667Z,1761525410.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912336,-0.409296,-0.010960],[0.409304,-0.912397,0.001678],[-0.010687,-0.002955,0.999939]]
2025-10-27T00:36:51.026Z,1761525411.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916256,-0.400496,-0.008863],[0.400511,-0.916292,0.000117],[-0.008168,-0.003442,0.999961]]
2025-10-27T00:36:51.435Z,1761525411.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920680,-0.390264,-0.006520],[0.390288,-0.920688,-0.002975],[-0.004842,-0.005284,0.999974]]
2025-10-27T00:36:51.834Z,1761525411.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925297,-0.379233,-0.002920],[0.379243,-0.925284,-0.004941],[-0.000828,-0.005679,0.999983]]
2025-10-27T00:36:52.238Z,1761525412.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929682,-0.368358,0.001689],[0.368345,-0.929675,-0.005186],[0.003481,-0.004199,0.999985]]
2025-10-27T00:36:52.687Z,1761525412.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933852,-0.357591,0.007041],[0.357569,-0.933877,-0.004234],[0.008089,-0.001437,0.999966]]
2025-10-27T00:36:53.047Z,1761525413.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937986,-0.346448,0.012529],[0.346432,-0.938069,-0.003472],[0.012956,0.001084,0.999915]]
2025-10-27T00:36:53.460Z,1761525413.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941675,-0.336068,0.017523],[0.336067,-0.941833,-0.003073],[0.017537,0.002995,0.999842]]
2025-10-27T00:36:53.853Z,1761525413.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945120,-0.325977,0.022058],[0.325981,-0.945370,-0.003534],[0.022006,0.003850,0.999750]]
2025-10-27T00:36:54.258Z,1761525414.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948296,-0.316359,0.025512],[0.316341,-0.948633,-0.004862],[0.025740,0.003460,0.999663]]
2025-10-27T00:36:54.688Z,1761525414.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951269,-0.307060,0.028307],[0.307015,-0.951686,-0.006044],[0.028795,0.002941,0.999581]]
2025-10-27T00:36:55.066Z,1761525415.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954157,-0.297770,0.030300],[0.297733,-0.954632,-0.005833],[0.030662,0.003456,0.999524]]
2025-10-27T00:36:55.470Z,1761525415.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956860,-0.288892,0.031000],[0.288843,-0.957357,-0.006134],[0.031450,0.003085,0.999501]]
2025-10-27T00:36:55.874Z,1761525415.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959617,-0.279650,0.030499],[0.279557,-0.960101,-0.007347],[0.031337,0.001476,0.999508]]
2025-10-27T00:36:56.286Z,1761525416.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962248,-0.270621,0.029049],[0.270478,-0.962686,-0.008803],[0.030347,-0.000613,0.999539]]
2025-10-27T00:36:56.730Z,1761525416.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964825,-0.261541,0.026634],[0.261362,-0.965188,-0.010060],[0.028338,-0.002745,0.999595]]
2025-10-27T00:36:57.086Z,1761525417.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967442,-0.252031,0.023171],[0.251848,-0.967709,-0.010549],[0.025082,-0.004370,0.999676]]
2025-10-27T00:36:57.489Z,1761525417.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970141,-0.241789,0.019114],[0.241643,-0.970318,-0.009614],[0.020871,-0.004708,0.999771]]
2025-10-27T00:36:57.894Z,1761525417.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972645,-0.231853,0.014369],[0.231756,-0.972740,-0.008096],[0.015855,-0.004544,0.999864]]
2025-10-27T00:36:58.304Z,1761525418.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975021,-0.221912,0.009393],[0.221870,-0.975062,-0.005344],[0.010344,-0.003126,0.999942]]
2025-10-27T00:36:58.717Z,1761525418.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977109,-0.212684,0.004807],[0.212690,-0.977119,0.000725],[0.004543,0.001731,0.999988]]
2025-10-27T00:36:59.105Z,1761525419.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978891,-0.204380,0.000524],[0.204378,-0.978860,0.007904],[-0.001102,0.007844,0.999969]]
2025-10-27T00:36:59.510Z,1761525419.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980243,-0.197769,-0.003424],[0.197705,-0.980166,0.013712],[-0.006068,0.012764,0.999900]]
2025-10-27T00:36:59.913Z,1761525419.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981231,-0.192726,-0.006475],[0.192591,-0.981126,0.017329],[-0.009693,0.015757,0.999829]]
2025-10-27T00:37:00.317Z,1761525420.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981692,-0.190312,-0.007890],[0.190116,-0.981541,0.020842],[-0.011711,0.018960,0.999752]]
2025-10-27T00:37:00.726Z,1761525420.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981597,-0.190803,-0.007874],[0.190580,-0.981402,0.023005],[-0.012117,0.021081,0.999704]]
2025-10-27T00:37:01.128Z,1761525421.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980880,-0.194520,-0.006034],[0.194322,-0.980636,0.024329],[-0.010649,0.022692,0.999686]]
2025-10-27T00:37:01.529Z,1761525421.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979256,-0.202601,-0.003381],[0.202475,-0.979025,0.022649],[-0.007898,0.021494,0.999738]]
2025-10-27T00:37:01.941Z,1761525421.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976804,-0.214135,-0.000009],[0.214100,-0.976643,0.018159],[-0.003897,0.017736,0.999835]]
2025-10-27T00:37:02.339Z,1761525422.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973207,-0.229888,0.004398],[0.229929,-0.973076,0.015990],[0.000604,0.016573,0.999862]]
2025-10-27T00:37:02.745Z,1761525422.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968129,-0.250268,0.009537],[0.250390,-0.968029,0.015003],[0.005477,0.016912,0.999842]]
2025-10-27T00:37:03.145Z,1761525423.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961590,-0.274075,0.015071],[0.274294,-0.961527,0.015114],[0.010349,0.018667,0.999772]]
2025-10-27T00:37:03.549Z,1761525423.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953466,-0.300812,0.020373],[0.301119,-0.953482,0.014096],[0.015185,0.019574,0.999693]]
2025-10-27T00:37:03.956Z,1761525423.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943655,-0.330007,0.024700],[0.330338,-0.943802,0.010700],[0.019780,0.018256,0.999638]]
2025-10-27T00:37:04.362Z,1761525424.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932850,-0.359147,0.028348],[0.359459,-0.933137,0.006654],[0.024063,0.016397,0.999576]]
2025-10-27T00:37:04.762Z,1761525424.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920864,-0.388689,0.030509],[0.388949,-0.921255,0.002879],[0.026987,0.014517,0.999530]]
2025-10-27T00:37:05.165Z,1761525425.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908250,-0.417309,0.030572],[0.417449,-0.908698,-0.001961],[0.028599,0.010981,0.999531]]
2025-10-27T00:37:05.570Z,1761525425.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895568,-0.443985,0.028893],[0.444013,-0.896001,-0.005776],[0.028453,0.007656,0.999566]]
2025-10-27T00:37:06.378Z,1761525426.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871388,-0.490171,0.020374],[0.489942,-0.871619,-0.015366],[0.025290,-0.003408,0.999674]]
2025-10-27T00:37:06.801Z,1761525426.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861621,-0.507339,0.014743],[0.507034,-0.861690,-0.020182],[0.022943,-0.009915,0.999688]]
2025-10-27T00:37:07.186Z,1761525427.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854141,-0.519953,0.009534],[0.519661,-0.854075,-0.022553],[0.019869,-0.014309,0.999700]]
2025-10-27T00:37:07.590Z,1761525427.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849236,-0.527995,0.004415],[0.527754,-0.849051,-0.024257],[0.016556,-0.018269,0.999696]]
2025-10-27T00:37:07.994Z,1761525427.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847551,-0.530714,-0.000623],[0.530559,-0.847274,-0.025176],[0.012833,-0.021668,0.999683]]
2025-10-27T00:37:08.398Z,1761525428.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848938,-0.528469,-0.005003],[0.528426,-0.848645,-0.023815],[0.008339,-0.022861,0.999704]]
2025-10-27T00:37:08.806Z,1761525428.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853186,-0.521540,-0.008384],[0.521597,-0.852960,-0.019867],[0.003210,-0.021323,0.999767]]
2025-10-27T00:37:09.207Z,1761525429.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859752,-0.510601,-0.010641],[0.510706,-0.859653,-0.013265],[-0.002374,-0.016839,0.999855]]
2025-10-27T00:37:09.609Z,1761525429.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868623,-0.495314,-0.012604],[0.495412,-0.868635,-0.006278],[-0.007838,-0.011698,0.999901]]
2025-10-27T00:37:10.014Z,1761525430.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879215,-0.476185,-0.015093],[0.476251,-0.879309,-0.000858],[-0.012863,-0.007942,0.999886]]
2025-10-27T00:37:10.431Z,1761525430.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890922,-0.453821,-0.017436],[0.453858,-0.891072,0.001993],[-0.016441,-0.006138,0.999846]]
2025-10-27T00:37:10.828Z,1761525430.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903730,-0.427718,-0.018164],[0.427726,-0.903901,0.003640],[-0.017976,-0.004480,0.999828]]
2025-10-27T00:37:11.226Z,1761525431.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916455,-0.399767,-0.017224],[0.399743,-0.916614,0.004953],[-0.017768,-0.002345,0.999839]]
2025-10-27T00:37:11.630Z,1761525431.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929052,-0.369684,-0.014032],[0.369627,-0.929157,0.006567],[-0.015466,0.000914,0.999880]]
2025-10-27T00:37:12.034Z,1761525432.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940752,-0.338937,-0.010400],[0.338887,-0.940806,0.006300],[-0.011920,0.002402,0.999926]]
2025-10-27T00:37:12.449Z,1761525432.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951251,-0.308353,-0.006252],[0.308335,-0.951271,0.003722],[-0.007095,0.001613,0.999974]]
2025-10-27T00:37:12.841Z,1761525432.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960280,-0.279036,-0.001072],[0.279035,-0.960280,0.000760],[-0.001241,0.000431,0.999999]]
2025-10-27T00:37:13.246Z,1761525433.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967676,-0.252135,0.005544],[0.252147,-0.967688,0.001475],[0.004993,0.002825,0.999984]]
2025-10-27T00:37:13.650Z,1761525433.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973371,-0.228855,0.013199],[0.228955,-0.973414,0.006675],[0.011321,0.009519,0.999891]]
2025-10-27T00:37:14.053Z,1761525434.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977499,-0.209877,0.021144],[0.210184,-0.977568,0.013523],[0.017832,0.017663,0.999685]]
2025-10-27T00:37:14.459Z,1761525434.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980243,-0.195638,0.029143],[0.196243,-0.980360,0.019555],[0.024745,0.024888,0.999384]]
2025-10-27T00:37:14.866Z,1761525434.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981771,-0.186544,0.036426],[0.187483,-0.981967,0.024305],[0.031235,0.030691,0.999041]]
2025-10-27T00:37:15.265Z,1761525435.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982194,-0.183234,0.041481],[0.184456,-0.982447,0.027812],[0.035657,0.034968,0.998752]]
2025-10-27T00:37:15.669Z,1761525435.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981629,-0.185765,0.043539],[0.187138,-0.981879,0.029896],[0.037196,0.037494,0.998604]]
2025-10-27T00:37:16.486Z,1761525436.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977163,-0.209236,0.037059],[0.210396,-0.977133,0.030752],[0.029777,0.037846,0.998840]]
2025-10-27T00:37:16.883Z,1761525436.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972828,-0.229532,0.030343],[0.230347,-0.972739,0.026805],[0.023363,0.033066,0.999180]]
2025-10-27T00:37:17.693Z,1761525437.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960217,-0.278870,0.014665],[0.279034,-0.960223,0.010598],[0.011126,0.014269,0.999836]]
2025-10-27T00:37:18.094Z,1761525438.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951649,-0.307079,0.008146],[0.307164,-0.951570,0.012827],[0.003813,0.014709,0.999885]]
2025-10-27T00:37:18.500Z,1761525438.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941505,-0.336989,0.002417],[0.336983,-0.941371,0.016207],[-0.003186,0.016073,0.999866]]
2025-10-27T00:37:19.305Z,1761525439.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917574,-0.397515,-0.006377],[0.397285,-0.917411,0.022849],[-0.014933,0.018432,0.999719]]
2025-10-27T00:37:19.721Z,1761525439.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890868,-0.454128,-0.011035],[0.453831,-0.890819,0.021892],[-0.019772,0.014495,0.999699]]
2025-10-27T00:37:20.121Z,1761525440.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878400,-0.477806,-0.010709],[0.477568,-0.878389,0.018989],[-0.018480,0.011565,0.999762]]
2025-10-27T00:37:20.522Z,1761525440.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866918,-0.498367,-0.009165],[0.498219,-0.866929,0.014596],[-0.015219,0.008088,0.999851]]
2025-10-27T00:37:20.933Z,1761525440.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857253,-0.514852,-0.006732],[0.514786,-0.857267,0.009435],[-0.010629,0.004623,0.999933]]
2025-10-27T00:37:21.329Z,1761525441.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.849510,-0.527549,-0.004959],[0.527541,-0.849525,0.002814],[-0.005698,-0.000225,0.999984]]
2025-10-27T00:37:22.135Z,1761525442.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841247,-0.540625,-0.005380],[0.540638,-0.841116,-0.015317],[0.003756,-0.015794,0.999868]]
2025-10-27T00:37:23.348Z,1761525443.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846411,-0.532530,-0.000721],[0.532426,-0.846218,-0.020944],[0.010543,-0.018111,0.999780]]
2025-10-27T00:37:23.749Z,1761525443.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852564,-0.522622,0.001184],[0.522489,-0.852393,-0.020766],[0.011862,-0.017086,0.999784]]
2025-10-27T00:37:24.160Z,1761525444.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860606,-0.509264,0.002734],[0.509106,-0.860450,-0.020910],[0.013001,-0.016604,0.999778]]
2025-10-27T00:37:24.558Z,1761525444.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870076,-0.492897,0.004439],[0.492724,-0.869952,-0.020150],[0.013793,-0.015345,0.999787]]
2025-10-27T00:37:24.962Z,1761525444.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880097,-0.474751,0.006319],[0.474586,-0.880028,-0.017876],[0.014047,-0.012734,0.999820]]
2025-10-27T00:37:25.367Z,1761525445.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890554,-0.454811,0.007814],[0.454654,-0.890523,-0.016094],[0.014278,-0.010780,0.999840]]
2025-10-27T00:37:25.769Z,1761525445.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901071,-0.433579,0.009009],[0.433436,-0.901071,-0.014302],[0.014318,-0.008982,0.999857]]
2025-10-27T00:37:26.186Z,1761525446.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910879,-0.412540,0.010487],[0.412426,-0.910919,-0.011459],[0.014281,-0.006113,0.999879]]
2025-10-27T00:37:26.578Z,1761525446.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920040,-0.391660,0.011401],[0.391568,-0.920100,-0.009470],[0.014199,-0.004249,0.999890]]
2025-10-27T00:37:27.388Z,1761525447.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936094,-0.351506,0.013083],[0.351464,-0.936185,-0.005495],[0.014180,-0.000546,0.999899]]
2025-10-27T00:37:27.790Z,1761525447.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942704,-0.333357,0.013523],[0.333336,-0.942800,-0.003836],[0.014028,0.000891,0.999901]]
2025-10-27T00:37:28.213Z,1761525448.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948064,-0.317784,0.013702],[0.317785,-0.948160,-0.002145],[0.013674,0.002321,0.999904]]
2025-10-27T00:37:29.001Z,1761525449.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956854,-0.290284,0.012903],[0.290296,-0.956936,-0.000917],[0.012613,0.002868,0.999916]]
2025-10-27T00:37:29.414Z,1761525449.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960135,-0.279268,0.012229],[0.279286,-0.960208,-0.000249],[0.011812,0.003176,0.999925]]
2025-10-27T00:37:29.810Z,1761525449.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962780,-0.270050,0.011307],[0.270070,-0.962841,0.000278],[0.010811,0.003321,0.999936]]
2025-10-27T00:37:30.244Z,1761525450.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964881,-0.262490,0.010152],[0.262506,-0.964930,0.000284],[0.009721,0.002939,0.999948]]
2025-10-27T00:37:30.617Z,1761525450.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966269,-0.257370,0.009182],[0.257395,-0.966305,0.001631],[0.008453,0.003939,0.999957]]
2025-10-27T00:37:31.022Z,1761525451.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967017,-0.254576,0.008290],[0.254611,-0.967037,0.003474],[0.007132,0.005470,0.999960]]
2025-10-27T00:37:31.429Z,1761525451.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967256,-0.253698,0.007254],[0.253734,-0.967264,0.004524],[0.005869,0.006217,0.999963]]
2025-10-27T00:37:31.829Z,1761525451.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967054,-0.254489,0.006525],[0.254527,-0.967048,0.005884],[0.004813,0.007351,0.999961]]
2025-10-27T00:37:32.269Z,1761525452.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966422,-0.256895,0.005835],[0.256932,-0.966405,0.006834],[0.003884,0.008104,0.999960]]
2025-10-27T00:37:32.639Z,1761525452.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965252,-0.261260,0.005555],[0.261296,-0.965232,0.007141],[0.003496,0.008345,0.999959]]
2025-10-27T00:37:33.042Z,1761525453.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963604,-0.267277,0.005523],[0.267312,-0.963585,0.007020],[0.003446,0.008241,0.999960]]
2025-10-27T00:37:33.446Z,1761525453.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961395,-0.275106,0.005988],[0.275142,-0.961382,0.006383],[0.004000,0.007784,0.999962]]
2025-10-27T00:37:33.849Z,1761525453.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958724,-0.284258,0.006730],[0.284293,-0.958725,0.004910],[0.005057,0.006621,0.999965]]
2025-10-27T00:37:34.300Z,1761525454.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955518,-0.294829,0.007866],[0.294862,-0.955534,0.003297],[0.006544,0.005470,0.999964]]
2025-10-27T00:37:34.659Z,1761525454.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951784,-0.306635,0.009117],[0.306659,-0.951818,0.001406],[0.008247,0.004134,0.999958]]
2025-10-27T00:37:35.061Z,1761525455.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947629,-0.319202,0.010457],[0.319203,-0.947685,-0.001576],[0.010413,0.001845,0.999944]]
2025-10-27T00:37:35.465Z,1761525455.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943197,-0.332022,0.011865],[0.331996,-0.943272,-0.004134],[0.012564,0.000040,0.999921]]
2025-10-27T00:37:35.871Z,1761525455.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938689,-0.344501,0.013512],[0.344457,-0.938786,-0.005489],[0.014576,-0.000498,0.999894]]
2025-10-27T00:37:36.315Z,1761525456.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934376,-0.355991,0.014590],[0.355919,-0.934488,-0.007337],[0.016246,-0.001662,0.999867]]
2025-10-27T00:37:36.678Z,1761525456.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930217,-0.366688,0.015379],[0.366573,-0.930338,-0.009803],[0.017903,-0.003481,0.999834]]
2025-10-27T00:37:37.081Z,1761525457.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926571,-0.375807,0.015356],[0.375643,-0.926680,-0.012521],[0.018936,-0.005833,0.999804]]
2025-10-27T00:37:37.107Z,1761525457.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:37:37.294Z,1761525457.294 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:37:37.295Z,1761525457.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:37:37.487Z,1761525457.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923524,-0.383266,0.014488],[0.383065,-0.923601,-0.014891],[0.019088,-0.008202,0.999784]]
2025-10-27T00:37:37.544Z,1761525457.544 [DAT](INFO): DAT read: user:197>

2025-10-27T00:37:37.544Z,1761525457.544 [DAT](INFO): DAT read: Tx time:00:37:38.9447

2025-10-27T00:37:37.545Z,1761525457.545 [DAT](INFO): Ping request sent.
2025-10-27T00:37:37.545Z,1761525457.545 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:37:37.545Z,1761525457.545 [DAT](INFO): publishing transmit ping time
2025-10-27T00:37:37.546Z,1761525457.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001050
2025-10-27T00:37:37.796Z,1761525457.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251260
2025-10-27T00:37:37.898Z,1761525457.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921211,-0.388844,0.013079],[0.388623,-0.921247,-0.016615],[0.018509,-0.010223,0.999776]]
2025-10-27T00:37:38.048Z,1761525458.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503154
2025-10-27T00:37:38.303Z,1761525458.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757379
2025-10-27T00:37:38.312Z,1761525458.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919980,-0.391815,0.010833],[0.391593,-0.919961,-0.018087],[0.017052,-0.012398,0.999778]]
2025-10-27T00:37:38.552Z,1761525458.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007428
2025-10-27T00:37:38.706Z,1761525458.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919868,-0.392142,0.008153],[0.391947,-0.919798,-0.018679],[0.014824,-0.013987,0.999792]]
2025-10-27T00:37:38.804Z,1761525458.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259522
2025-10-27T00:37:39.056Z,1761525459.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510929
2025-10-27T00:37:39.102Z,1761525459.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920691,-0.390261,0.005009],[0.390119,-0.920588,-0.018009],[0.011640,-0.014627,0.999825]]
2025-10-27T00:37:39.310Z,1761525459.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765042
2025-10-27T00:37:39.506Z,1761525459.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922670,-0.385589,0.001256],[0.385512,-0.922540,-0.017332],[0.007842,-0.015507,0.999849]]
2025-10-27T00:37:39.562Z,1761525459.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016683
2025-10-27T00:37:39.812Z,1761525459.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266949
2025-10-27T00:37:39.913Z,1761525459.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925743,-0.378146,-0.002463],[0.378141,-0.925637,-0.014300],[0.003127,-0.014169,0.999895]]
2025-10-27T00:37:40.064Z,1761525460.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519252
2025-10-27T00:37:40.316Z,1761525460.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771138
2025-10-27T00:37:40.327Z,1761525460.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929439,-0.368932,-0.005633],[0.368969,-0.929402,-0.008523],[-0.002091,-0.010000,0.999948]]
2025-10-27T00:37:40.568Z,1761525460.568 [DAT](INFO): DAT read: Rx Time:00:37:41.3505

2025-10-27T00:37:40.568Z,1761525460.568 [DAT](INFO): Rx dataTimestamp_ set to:1761525460.568134
2025-10-27T00:37:40.569Z,1761525460.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024047
2025-10-27T00:37:40.723Z,1761525460.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933641,-0.358105,-0.008719],[0.358142,-0.933662,-0.003077],[-0.007039,-0.005995,0.999957]]
2025-10-27T00:37:40.820Z,1761525460.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275034
2025-10-27T00:37:41.077Z,1761525461.077 [DAT](INFO): DAT read: 00:37:41.3505 LVL= 16608, 20785, 14322, 18643, AGC= 40, IDX= 498, 0.24,-2.110,-1.012,-0.979,-0.111, PHS=-1.897,-0.856,-0.912, RAW= 272.7,  52.0, CAL= 274.6,  57.6, ROT= 235.4, -57.6

2025-10-27T00:37:41.078Z,1761525461.078 [DAT](INFO): got valid direction response:
 00:37:41.3505 LVL= 16608, 20785, 14322, 18643, AGC= 40, IDX= 498, 0.24,-2.110,-1.012,-0.979,-0.111, PHS=-1.897,-0.856,-0.912, RAW= 272.7,  52.0, CAL= 274.6,  57.6, ROT= 235.4, -57.6

2025-10-27T00:37:41.079Z,1761525461.079 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-10-27T00:37:41.080Z,1761525461.080 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:37:41.081Z,1761525461.081 [DAT](INFO): direction in FSK: [-0.304266,-0.441058,0.844328]
2025-10-27T00:37:41.081Z,1761525461.081 [DAT](INFO): publishing direction and range info
2025-10-27T00:37:41.125Z,1761525461.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938520,-0.345038,-0.011387],[0.345032,-0.938588,0.002532],[-0.011561,-0.001552,0.999932]]
2025-10-27T00:37:41.525Z,1761525461.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943357,-0.331508,-0.013382],[0.331427,-0.943447,0.007972],[-0.015268,0.003086,0.999879]]
2025-10-27T00:37:41.938Z,1761525461.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948377,-0.316814,-0.014522],[0.316670,-0.948467,0.011401],[-0.017385,0.006213,0.999830]]
2025-10-27T00:37:42.336Z,1761525462.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953281,-0.301755,-0.014140],[0.301581,-0.953349,0.013205],[-0.017465,0.008323,0.999813]]
2025-10-27T00:37:42.738Z,1761525462.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957758,-0.287327,-0.011916],[0.287139,-0.957766,0.015328],[-0.015817,0.011259,0.999811]]
2025-10-27T00:37:43.146Z,1761525463.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961572,-0.274419,-0.008567],[0.274259,-0.961519,0.016223],[-0.012689,0.013250,0.999832]]
2025-10-27T00:37:43.546Z,1761525463.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964578,-0.263758,-0.004552],[0.263673,-0.964511,0.013962],[-0.008073,0.012267,0.999892]]
2025-10-27T00:37:43.950Z,1761525463.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966885,-0.255212,0.000315],[0.255203,-0.966839,0.009700],[-0.002171,0.009460,0.999953]]
2025-10-27T00:37:44.353Z,1761525464.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968451,-0.249127,0.006189],[0.249173,-0.968422,0.008504],[0.003875,0.009778,0.999945]]
2025-10-27T00:37:44.758Z,1761525464.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968826,-0.247406,0.012863],[0.247543,-0.968821,0.010435],[0.009881,0.013294,0.999863]]
2025-10-27T00:37:45.174Z,1761525465.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968156,-0.249575,0.019668],[0.249841,-0.968206,0.012490],[0.015926,0.017006,0.999729]]
2025-10-27T00:37:45.566Z,1761525465.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966585,-0.255024,0.026023],[0.255415,-0.966745,0.012946],[0.021857,0.019160,0.999578]]
2025-10-27T00:37:45.970Z,1761525465.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963904,-0.264349,0.031757],[0.264862,-0.964197,0.013126],[0.027150,0.021064,0.999409]]
2025-10-27T00:37:46.384Z,1761525466.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960179,-0.277027,0.036218],[0.277640,-0.960596,0.013082],[0.031166,0.022617,0.999258]]
2025-10-27T00:37:46.781Z,1761525466.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955601,-0.292173,0.038234],[0.292803,-0.956098,0.011937],[0.033068,0.022602,0.999197]]
2025-10-27T00:37:47.192Z,1761525467.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950209,-0.309333,0.037623],[0.309891,-0.950721,0.009899],[0.032707,0.021065,0.999243]]
2025-10-27T00:37:47.585Z,1761525467.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943897,-0.328460,0.034256],[0.328865,-0.944353,0.006779],[0.030123,0.017665,0.999390]]
2025-10-27T00:37:47.993Z,1761525467.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936825,-0.348609,0.028814],[0.348826,-0.937183,0.002738],[0.026050,0.012616,0.999581]]
2025-10-27T00:37:48.401Z,1761525468.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929303,-0.368686,0.021579],[0.368697,-0.929543,-0.003627],[0.021396,0.004585,0.999761]]
2025-10-27T00:37:48.797Z,1761525468.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921974,-0.386968,0.014852],[0.386896,-0.922092,-0.007545],[0.016615,-0.001210,0.999861]]
2025-10-27T00:37:49.202Z,1761525469.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914739,-0.403955,0.008522],[0.403896,-0.914771,-0.007886],[0.010981,-0.003772,0.999933]]
2025-10-27T00:37:49.607Z,1761525469.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907820,-0.419355,0.001869],[0.419327,-0.907797,-0.008359],[0.005202,-0.006805,0.999963]]
2025-10-27T00:37:50.009Z,1761525470.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902062,-0.431589,-0.003965],[0.431607,-0.902030,-0.007543],[-0.000321,-0.008516,0.999964]]
2025-10-27T00:37:50.414Z,1761525470.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897251,-0.441439,-0.008489],[0.441481,-0.897262,-0.003860],[-0.005913,-0.007212,0.999957]]
2025-10-27T00:37:50.817Z,1761525470.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893697,-0.448520,-0.011618],[0.448533,-0.893765,0.001635],[-0.011117,-0.003750,0.999931]]
2025-10-27T00:37:51.225Z,1761525471.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891719,-0.452361,-0.014425],[0.452326,-0.891834,0.005781],[-0.015480,-0.001369,0.999879]]
2025-10-27T00:37:51.626Z,1761525471.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891656,-0.452370,-0.017638],[0.452342,-0.891826,0.005778],[-0.018344,-0.002826,0.999828]]
2025-10-27T00:37:52.029Z,1761525472.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893660,-0.448347,-0.018875],[0.448332,-0.893852,0.005243],[-0.019222,-0.003776,0.999808]]
2025-10-27T00:37:52.434Z,1761525472.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897039,-0.441587,-0.017933],[0.441568,-0.897212,0.005237],[-0.018402,-0.003221,0.999825]]
2025-10-27T00:37:52.839Z,1761525472.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901952,-0.431565,-0.015334],[0.431547,-0.902079,0.004625],[-0.015829,-0.002446,0.999872]]
2025-10-27T00:37:53.241Z,1761525473.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908060,-0.418673,-0.011856],[0.418670,-0.908134,0.002893],[-0.011978,-0.002337,0.999925]]
2025-10-27T00:37:53.646Z,1761525473.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914883,-0.403628,-0.008597],[0.403647,-0.914915,-0.000488],[-0.007668,-0.003917,0.999963]]
2025-10-27T00:37:54.049Z,1761525474.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922368,-0.386278,-0.005078],[0.386298,-0.922367,-0.003675],[-0.003264,-0.005351,0.999980]]
2025-10-27T00:37:54.455Z,1761525474.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929947,-0.367690,-0.001673],[0.367693,-0.929931,-0.005514],[0.000472,-0.005742,0.999983]]
2025-10-27T00:37:54.862Z,1761525474.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937336,-0.348424,0.001198],[0.348407,-0.937316,-0.007114],[0.003602,-0.006251,0.999974]]
2025-10-27T00:37:55.261Z,1761525475.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944675,-0.327986,0.003725],[0.327946,-0.944658,-0.008552],[0.006324,-0.006857,0.999957]]
2025-10-27T00:37:56.072Z,1761525476.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957945,-0.286823,0.008631],[0.286777,-0.957977,-0.006167],[0.010037,-0.003432,0.999944]]
2025-10-27T00:37:56.474Z,1761525476.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963510,-0.267461,0.010661],[0.267434,-0.963568,-0.003857],[0.011304,-0.000865,0.999936]]
2025-10-27T00:37:57.282Z,1761525477.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971978,-0.234664,0.013815],[0.234721,-0.972059,0.002685],[0.012799,0.005852,0.999901]]
2025-10-27T00:37:58.091Z,1761525478.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976720,-0.213899,0.016307],[0.214075,-0.976767,0.009899],[0.013810,0.013160,0.999818]]
2025-10-27T00:37:58.495Z,1761525478.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977590,-0.209821,0.017139],[0.210049,-0.977607,0.012816],[0.014066,0.016129,0.999771]]
2025-10-27T00:37:58.898Z,1761525478.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977352,-0.210825,0.018347],[0.211119,-0.977331,0.015886],[0.014582,0.019400,0.999705]]
2025-10-27T00:37:59.310Z,1761525479.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975853,-0.217521,0.019883],[0.217887,-0.975797,0.018604],[0.015355,0.022487,0.999629]]
2025-10-27T00:37:59.710Z,1761525479.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972998,-0.229810,0.021471],[0.230251,-0.972905,0.020978],[0.016068,0.025355,0.999549]]
2025-10-27T00:38:00.109Z,1761525480.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968702,-0.247133,0.023272],[0.247636,-0.968604,0.021971],[0.017112,0.027047,0.999488]]
2025-10-27T00:38:00.515Z,1761525480.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962695,-0.269421,0.025119],[0.269961,-0.962635,0.021335],[0.018432,0.027320,0.999457]]
2025-10-27T00:38:00.919Z,1761525480.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954840,-0.295923,0.026658],[0.296466,-0.954847,0.019366],[0.019723,0.026394,0.999457]]
2025-10-27T00:38:01.321Z,1761525481.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945196,-0.325304,0.027960],[0.325822,-0.945288,0.016428],[0.021086,0.024638,0.999474]]
2025-10-27T00:38:01.731Z,1761525481.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933555,-0.357259,0.028988],[0.357747,-0.933718,0.013716],[0.022166,0.023175,0.999486]]
2025-10-27T00:38:02.130Z,1761525482.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920117,-0.390568,0.029001],[0.390964,-0.920359,0.009319],[0.023052,0.019913,0.999536]]
2025-10-27T00:38:02.534Z,1761525482.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905177,-0.424066,0.028669],[0.424370,-0.905474,0.005207],[0.023751,0.016879,0.999575]]
2025-10-27T00:38:02.937Z,1761525482.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889095,-0.456872,0.027903],[0.457070,-0.889430,0.000813],[0.024446,0.013477,0.999610]]
2025-10-27T00:38:03.352Z,1761525483.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872751,-0.487433,0.026722],[0.487495,-0.873114,-0.004587],[0.025567,0.009023,0.999632]]
2025-10-27T00:38:03.776Z,1761525483.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842733,-0.537859,0.022548],[0.537588,-0.843031,-0.017224],[0.028273,-0.002394,0.999597]]
2025-10-27T00:38:04.563Z,1761525484.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821985,-0.569251,0.017159],[0.568690,-0.822045,-0.028867],[0.030538,-0.013970,0.999436]]
2025-10-27T00:38:05.376Z,1761525485.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816364,-0.577446,0.010257],[0.576720,-0.816025,-0.038703],[0.030719,-0.025681,0.999198]]
2025-10-27T00:38:05.785Z,1761525485.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820428,-0.571722,0.005658],[0.571018,-0.819838,-0.042482],[0.028927,-0.031623,0.999081]]
2025-10-27T00:38:06.175Z,1761525486.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828752,-0.559613,0.001692],[0.559051,-0.828049,-0.042386],[0.025121,-0.034182,0.999100]]
2025-10-27T00:38:06.577Z,1761525486.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840989,-0.541043,-0.003077],[0.540698,-0.840219,-0.040972],[0.019582,-0.036121,0.999156]]
2025-10-27T00:38:06.977Z,1761525486.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856311,-0.516414,-0.006976],[0.516328,-0.855706,-0.034258],[0.011722,-0.032938,0.999389]]
2025-10-27T00:38:07.387Z,1761525487.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874226,-0.485417,-0.009973],[0.485516,-0.873960,-0.021648],[0.001792,-0.023767,0.999716]]
2025-10-27T00:38:07.813Z,1761525487.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893405,-0.449006,-0.014855],[0.449168,-0.893389,-0.010216],[-0.008684,-0.015800,0.999837]]
2025-10-27T00:38:08.190Z,1761525488.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913484,-0.406229,-0.022895],[0.406500,-0.913611,-0.008551],[-0.017444,-0.017118,0.999701]]
2025-10-27T00:38:08.593Z,1761525488.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933168,-0.358310,-0.028501],[0.358609,-0.933468,-0.006011],[-0.024451,-0.015830,0.999576]]
2025-10-27T00:38:08.998Z,1761525488.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951038,-0.307594,-0.030213],[0.307772,-0.951459,-0.001323],[-0.028339,-0.010557,0.999543]]
2025-10-27T00:38:09.410Z,1761525489.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966473,-0.255150,-0.028793],[0.255227,-0.966881,0.001026],[-0.028101,-0.006358,0.999585]]
2025-10-27T00:38:09.846Z,1761525489.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979094,-0.201999,-0.023887],[0.201974,-0.979385,0.003494],[-0.024101,-0.001403,0.999709]]
2025-10-27T00:38:10.209Z,1761525490.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988398,-0.151014,-0.016255],[0.150876,-0.988508,0.009423],[-0.017492,0.006861,0.999823]]
2025-10-27T00:38:10.613Z,1761525490.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994603,-0.103525,-0.006894],[0.103408,-0.994517,0.015593],[-0.008470,0.014796,0.999855]]
2025-10-27T00:38:11.019Z,1761525491.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998141,-0.060776,0.004487],[0.060858,-0.997921,0.021214],[0.003189,0.021448,0.999765]]
2025-10-27T00:38:11.422Z,1761525491.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999531,-0.024937,0.017766],[0.025396,-0.999337,0.026069],[0.017104,0.026508,0.999502]]
2025-10-27T00:38:11.877Z,1761525491.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999508,0.001776,0.031307],[-0.000707,-0.999417,0.034121],[0.031349,0.034082,0.998927]]
2025-10-27T00:38:12.230Z,1761525492.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998902,0.017758,0.043342],[-0.015892,-0.998948,0.043020],[0.044060,0.042284,0.998134]]
2025-10-27T00:38:12.636Z,1761525492.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998461,0.021542,0.051094],[-0.018988,-0.998571,0.049957],[0.052097,0.048910,0.997444]]
2025-10-27T00:38:13.037Z,1761525493.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998451,0.016034,0.053277],[-0.013248,-0.998547,0.052242],[0.054037,0.051455,0.997212]]
2025-10-27T00:38:13.061Z,1761525493.061 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050304263028,35.0,  .6,  0
2025-10-27T00:38:13.441Z,1761525493.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998801,0.002401,0.048905],[0.000254,-0.998529,0.054214],[0.048963,0.054161,0.997331]]
2025-10-27T00:38:13.890Z,1761525493.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999035,-0.019348,0.039429],[0.021433,-0.998356,0.053168],[0.038335,0.053962,0.997807]]
2025-10-27T00:38:14.251Z,1761525494.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998420,-0.048812,0.027850],[0.050112,-0.997585,0.048091],[0.025435,0.049411,0.998455]]
2025-10-27T00:38:14.654Z,1761525494.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996254,-0.084985,0.015957],[0.085542,-0.995601,0.038228],[0.012638,0.039449,0.999142]]
2025-10-27T00:38:15.058Z,1761525495.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992078,-0.125533,0.004801],[0.125617,-0.991715,0.026873],[0.001387,0.027263,0.999627]]
2025-10-27T00:38:15.462Z,1761525495.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985700,-0.168426,-0.005333],[0.168221,-0.985368,0.027425],[-0.009874,0.026136,0.999610]]
2025-10-27T00:38:15.899Z,1761525495.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976541,-0.214933,-0.013095],[0.214278,-0.975974,0.039487],[-0.021268,0.035755,0.999134]]
2025-10-27T00:38:16.271Z,1761525496.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964795,-0.262285,-0.019433],[0.261352,-0.964382,0.040764],[-0.029433,0.034250,0.998980]]
2025-10-27T00:38:16.673Z,1761525496.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951832,-0.305708,-0.023641],[0.304835,-0.951781,0.034482],[-0.033043,0.025615,0.999126]]
2025-10-27T00:38:17.081Z,1761525497.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938019,-0.345806,-0.023189],[0.345016,-0.938041,0.032286],[-0.032917,0.022284,0.999210]]
2025-10-27T00:38:17.489Z,1761525497.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924459,-0.380752,-0.020066],[0.380259,-0.924555,0.024541],[-0.027896,0.015056,0.999497]]
2025-10-27T00:38:17.912Z,1761525497.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912474,-0.408915,-0.013363],[0.408691,-0.912520,0.016722],[-0.019032,0.009797,0.999771]]
2025-10-27T00:38:18.290Z,1761525498.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902723,-0.430178,-0.006152],[0.430136,-0.902736,0.007154],[-0.008631,0.003812,0.999955]]
2025-10-27T00:38:18.700Z,1761525498.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895695,-0.444668,-0.001168],[0.444665,-0.895670,-0.006987],[0.002060,-0.006778,0.999975]]
2025-10-27T00:38:19.102Z,1761525499.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891894,-0.452245,0.000263],[0.452088,-0.891599,-0.025830],[0.011916,-0.022919,0.999666]]
2025-10-27T00:38:19.502Z,1761525499.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891329,-0.453344,0.003446],[0.452959,-0.890838,-0.035141],[0.019001,-0.029762,0.999376]]
2025-10-27T00:38:19.910Z,1761525499.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894344,-0.447329,0.006787],[0.446756,-0.893794,-0.039270],[0.023633,-0.032089,0.999206]]
2025-10-27T00:38:20.310Z,1761525500.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900768,-0.434238,0.007416],[0.433523,-0.900044,-0.044487],[0.025993,-0.036857,0.998982]]
2025-10-27T00:38:20.720Z,1761525500.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910464,-0.413486,0.009246],[0.412740,-0.909799,-0.043718],[0.026489,-0.035987,0.999001]]
2025-10-27T00:38:21.117Z,1761525501.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922123,-0.386787,0.009228],[0.386119,-0.921519,-0.041423],[0.024526,-0.034634,0.999099]]
2025-10-27T00:38:21.521Z,1761525501.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935526,-0.353184,0.007183],[0.352653,-0.934923,-0.039434],[0.020643,-0.034358,0.999196]]
2025-10-27T00:38:21.926Z,1761525501.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949839,-0.312724,0.003117],[0.312407,-0.949242,-0.036622],[0.014411,-0.033811,0.999324]]
2025-10-27T00:38:22.341Z,1761525502.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963772,-0.266722,-0.001688],[0.266661,-0.963371,-0.028438],[0.005959,-0.027858,0.999594]]
2025-10-27T00:38:22.734Z,1761525502.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976016,-0.217553,-0.007997],[0.217667,-0.975846,-0.018580],[-0.003762,-0.019875,0.999795]]
2025-10-27T00:38:23.137Z,1761525503.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986063,-0.165698,-0.014973],[0.165842,-0.986112,-0.008923],[-0.013286,-0.011282,0.999848]]
2025-10-27T00:38:23.541Z,1761525503.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993250,-0.114041,-0.021194],[0.114107,-0.993467,-0.001933],[-0.020835,-0.004338,0.999774]]
2025-10-27T00:38:23.948Z,1761525503.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997682,-0.063295,-0.024971],[0.063252,-0.997994,0.002495],[-0.025079,0.000910,0.999685]]
2025-10-27T00:38:24.355Z,1761525504.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999568,-0.014904,-0.025323],[0.014703,-0.999859,0.008114],[-0.025440,0.007739,0.999646]]
2025-10-27T00:38:24.753Z,1761525504.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999332,0.029070,-0.022161],[-0.029396,-0.999462,0.014545],[-0.021726,0.015187,0.999649]]
2025-10-27T00:38:25.161Z,1761525505.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997580,0.067587,-0.016339],[-0.067935,-0.997453,0.021747],[-0.014828,0.022804,0.999630]]
2025-10-27T00:38:25.564Z,1761525505.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995128,0.098226,-0.008466],[-0.098432,-0.994725,0.028854],[-0.005587,0.029546,0.999548]]
2025-10-27T00:38:25.967Z,1761525505.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992869,0.119199,0.001794],[-0.119065,-0.992275,0.034842],[0.005933,0.034380,0.999391]]
2025-10-27T00:38:26.370Z,1761525506.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991486,0.129572,0.012931],[-0.128917,-0.990737,0.042673],[0.018340,0.040643,0.999005]]
2025-10-27T00:38:26.774Z,1761525506.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991413,0.128639,0.023512],[-0.127230,-0.990408,0.053894],[0.030219,0.050440,0.998270]]
2025-10-27T00:38:27.177Z,1761525507.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992571,0.116767,0.034171],[-0.114611,-0.991633,0.059400],[0.040821,0.055043,0.997649]]
2025-10-27T00:38:27.581Z,1761525507.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994362,0.097441,0.041826],[-0.094854,-0.993686,0.059923],[0.047401,0.055617,0.997326]]
2025-10-27T00:38:27.986Z,1761525507.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996614,0.069418,0.044061],[-0.066725,-0.995971,0.059905],[0.048042,0.056762,0.997231]]
2025-10-27T00:38:28.392Z,1761525508.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998561,0.033916,0.041537],[-0.031546,-0.997907,0.056457],[0.043365,0.055066,0.997541]]
2025-10-27T00:38:28.793Z,1761525508.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999348,-0.008805,0.035014],[0.010569,-0.998668,0.050506],[0.034522,0.050844,0.998110]]
2025-10-27T00:38:29.197Z,1761525509.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998072,-0.055884,0.027004],[0.056900,-0.997640,0.038428],[0.024793,0.039891,0.998896]]
2025-10-27T00:38:29.601Z,1761525509.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994306,-0.105101,0.017586],[0.105522,-0.994103,0.024997],[0.014855,0.026710,0.999533]]
2025-10-27T00:38:30.008Z,1761525510.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987898,-0.154936,0.007224],[0.155049,-0.987718,0.019303],[0.004144,0.020189,0.999788]]
2025-10-27T00:38:30.410Z,1761525510.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979003,-0.203832,-0.002365],[0.203725,-0.978757,0.023059],[-0.007015,0.022093,0.999731]]
2025-10-27T00:38:30.818Z,1761525510.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967975,-0.250823,-0.010563],[0.250434,-0.967698,0.029050],[-0.017508,0.025474,0.999522]]
2025-10-27T00:38:31.220Z,1761525511.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956062,-0.292619,-0.017845],[0.292127,-0.956030,0.025861],[-0.024628,0.019512,0.999506]]
2025-10-27T00:38:31.626Z,1761525511.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944261,-0.328422,-0.022567],[0.327979,-0.944446,0.021229],[-0.028286,0.012645,0.999520]]
2025-10-27T00:38:32.026Z,1761525512.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933242,-0.358516,-0.022909],[0.358145,-0.933477,0.018782],[-0.028119,0.009324,0.999561]]
2025-10-27T00:38:32.430Z,1761525512.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923776,-0.382400,-0.020194],[0.382186,-0.923983,0.013747],[-0.023916,0.004981,0.999702]]
2025-10-27T00:38:32.841Z,1761525512.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916535,-0.399672,-0.015058],[0.399617,-0.916658,0.006639],[-0.016457,0.000068,0.999865]]
2025-10-27T00:38:33.238Z,1761525513.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912042,-0.410007,-0.008568],[0.410019,-0.912077,0.000370],[-0.007967,-0.003175,0.999963]]
2025-10-27T00:38:33.642Z,1761525513.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910601,-0.413270,-0.003784],[0.413287,-0.910565,-0.008117],[-0.000091,-0.008955,0.999960]]
2025-10-27T00:38:34.046Z,1761525514.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912164,-0.409819,-0.002206],[0.409777,-0.911961,-0.020270],[0.006295,-0.019394,0.999792]]
2025-10-27T00:38:34.450Z,1761525514.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916631,-0.399735,-0.000489],[0.399601,-0.916292,-0.026977],[0.010335,-0.024923,0.999636]]
2025-10-27T00:38:34.855Z,1761525514.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923052,-0.384671,0.001950],[0.384494,-0.922759,-0.026088],[0.011835,-0.023331,0.999658]]
2025-10-27T00:38:35.257Z,1761525515.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931160,-0.364600,0.002688],[0.364415,-0.930878,-0.025840],[0.011924,-0.023082,0.999662]]
2025-10-27T00:38:35.661Z,1761525515.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940970,-0.338482,0.002270],[0.338317,-0.940684,-0.025587],[0.010796,-0.023308,0.999670]]
2025-10-27T00:38:36.066Z,1761525516.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951606,-0.307319,0.001229],[0.307206,-0.951351,-0.023587],[0.008418,-0.022068,0.999721]]
2025-10-27T00:38:36.472Z,1761525516.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962292,-0.272019,-0.000412],[0.271971,-0.962093,-0.020240],[0.005109,-0.019589,0.999795]]
2025-10-27T00:38:36.875Z,1761525516.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972431,-0.233181,-0.002048],[0.233181,-0.972284,-0.017030],[0.001980,-0.017038,0.999853]]
2025-10-27T00:38:37.278Z,1761525517.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981251,-0.192703,-0.003370],[0.192730,-0.981180,-0.011896],[-0.001014,-0.012322,0.999924]]
2025-10-27T00:38:37.684Z,1761525517.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988399,-0.151823,-0.004189],[0.151848,-0.988383,-0.006428],[-0.003164,-0.006989,0.999971]]
2025-10-27T00:38:38.087Z,1761525518.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993659,-0.112361,-0.004034],[0.112363,-0.993667,-0.000183],[-0.003988,-0.000635,0.999992]]
2025-10-27T00:38:38.489Z,1761525518.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997166,-0.075184,-0.002551],[0.075169,-0.997155,0.005604],[-0.002966,0.005396,0.999981]]
2025-10-27T00:38:38.893Z,1761525518.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999137,-0.041525,0.000787],[0.041531,-0.999080,0.010656],[0.000344,0.010679,0.999943]]
2025-10-27T00:38:39.298Z,1761525519.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999900,-0.012968,0.005596],[0.013060,-0.999774,0.016782],[0.005377,0.016853,0.999843]]
2025-10-27T00:38:39.709Z,1761525519.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999899,0.008845,0.011109],[-0.008536,-0.999583,0.027576],[0.011349,0.027478,0.999558]]
2025-10-27T00:38:40.105Z,1761525520.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999620,0.021786,0.016900],[-0.021104,-0.998994,0.039566],[0.017745,0.039195,0.999074]]
2025-10-27T00:38:40.509Z,1761525520.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999416,0.024962,0.023330],[-0.023899,-0.998710,0.044793],[0.024418,0.044209,0.998724]]
2025-10-27T00:38:40.914Z,1761525520.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999380,0.019956,0.029007],[-0.018665,-0.998852,0.044110],[0.029854,0.043541,0.998605]]
2025-10-27T00:38:41.329Z,1761525521.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999490,0.007195,0.031119],[-0.005752,-0.998916,0.046188],[0.031418,0.045986,0.998448]]
2025-10-27T00:38:41.725Z,1761525521.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999473,-0.013639,0.029452],[0.014990,-0.998822,0.046147],[0.028788,0.046564,0.998500]]
2025-10-27T00:38:42.129Z,1761525522.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998881,-0.040164,0.024963],[0.041209,-0.998230,0.042890],[0.023196,0.043871,0.998768]]
2025-10-27T00:38:42.529Z,1761525522.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997204,-0.072380,0.018562],[0.073020,-0.996663,0.036491],[0.015859,0.037744,0.999162]]
2025-10-27T00:38:42.935Z,1761525522.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994051,-0.108338,0.011199],[0.108607,-0.993713,0.027200],[0.008182,0.028255,0.999567]]
2025-10-27T00:38:43.339Z,1761525523.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989261,-0.146116,0.003611],[0.146157,-0.989111,0.017250],[0.001051,0.017593,0.999845]]
2025-10-27T00:38:43.742Z,1761525523.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982871,-0.184255,-0.003817],[0.184171,-0.982761,0.016157],[-0.006728,0.015178,0.999862]]
2025-10-27T00:38:44.149Z,1761525524.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974810,-0.222829,-0.009682],[0.222568,-0.974654,0.022650],[-0.014484,0.019925,0.999697]]
2025-10-27T00:38:44.552Z,1761525524.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965529,-0.259910,-0.014182],[0.259463,-0.965364,0.027393],[-0.020811,0.022769,0.999524]]
2025-10-27T00:38:44.954Z,1761525524.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955694,-0.293819,-0.017881],[0.293353,-0.955684,0.024718],[-0.024351,0.018377,0.999535]]
2025-10-27T00:38:45.360Z,1761525525.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946251,-0.322836,-0.019648],[0.322462,-0.946371,0.019990],[-0.025048,0.012580,0.999607]]
2025-10-27T00:38:45.762Z,1761525525.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937693,-0.346983,-0.018309],[0.346707,-0.937826,0.016631],[-0.022942,0.009247,0.999694]]
2025-10-27T00:38:46.175Z,1761525526.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930633,-0.365637,-0.015242],[0.365509,-0.930748,0.010603],[-0.018063,0.004297,0.999828]]
2025-10-27T00:38:46.569Z,1761525526.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925505,-0.378581,-0.010812],[0.378550,-0.925568,0.004879],[-0.011855,0.000422,0.999930]]
2025-10-27T00:38:46.974Z,1761525526.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922280,-0.386472,-0.006179],[0.386486,-0.922295,-0.001133],[-0.005261,-0.003433,0.999980]]
2025-10-27T00:38:47.388Z,1761525527.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921103,-0.389308,-0.002984],[0.389319,-0.921067,-0.008147],[0.000424,-0.008666,0.999962]]
2025-10-27T00:38:47.783Z,1761525527.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921745,-0.387796,-0.000518],[0.387767,-0.921659,-0.013437],[0.004734,-0.012586,0.999910]]
2025-10-27T00:38:48.189Z,1761525528.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923581,-0.383393,0.002619],[0.383337,-0.923529,-0.012090],[0.007054,-0.010162,0.999924]]
2025-10-27T00:38:48.590Z,1761525528.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926732,-0.375695,0.004612],[0.375631,-0.926707,-0.010768],[0.008320,-0.008247,0.999931]]
2025-10-27T00:38:48.993Z,1761525528.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931071,-0.364792,0.005803],[0.364729,-0.931064,-0.009652],[0.008924,-0.006870,0.999937]]
2025-10-27T00:38:49.420Z,1761525529.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941787,-0.336136,0.007066],[0.336105,-0.941810,-0.005313],[0.008441,-0.002628,0.999961]]
2025-10-27T00:38:49.818Z,1761525529.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947640,-0.319269,0.006783],[0.319240,-0.947661,-0.005012],[0.008028,-0.002584,0.999964]]
2025-10-27T00:38:50.210Z,1761525530.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953344,-0.301809,0.006769],[0.301782,-0.953365,-0.004781],[0.007897,-0.002515,0.999966]]
2025-10-27T00:38:50.615Z,1761525530.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958210,-0.285945,0.008262],[0.285942,-0.958246,-0.001579],[0.008369,0.000849,0.999965]]
2025-10-27T00:38:51.020Z,1761525531.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962185,-0.272191,0.010573],[0.272237,-0.962225,0.003182],[0.009308,0.005940,0.999939]]
2025-10-27T00:38:51.445Z,1761525531.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965270,-0.260881,0.013986],[0.261019,-0.965291,0.009068],[0.011135,0.012404,0.999861]]
2025-10-27T00:38:51.828Z,1761525531.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967432,-0.252489,0.018017],[0.252746,-0.967435,0.013752],[0.013958,0.017858,0.999743]]
2025-10-27T00:38:52.238Z,1761525532.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968593,-0.247654,0.022253],[0.248055,-0.968587,0.017521],[0.017215,0.022490,0.999599]]
2025-10-27T00:38:52.636Z,1761525532.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968796,-0.246469,0.026218],[0.247026,-0.968790,0.020608],[0.020321,0.026441,0.999444]]
2025-10-27T00:38:53.037Z,1761525533.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968062,-0.249107,0.028319],[0.249753,-0.968057,0.022104],[0.021908,0.028471,0.999355]]
2025-10-27T00:38:53.472Z,1761525533.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966380,-0.255526,0.028560],[0.256202,-0.966345,0.023193],[0.021672,0.029731,0.999323]]
2025-10-27T00:38:53.846Z,1761525533.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963748,-0.265521,0.026240],[0.266102,-0.963696,0.021884],[0.019477,0.028074,0.999416]]
2025-10-27T00:38:54.260Z,1761525534.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960087,-0.278810,0.022327],[0.279255,-0.960005,0.020156],[0.015814,0.025586,0.999548]]
2025-10-27T00:38:54.654Z,1761525534.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955222,-0.295431,0.016461],[0.295665,-0.955186,0.014222],[0.011521,0.018452,0.999763]]
2025-10-27T00:38:55.057Z,1761525535.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949785,-0.312771,0.009030],[0.312818,-0.949804,0.004262],[0.007244,0.006872,0.999950]]
2025-10-27T00:38:55.500Z,1761525535.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944063,-0.329757,0.002304],[0.329761,-0.944063,0.001376],[0.001722,0.002059,0.999996]]
2025-10-27T00:38:55.867Z,1761525535.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937480,-0.348022,-0.003400],[0.348011,-0.937484,0.003604],[-0.004442,0.002195,0.999988]]
2025-10-27T00:38:56.270Z,1761525536.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930857,-0.365275,-0.008945],[0.365246,-0.930899,0.004737],[-0.010057,0.001143,0.999949]]
2025-10-27T00:38:56.674Z,1761525536.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924415,-0.381177,-0.012687],[0.381075,-0.924493,0.009746],[-0.015444,0.004174,0.999872]]
2025-10-27T00:38:57.078Z,1761525537.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918143,-0.395967,-0.014970],[0.395728,-0.918217,0.016626],[-0.020330,0.009341,0.999750]]
2025-10-27T00:38:57.527Z,1761525537.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912401,-0.408973,-0.016318],[0.408631,-0.912465,0.020696],[-0.023354,0.012215,0.999653]]
2025-10-27T00:38:57.885Z,1761525537.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907652,-0.419359,-0.017462],[0.419046,-0.907766,0.018992],[-0.023816,0.009921,0.999667]]
2025-10-27T00:38:58.300Z,1761525538.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903793,-0.427656,-0.016409],[0.427386,-0.903898,0.017629],[-0.022372,0.008920,0.999710]]
2025-10-27T00:38:58.700Z,1761525538.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901017,-0.433569,-0.013635],[0.433369,-0.901085,0.015392],[-0.018960,0.007959,0.999789]]
2025-10-27T00:38:59.099Z,1761525539.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899687,-0.436424,-0.009879],[0.436313,-0.899720,0.011602],[-0.013952,0.006128,0.999884]]
2025-10-27T00:38:59.547Z,1761525539.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898956,-0.438003,-0.005607],[0.437955,-0.898961,0.008002],[-0.008545,0.004738,0.999952]]
2025-10-27T00:38:59.906Z,1761525539.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898999,-0.437941,-0.003026],[0.437942,-0.899003,0.000209],[-0.002812,-0.001137,0.999995]]
2025-10-27T00:39:00.319Z,1761525540.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900193,-0.435490,-0.000583],[0.435481,-0.900164,-0.007734],[0.002843,-0.007216,0.999970]]
2025-10-27T00:39:00.720Z,1761525540.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901439,-0.432886,0.004178],[0.432848,-0.901434,-0.007702],[0.007101,-0.005135,0.999962]]
2025-10-27T00:39:01.117Z,1761525541.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902669,-0.430245,0.008861],[0.430195,-0.902709,-0.007035],[0.011026,-0.002539,0.999936]]
2025-10-27T00:39:01.551Z,1761525541.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904229,-0.426846,0.013097],[0.426777,-0.904323,-0.007857],[0.015198,-0.001515,0.999883]]
2025-10-27T00:39:01.925Z,1761525541.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906169,-0.422568,0.017145],[0.422485,-0.906331,-0.008380],[0.019080,-0.000351,0.999818]]
2025-10-27T00:39:02.338Z,1761525542.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908591,-0.417157,0.021021],[0.417062,-0.908834,-0.008949],[0.022837,0.000636,0.999739]]
2025-10-27T00:39:02.734Z,1761525542.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911023,-0.411632,0.024408],[0.411525,-0.911349,-0.009464],[0.026140,0.001422,0.999657]]
2025-10-27T00:39:03.138Z,1761525543.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913514,-0.405900,0.027143],[0.405771,-0.913916,-0.010373],[0.029017,0.001538,0.999578]]
2025-10-27T00:39:03.548Z,1761525543.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916203,-0.399651,0.029194],[0.399485,-0.916667,-0.011553],[0.031379,0.001078,0.999507]]
2025-10-27T00:39:03.948Z,1761525543.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919165,-0.392683,0.030584],[0.392527,-0.919672,-0.011189],[0.032521,0.001720,0.999470]]
2025-10-27T00:39:04.350Z,1761525544.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922102,-0.385741,0.030535],[0.385566,-0.922607,-0.011657],[0.032668,0.001024,0.999466]]
2025-10-27T00:39:04.754Z,1761525544.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925284,-0.378111,0.029683],[0.377932,-0.925760,-0.011644],[0.031883,0.000444,0.999492]]
2025-10-27T00:39:05.158Z,1761525545.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928760,-0.369638,0.027792],[0.369476,-0.929176,-0.010944],[0.029869,0.000104,0.999554]]
2025-10-27T00:39:05.562Z,1761525545.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932244,-0.360951,0.025225],[0.360805,-0.932585,-0.010291],[0.027239,-0.000492,0.999629]]
2025-10-27T00:39:05.965Z,1761525545.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935983,-0.351378,0.021657],[0.351201,-0.936228,-0.011626],[0.024361,-0.003276,0.999698]]
2025-10-27T00:39:06.370Z,1761525546.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940011,-0.340649,0.018370],[0.340503,-0.940183,-0.010674],[0.020907,-0.003779,0.999774]]
2025-10-27T00:39:07.177Z,1761525547.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947841,-0.318552,0.011034],[0.318468,-0.947893,-0.008739],[0.013243,-0.004770,0.999901]]
2025-10-27T00:39:07.582Z,1761525547.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951545,-0.307416,0.007637],[0.307370,-0.951567,-0.006609],[0.009299,-0.003941,0.999949]]
2025-10-27T00:39:07.986Z,1761525547.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954895,-0.296908,0.004525],[0.296889,-0.954902,-0.004434],[0.005637,-0.002891,0.999980]]
2025-10-27T00:39:08.397Z,1761525548.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957901,-0.287092,0.001931],[0.287087,-0.957901,-0.002545],[0.002581,-0.001883,0.999995]]
2025-10-27T00:39:08.798Z,1761525548.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960448,-0.278458,0.000200],[0.278458,-0.960448,0.000472],[0.000061,0.000510,1.000000]]
2025-10-27T00:39:09.197Z,1761525549.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962391,-0.271668,-0.000939],[0.271663,-0.962386,0.003612],[-0.001885,0.003221,0.999993]]
2025-10-27T00:39:09.601Z,1761525549.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963857,-0.266416,-0.001466],[0.266405,-0.963846,0.005466],[-0.002869,0.004878,0.999984]]
2025-10-27T00:39:10.006Z,1761525550.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964749,-0.263170,-0.001247],[0.263155,-0.964727,0.007126],[-0.003078,0.006547,0.999974]]
2025-10-27T00:39:10.410Z,1761525550.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965000,-0.262251,-0.000802],[0.262235,-0.964968,0.008328],[-0.002958,0.007827,0.999965]]
2025-10-27T00:39:10.814Z,1761525550.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964703,-0.263342,-0.000356],[0.263328,-0.964666,0.008810],[-0.002663,0.008405,0.999961]]
2025-10-27T00:39:11.217Z,1761525551.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963758,-0.266777,0.000582],[0.266771,-0.963720,0.008741],[-0.001771,0.008579,0.999962]]
2025-10-27T00:39:11.622Z,1761525551.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962250,-0.272162,0.001718],[0.272166,-0.962213,0.008499],[-0.000660,0.008646,0.999962]]
2025-10-27T00:39:12.026Z,1761525552.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960087,-0.279691,0.002595],[0.279703,-0.960055,0.007787],[0.000313,0.008202,0.999966]]
2025-10-27T00:39:12.440Z,1761525552.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957298,-0.289084,0.003160],[0.289099,-0.957275,0.006774],[0.001066,0.007399,0.999972]]
2025-10-27T00:39:12.834Z,1761525552.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953868,-0.300209,0.003240],[0.300224,-0.953849,0.006124],[0.001252,0.006814,0.999976]]
2025-10-27T00:39:13.238Z,1761525553.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949835,-0.312735,0.003279],[0.312748,-0.949821,0.005330],[0.001447,0.006088,0.999980]]
2025-10-27T00:39:13.642Z,1761525553.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945417,-0.325849,0.003128],[0.325861,-0.945407,0.004444],[0.001509,0.005220,0.999985]]
2025-10-27T00:39:14.047Z,1761525554.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940508,-0.339758,0.003117],[0.339768,-0.940501,0.003832],[0.001630,0.004663,0.999988]]
2025-10-27T00:39:14.449Z,1761525554.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935330,-0.353764,0.003047],[0.353772,-0.935327,0.002968],[0.001800,0.003854,0.999991]]
2025-10-27T00:39:14.854Z,1761525554.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929959,-0.367650,0.003158],[0.367656,-0.929960,0.001628],[0.002338,0.002675,0.999994]]
2025-10-27T00:39:15.263Z,1761525555.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924565,-0.381009,0.003315],[0.381012,-0.924570,0.000348],[0.002933,0.001585,0.999994]]
2025-10-27T00:39:15.662Z,1761525555.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919308,-0.393526,0.003264],[0.393524,-0.919314,-0.001299],[0.003511,0.000090,0.999994]]
2025-10-27T00:39:16.065Z,1761525556.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914082,-0.405514,0.003441],[0.405505,-0.914088,-0.002984],[0.004356,-0.001333,0.999990]]
2025-10-27T00:39:16.469Z,1761525556.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909051,-0.416672,0.003346],[0.416656,-0.909052,-0.004764],[0.005027,-0.002936,0.999983]]
2025-10-27T00:39:16.897Z,1761525556.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904710,-0.426017,0.003175],[0.425987,-0.904701,-0.007152],[0.005920,-0.005118,0.999969]]
2025-10-27T00:39:17.286Z,1761525557.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901029,-0.433747,0.003145],[0.433704,-0.901008,-0.009250],[0.006846,-0.006971,0.999952]]
2025-10-27T00:39:17.682Z,1761525557.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898057,-0.439870,0.002976],[0.439816,-0.898021,-0.010924],[0.007477,-0.008502,0.999936]]
2025-10-27T00:39:18.085Z,1761525558.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896047,-0.443950,0.002714],[0.443887,-0.895997,-0.012416],[0.007944,-0.009921,0.999919]]
2025-10-27T00:39:18.493Z,1761525558.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895346,-0.445365,0.002384],[0.445294,-0.895277,-0.013873],[0.008313,-0.011360,0.999901]]
2025-10-27T00:39:18.896Z,1761525558.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895944,-0.444163,0.002020],[0.444090,-0.895863,-0.014624],[0.008305,-0.012205,0.999891]]
2025-10-27T00:39:19.298Z,1761525559.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897696,-0.440615,0.001081],[0.440549,-0.897600,-0.015201],[0.007668,-0.013169,0.999884]]
2025-10-27T00:39:19.708Z,1761525559.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900562,-0.434727,-0.000029],[0.434675,-0.900453,-0.015562],[0.006739,-0.014028,0.999879]]
2025-10-27T00:39:20.105Z,1761525560.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904662,-0.426127,-0.001295],[0.426095,-0.904548,-0.015380],[0.005382,-0.014465,0.999881]]
2025-10-27T00:39:20.511Z,1761525560.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909866,-0.414895,-0.002447],[0.414885,-0.909759,-0.014468],[0.003776,-0.014179,0.999892]]
2025-10-27T00:39:20.914Z,1761525560.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915927,-0.401326,-0.003846],[0.401340,-0.915833,-0.013261],[0.001800,-0.013690,0.999905]]
2025-10-27T00:39:21.317Z,1761525561.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922695,-0.385496,-0.005116],[0.385530,-0.922622,-0.011609],[-0.000244,-0.012684,0.999919]]
2025-10-27T00:39:21.724Z,1761525561.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929796,-0.368020,-0.006403],[0.368066,-0.929758,-0.008791],[-0.002718,-0.010531,0.999941]]
2025-10-27T00:39:22.127Z,1761525562.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936674,-0.350124,-0.007412],[0.350164,-0.936674,-0.005155],[-0.005138,-0.007424,0.999959]]
2025-10-27T00:39:22.532Z,1761525562.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943609,-0.330959,-0.008300],[0.330984,-0.943634,-0.001851],[-0.007220,-0.004494,0.999964]]
2025-10-27T00:39:22.933Z,1761525562.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950010,-0.312096,-0.008762],[0.312097,-0.950049,0.001331],[-0.008740,-0.001471,0.999961]]
2025-10-27T00:39:23.337Z,1761525563.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955905,-0.293549,-0.008636],[0.293526,-0.955944,0.003789],[-0.009368,0.001087,0.999956]]
2025-10-27T00:39:23.743Z,1761525563.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961029,-0.276341,-0.007653],[0.276294,-0.961050,0.006633],[-0.009188,0.004260,0.999949]]
2025-10-27T00:39:24.146Z,1761525564.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965320,-0.261006,-0.005820],[0.260947,-0.965309,0.009227],[-0.008027,0.007388,0.999941]]
2025-10-27T00:39:24.550Z,1761525564.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968768,-0.247945,-0.003440],[0.247898,-0.968730,0.010433],[-0.005919,0.009255,0.999940]]
2025-10-27T00:39:24.959Z,1761525564.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971260,-0.238020,-0.000030],[0.238003,-0.971193,0.011815],[-0.002841,0.011468,0.999930]]
2025-10-27T00:39:25.361Z,1761525565.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972562,-0.232607,0.004117],[0.232643,-0.972462,0.013957],[0.000757,0.014532,0.999894]]
2025-10-27T00:39:25.773Z,1761525565.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972846,-0.231289,0.008678],[0.231400,-0.972736,0.015437],[0.004871,0.017026,0.999843]]
2025-10-27T00:39:26.165Z,1761525566.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971974,-0.234692,0.013647],[0.234909,-0.971863,0.017324],[0.009197,0.020044,0.999757]]
2025-10-27T00:39:26.569Z,1761525566.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969814,-0.243116,0.018849],[0.243461,-0.969727,0.018884],[0.013688,0.022903,0.999644]]
2025-10-27T00:39:27.008Z,1761525567.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966358,-0.256108,0.023695],[0.256570,-0.966338,0.019053],[0.018018,0.024492,0.999538]]
2025-10-27T00:39:27.384Z,1761525567.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961498,-0.273377,0.028029],[0.273940,-0.961566,0.018658],[0.021851,0.025618,0.999433]]
2025-10-27T00:39:27.783Z,1761525567.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955091,-0.294633,0.031509],[0.295242,-0.955276,0.016748],[0.025166,0.025299,0.999363]]
2025-10-27T00:39:28.186Z,1761525568.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947313,-0.318508,0.033935],[0.319120,-0.947605,0.014352],[0.027586,0.024426,0.999321]]
2025-10-27T00:39:29.018Z,1761525569.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927188,-0.373007,0.034464],[0.373436,-0.927631,0.006742],[0.029456,0.019121,0.999383]]
2025-10-27T00:39:29.398Z,1761525569.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915322,-0.401394,0.032672],[0.401657,-0.915789,0.001640],[0.029262,0.014624,0.999465]]
2025-10-27T00:39:29.801Z,1761525569.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902658,-0.429355,0.029362],[0.429412,-0.903097,-0.004685],[0.028529,0.008380,0.999558]]
2025-10-27T00:39:30.205Z,1761525570.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889861,-0.455552,0.024888],[0.455404,-0.890209,-0.011640],[0.027458,0.000976,0.999622]]
2025-10-27T00:39:30.612Z,1761525570.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877559,-0.479030,0.020508],[0.478776,-0.877788,-0.016202],[0.025762,-0.004399,0.999658]]
2025-10-27T00:39:31.056Z,1761525571.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857272,-0.514767,0.010010],[0.514461,-0.857207,-0.022947],[0.020393,-0.014522,0.999687]]
2025-10-27T00:39:31.823Z,1761525571.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850749,-0.525551,0.004712],[0.525304,-0.850567,-0.024341],[0.016801,-0.018233,0.999693]]
2025-10-27T00:39:32.228Z,1761525572.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847236,-0.531216,-0.000837],[0.531069,-0.846962,-0.024941],[0.012540,-0.021576,0.999689]]
2025-10-27T00:39:33.080Z,1761525573.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856970,-0.515189,-0.013480],[0.515334,-0.856915,-0.011310],[-0.005725,-0.016639,0.999845]]
2025-10-27T00:39:33.842Z,1761525573.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866076,-0.499635,-0.016650],[0.499769,-0.866145,-0.004924],[-0.011961,-0.012586,0.999849]]
2025-10-27T00:39:34.264Z,1761525574.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890751,-0.453984,-0.021477],[0.454085,-0.890958,0.000163],[-0.019209,-0.009607,0.999769]]
2025-10-27T00:39:34.654Z,1761525574.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905349,-0.424176,-0.020457],[0.424235,-0.905551,0.001571],[-0.019191,-0.007256,0.999789]]
2025-10-27T00:39:35.106Z,1761525575.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919949,-0.391653,-0.017395],[0.391663,-0.920104,0.002962],[-0.017165,-0.004088,0.999844]]
2025-10-27T00:39:35.469Z,1761525575.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934246,-0.356389,-0.013120],[0.356385,-0.934335,0.002735],[-0.013233,-0.002121,0.999910]]
2025-10-27T00:39:35.866Z,1761525575.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947102,-0.320843,-0.007620],[0.320841,-0.947132,0.001489],[-0.007694,-0.001035,0.999970]]
2025-10-27T00:39:36.270Z,1761525576.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958131,-0.286328,-0.000873],[0.286328,-0.958132,-0.000238],[-0.000768,-0.000478,1.000000]]
2025-10-27T00:39:36.669Z,1761525576.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967135,-0.254147,0.007740],[0.254147,-0.967165,-0.000888],[0.007712,0.001109,0.999970]]
2025-10-27T00:39:37.131Z,1761525577.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973996,-0.225854,0.017964],[0.225966,-0.974125,0.004458],[0.016492,0.008401,0.999829]]
2025-10-27T00:39:37.167Z,1761525577.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-27T00:39:37.304Z,1761525577.304 [DAT](DEBUG): Acoustic response timeout
2025-10-27T00:39:37.304Z,1761525577.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-27T00:39:37.477Z,1761525577.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978812,-0.202747,0.028641],[0.203172,-0.979060,0.012766],[0.025453,0.018315,0.999508]]
2025-10-27T00:39:37.557Z,1761525577.557 [DAT](INFO): DAT read: user:198>

2025-10-27T00:39:37.558Z,1761525577.558 [DAT](INFO): DAT read: Tx time:00:39:38.9440

2025-10-27T00:39:37.558Z,1761525577.558 [DAT](INFO): Ping request sent.
2025-10-27T00:39:37.558Z,1761525577.558 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:39:37.558Z,1761525577.558 [DAT](INFO): publishing transmit ping time
2025-10-27T00:39:37.559Z,1761525577.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000884
2025-10-27T00:39:37.808Z,1761525577.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249773
2025-10-27T00:39:37.881Z,1761525577.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982091,-0.184585,0.037759],[0.185305,-0.982542,0.016511],[0.034052,0.023212,0.999150]]
2025-10-27T00:39:38.063Z,1761525578.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503942
2025-10-27T00:39:38.287Z,1761525578.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984106,-0.172228,0.043272],[0.173251,-0.984652,0.021089],[0.038976,0.028251,0.998841]]
2025-10-27T00:39:38.312Z,1761525578.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754110
2025-10-27T00:39:38.564Z,1761525578.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005807
2025-10-27T00:39:38.697Z,1761525578.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985151,-0.166028,0.043734],[0.167188,-0.985625,0.024339],[0.039064,0.031290,0.998747]]
2025-10-27T00:39:38.816Z,1761525578.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257744
2025-10-27T00:39:39.068Z,1761525579.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509791
2025-10-27T00:39:39.150Z,1761525579.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985271,-0.166510,0.038923],[0.167569,-0.985525,0.025727],[0.034075,0.031871,0.998911]]
2025-10-27T00:39:39.320Z,1761525579.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761842
2025-10-27T00:39:39.497Z,1761525579.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984673,-0.171648,0.030915],[0.172410,-0.984735,0.023931],[0.026336,0.028894,0.999235]]
2025-10-27T00:39:39.572Z,1761525579.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014319
2025-10-27T00:39:39.824Z,1761525579.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265755
2025-10-27T00:39:39.902Z,1761525579.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983177,-0.181391,0.021448],[0.181804,-0.983148,0.019175],[0.017608,0.022751,0.999586]]
2025-10-27T00:39:40.079Z,1761525580.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520119
2025-10-27T00:39:40.309Z,1761525580.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980894,-0.194195,0.011625],[0.194322,-0.980876,0.011034],[0.009260,0.013082,0.999872]]
2025-10-27T00:39:40.328Z,1761525580.328 [DAT](INFO): DAT read: Rx Time:00:39:41.3498

2025-10-27T00:39:40.328Z,1761525580.328 [DAT](INFO): Rx dataTimestamp_ set to:1761525580.328219
2025-10-27T00:39:40.329Z,1761525580.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770937
2025-10-27T00:39:40.580Z,1761525580.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022047
2025-10-27T00:39:40.716Z,1761525580.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977685,-0.210057,0.002722],[0.210075,-0.977622,0.011113],[0.000327,0.011437,0.999935]]
2025-10-27T00:39:40.834Z,1761525580.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275758
2025-10-27T00:39:41.089Z,1761525581.089 [DAT](INFO): DAT read: 00:39:41.3498 LVL= 10352, 25905, 12018, 12787, AGC= 42, IDX= 449,-0.26, 2.561, 2.924, 2.473,-2.372, PHS=-1.249,-0.942,-1.482, RAW= 355.5,  70.1, CAL= 354.9,  72.1, ROT= 155.1, -72.1

2025-10-27T00:39:41.090Z,1761525581.090 [DAT](INFO): got valid direction response:
 00:39:41.3498 LVL= 10352, 25905, 12018, 12787, AGC= 42, IDX= 449,-0.26, 2.561, 2.924, 2.473,-2.372, PHS=-1.249,-0.942,-1.482, RAW= 355.5,  70.1, CAL= 354.9,  72.1, ROT= 155.1, -72.1

2025-10-27T00:39:41.091Z,1761525581.091 [DAT](INFO): DAT read: Bearing  70.9,   7.9 (Local)

2025-10-27T00:39:41.092Z,1761525581.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.9,   7.9 (Local)

2025-10-27T00:39:41.093Z,1761525581.093 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-10-27T00:39:41.094Z,1761525581.094 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-27T00:39:41.095Z,1761525581.095 [DAT](INFO): direction in FSK: [-0.278786,0.129408,0.951594]
2025-10-27T00:39:41.132Z,1761525581.132 [DAT](INFO): publishing direction and range info
2025-10-27T00:39:41.175Z,1761525581.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973240,-0.229732,-0.005294],[0.229631,-0.973161,0.015088],[-0.008618,0.013469,0.999872]]
2025-10-27T00:39:41.520Z,1761525581.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967950,-0.250833,-0.012442],[0.250595,-0.967924,0.018039],[-0.016567,0.014343,0.999760]]
2025-10-27T00:39:41.922Z,1761525581.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962035,-0.272326,-0.018075],[0.271887,-0.962042,0.023498],[-0.023788,0.017691,0.999561]]
2025-10-27T00:39:42.325Z,1761525582.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955378,-0.294568,-0.021966],[0.293941,-0.955419,0.027820],[-0.029182,0.020122,0.999372]]
2025-10-27T00:39:42.739Z,1761525582.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948722,-0.315161,-0.024487],[0.314582,-0.948906,0.024798],[-0.031051,0.015823,0.999393]]
2025-10-27T00:39:43.147Z,1761525583.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942296,-0.333963,-0.023392],[0.333442,-0.942476,0.023560],[-0.029914,0.014401,0.999449]]
2025-10-27T00:39:43.537Z,1761525583.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936186,-0.350968,-0.019449],[0.350598,-0.936311,0.020057],[-0.025250,0.011959,0.999610]]
2025-10-27T00:39:43.552Z,1761525583.552 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050304280163,35.0, +11.3,   0.0,149:WE,-32768,-32768,-32768,V
2025-10-27T00:39:43.942Z,1761525583.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930888,-0.365067,-0.013195],[0.364865,-0.930932,0.015437],[-0.017919,0.009555,0.999794]]
2025-10-27T00:39:44.345Z,1761525584.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926438,-0.376393,-0.006393],[0.376328,-0.926439,0.009408],[-0.009464,0.006310,0.999935]]
2025-10-27T00:39:44.757Z,1761525584.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922934,-0.384955,-0.001662],[0.384957,-0.922933,-0.001708],[-0.000876,-0.002216,0.999997]]
2025-10-27T00:39:45.157Z,1761525585.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921096,-0.389331,0.001833],[0.389260,-0.920999,-0.015395],[0.007682,-0.013467,0.999880]]
2025-10-27T00:39:45.558Z,1761525585.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920193,-0.391399,0.007227],[0.391194,-0.920084,-0.020303],[0.014596,-0.015856,0.999768]]
2025-10-27T00:39:45.961Z,1761525585.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920208,-0.391204,0.013316],[0.390886,-0.920189,-0.021452],[0.020646,-0.014536,0.999681]]
2025-10-27T00:39:46.368Z,1761525586.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921365,-0.388247,0.018711],[0.387833,-0.921459,-0.022354],[0.025920,-0.013339,0.999575]]
2025-10-27T00:39:46.770Z,1761525586.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924001,-0.381630,0.024083],[0.381164,-0.924250,-0.021836],[0.030592,-0.010997,0.999471]]
2025-10-27T00:39:47.176Z,1761525587.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927519,-0.372622,0.029345],[0.372233,-0.927966,-0.017951],[0.033920,-0.005727,0.999408]]
2025-10-27T00:39:47.579Z,1761525587.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931979,-0.361007,0.033004],[0.360667,-0.932558,-0.015942],[0.036533,-0.002954,0.999328]]
2025-10-27T00:39:47.982Z,1761525587.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937471,-0.346349,0.034513],[0.345971,-0.938099,-0.016581],[0.038119,-0.003604,0.999267]]
2025-10-27T00:39:48.385Z,1761525588.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943532,-0.329472,0.034566],[0.329143,-0.944161,-0.014996],[0.037577,-0.002772,0.999290]]
2025-10-27T00:39:48.789Z,1761525588.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949814,-0.311111,0.032594],[0.310825,-0.950369,-0.013624],[0.035215,-0.002809,0.999376]]
2025-10-27T00:39:49.202Z,1761525589.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956256,-0.291077,0.029121],[0.290827,-0.956693,-0.012579],[0.031521,-0.003559,0.999497]]
2025-10-27T00:39:49.597Z,1761525589.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962409,-0.270483,0.024634],[0.270238,-0.962708,-0.012855],[0.027193,-0.005714,0.999614]]
2025-10-27T00:39:50.002Z,1761525590.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968346,-0.248854,0.019449],[0.248612,-0.968501,-0.014043],[0.022331,-0.008763,0.999712]]
2025-10-27T00:39:50.409Z,1761525590.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973892,-0.226551,0.014473],[0.226387,-0.973962,-0.012124],[0.016843,-0.008531,0.999822]]
2025-10-27T00:39:50.811Z,1761525590.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978741,-0.204891,0.009265],[0.204819,-0.978766,-0.008110],[0.010730,-0.006040,0.999924]]
2025-10-27T00:39:51.219Z,1761525591.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983017,-0.183472,0.004009],[0.183452,-0.983017,-0.004768],[0.004815,-0.003952,0.999981]]
2025-10-27T00:39:51.618Z,1761525591.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986630,-0.162975,-0.000905],[0.162976,-0.986629,-0.001304],[-0.000681,-0.001434,0.999999]]
2025-10-27T00:39:52.021Z,1761525592.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989484,-0.144551,-0.005138],[0.144531,-0.989492,0.004164],[-0.005686,0.003377,0.999978]]
2025-10-27T00:39:52.429Z,1761525592.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991692,-0.128335,-0.008731],[0.128253,-0.991697,0.009441],[-0.009871,0.008243,0.999917]]
2025-10-27T00:39:52.829Z,1761525592.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993195,-0.115924,-0.011218],[0.115754,-0.993168,0.014783],[-0.012855,0.013384,0.999828]]
2025-10-27T00:39:53.242Z,1761525593.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994159,-0.107209,-0.012406],[0.106982,-0.994104,0.017679],[-0.014229,0.016249,0.999767]]
2025-10-27T00:39:53.640Z,1761525593.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994683,-0.102241,-0.012324],[0.101985,-0.994587,0.019877],[-0.014290,0.018514,0.999726]]
2025-10-27T00:39:54.042Z,1761525594.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994665,-0.102591,-0.010790],[0.102330,-0.994496,0.022519],[-0.013041,0.021295,0.999688]]
2025-10-27T00:39:54.446Z,1761525594.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994228,-0.106968,-0.008213],[0.106751,-0.994009,0.023472],[-0.010674,0.022460,0.999691]]
2025-10-27T00:39:54.852Z,1761525594.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993246,-0.115907,-0.005257],[0.115758,-0.993012,0.022967],[-0.007882,0.022203,0.999722]]
2025-10-27T00:39:55.256Z,1761525595.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991545,-0.129743,-0.002116],[0.129663,-0.991305,0.022422],[-0.005007,0.021959,0.999746]]
2025-10-27T00:39:55.657Z,1761525595.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988960,-0.148177,0.001021],[0.148166,-0.988742,0.020860],[-0.002081,0.020781,0.999782]]
2025-10-27T00:39:56.061Z,1761525596.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985362,-0.170432,0.003929],[0.170476,-0.985185,0.018672],[0.000689,0.019068,0.999818]]
2025-10-27T00:39:56.468Z,1761525596.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980495,-0.196436,0.006534],[0.196519,-0.980362,0.016419],[0.003181,0.017382,0.999844]]
2025-10-27T00:39:56.869Z,1761525596.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974313,-0.225028,0.008684],[0.225129,-0.974240,0.013193],[0.005491,0.014809,0.999875]]
2025-10-27T00:39:57.274Z,1761525597.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966764,-0.255467,0.010148],[0.255567,-0.966738,0.010152],[0.007217,0.012408,0.999897]]
2025-10-27T00:39:57.677Z,1761525597.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957800,-0.287225,0.011023],[0.287315,-0.957806,0.007591],[0.008378,0.010438,0.999910]]
2025-10-27T00:39:58.082Z,1761525598.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947759,-0.318794,0.011091],[0.318851,-0.947797,0.003804],[0.009299,0.007142,0.999931]]
2025-10-27T00:39:58.487Z,1761525598.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936807,-0.349687,0.010540],[0.349707,-0.936859,0.000109],[0.009836,0.003788,0.999944]]
2025-10-27T00:39:58.890Z,1761525598.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925590,-0.378405,0.009639],[0.378394,-0.925640,-0.002995],[0.010056,0.000876,0.999949]]
2025-10-27T00:39:59.294Z,1761525599.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914180,-0.405225,0.008299],[0.405183,-0.914214,-0.006268],[0.010127,-0.002368,0.999946]]
2025-10-27T00:39:59.706Z,1761525599.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903340,-0.428870,0.006937],[0.428800,-0.903349,-0.009577],[0.010374,-0.005677,0.999930]]
2025-10-27T00:40:00.103Z,1761525600.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893473,-0.449080,0.005695],[0.448990,-0.893450,-0.012449],[0.010679,-0.008566,0.999906]]
2025-10-27T00:40:00.506Z,1761525600.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885005,-0.465559,0.004662],[0.465448,-0.884946,-0.015099],[0.011155,-0.011192,0.999875]]
2025-10-27T00:40:00.910Z,1761525600.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878441,-0.477836,0.003646],[0.477704,-0.878336,-0.018037],[0.011821,-0.014102,0.999831]]
2025-10-27T00:40:01.320Z,1761525601.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873936,-0.486031,0.002967],[0.485875,-0.873783,-0.020714],[0.012660,-0.016661,0.999781]]
2025-10-27T00:40:01.729Z,1761525601.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871830,-0.489802,0.002608],[0.489626,-0.871637,-0.022705],[0.013395,-0.018518,0.999739]]
2025-10-27T00:40:02.122Z,1761525602.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872181,-0.489176,0.002759],[0.488983,-0.871970,-0.023759],[0.014028,-0.019373,0.999714]]
2025-10-27T00:40:02.529Z,1761525602.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874993,-0.484127,0.002993],[0.483919,-0.874769,-0.024503],[0.014481,-0.019991,0.999695]]
2025-10-27T00:40:02.931Z,1761525602.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879749,-0.475427,0.003313],[0.475217,-0.879530,-0.024402],[0.014515,-0.019893,0.999697]]
2025-10-27T00:40:03.334Z,1761525603.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886611,-0.462503,0.003547],[0.462296,-0.886398,-0.024079],[0.014281,-0.019709,0.999704]]
2025-10-27T00:40:04.141Z,1761525604.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905627,-0.424070,0.001877],[0.423923,-0.905413,-0.022753],[0.011348,-0.019810,0.999739]]
2025-10-27T00:40:04.554Z,1761525604.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916895,-0.399127,0.000271],[0.399036,-0.916699,-0.020834],[0.008564,-0.018994,0.999783]]
2025-10-27T00:40:04.949Z,1761525604.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928918,-0.370282,-0.001842],[0.370253,-0.928753,-0.018197],[0.005027,-0.017586,0.999833]]
2025-10-27T00:40:05.353Z,1761525605.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940857,-0.338775,-0.004492],[0.338803,-0.940733,-0.015267],[0.000946,-0.015885,0.999873]]
2025-10-27T00:40:05.759Z,1761525605.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952445,-0.304620,-0.007459],[0.304691,-0.952379,-0.011733],[-0.003530,-0.013447,0.999903]]
2025-10-27T00:40:06.161Z,1761525606.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963197,-0.268593,-0.010479],[0.268671,-0.963207,-0.006925],[-0.008233,-0.009486,0.999921]]
2025-10-27T00:40:06.566Z,1761525606.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972628,-0.231978,-0.013447],[0.232014,-0.972712,-0.001213],[-0.012799,-0.004300,0.999909]]
2025-10-27T00:40:06.970Z,1761525606.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980456,-0.196083,-0.016058],[0.196035,-0.980586,0.004542],[-0.016637,0.001305,0.999861]]
2025-10-27T00:40:07.380Z,1761525607.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986702,-0.161563,-0.017777],[0.161425,-0.986844,0.008936],[-0.018987,0.005948,0.999802]]
2025-10-27T00:40:07.777Z,1761525607.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991407,-0.129552,-0.018143],[0.129324,-0.991514,0.013209],[-0.019700,0.010749,0.999748]]
2025-10-27T00:40:08.181Z,1761525608.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994667,-0.101762,-0.016775],[0.101460,-0.994677,0.018011],[-0.018518,0.016213,0.999697]]
2025-10-27T00:40:08.592Z,1761525608.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996770,-0.079109,-0.013847],[0.078791,-0.996644,0.022203],[-0.015557,0.021040,0.999658]]
2025-10-27T00:40:08.991Z,1761525608.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998012,-0.062326,-0.009375],[0.062097,-0.997805,0.023014],[-0.010789,0.022386,0.999691]]
2025-10-27T00:40:09.410Z,1761525609.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998576,-0.053242,-0.003497],[0.053140,-0.998287,0.024483],[-0.004795,0.024262,0.999694]]
2025-10-27T00:40:09.805Z,1761525609.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998628,-0.052268,0.003230],[0.052340,-0.998203,0.029196],[0.001698,0.029325,0.999569]]
2025-10-27T00:40:10.218Z,1761525610.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998153,-0.059826,0.010521],[0.060163,-0.997567,0.035231],[0.008388,0.035799,0.999324]]
2025-10-27T00:40:10.626Z,1761525610.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996971,-0.075607,0.018223],[0.076292,-0.996267,0.040384],[0.015102,0.041652,0.999018]]
2025-10-27T00:40:11.422Z,1761525611.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990909,-0.130476,0.032800],[0.131823,-0.990342,0.042954],[0.026879,0.046887,0.998538]]
2025-10-27T00:40:11.826Z,1761525611.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985213,-0.167154,0.037620],[0.168628,-0.984862,0.040145],[0.030340,0.045895,0.998485]]
2025-10-27T00:40:12.234Z,1761525612.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977227,-0.208461,0.039643],[0.209905,-0.977037,0.036600],[0.031103,0.044087,0.998543]]
2025-10-27T00:40:12.647Z,1761525612.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966592,-0.253392,0.038624],[0.254646,-0.966507,0.031926],[0.029241,0.040695,0.998744]]
2025-10-27T00:40:13.038Z,1761525613.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953142,-0.300464,0.035247],[0.301443,-0.953109,0.026746],[0.025558,0.036118,0.999021]]
2025-10-27T00:40:13.442Z,1761525613.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937204,-0.347502,0.029842],[0.348120,-0.937264,0.018685],[0.021477,0.027900,0.999380]]
2025-10-27T00:40:13.847Z,1761525613.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919332,-0.392791,0.023312],[0.393083,-0.919454,0.009496],[0.017704,0.017893,0.999683]]
2025-10-27T00:40:14.250Z,1761525614.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900314,-0.434918,0.016784],[0.435016,-0.900419,0.002570],[0.013995,0.009615,0.999856]]
2025-10-27T00:40:14.672Z,1761525614.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881163,-0.472677,0.011274],[0.472693,-0.881226,-0.001441],[0.010616,0.004059,0.999935]]
2025-10-27T00:40:15.057Z,1761525615.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862948,-0.505256,0.006022],[0.505232,-0.862968,-0.005098],[0.007772,-0.001356,0.999969]]
2025-10-27T00:40:15.462Z,1761525615.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847124,-0.531394,0.001102],[0.531367,-0.847098,-0.008606],[0.005507,-0.006705,0.999962]]
2025-10-27T00:40:15.868Z,1761525615.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834627,-0.550807,-0.003214],[0.550803,-0.834553,-0.011724],[0.003775,-0.011555,0.999926]]
2025-10-27T00:40:16.269Z,1761525616.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826041,-0.563569,-0.006870],[0.563606,-0.825924,-0.014042],[0.002239,-0.015471,0.999878]]
2025-10-27T00:40:17.483Z,1761525617.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824964,-0.565035,-0.013054],[0.565175,-0.824869,-0.012947],[-0.003452,-0.018059,0.999831]]
2025-10-27T00:40:17.886Z,1761525617.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832518,-0.553810,-0.014444],[0.553968,-0.832463,-0.011195],[-0.005824,-0.017321,0.999833]]
2025-10-27T00:40:18.293Z,1761525618.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843415,-0.537053,-0.015025],[0.537208,-0.843399,-0.009294],[-0.007681,-0.015911,0.999844]]
2025-10-27T00:40:19.105Z,1761525619.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892687,-0.450397,-0.015883],[0.450578,-0.892675,-0.010543],[-0.009430,-0.016568,0.999818]]
2025-10-27T00:40:19.506Z,1761525619.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911702,-0.410615,-0.013951],[0.410761,-0.911689,-0.009916],[-0.008647,-0.014771,0.999854]]
2025-10-27T00:40:19.912Z,1761525619.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929735,-0.368048,-0.011555],[0.368157,-0.929717,-0.009327],[-0.007310,-0.012925,0.999890]]
2025-10-27T00:40:20.312Z,1761525620.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946335,-0.323059,-0.009079],[0.323141,-0.946300,-0.009840],[-0.005413,-0.012245,0.999910]]
2025-10-27T00:40:20.759Z,1761525620.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960943,-0.276684,-0.005862],[0.276730,-0.960902,-0.009345],[-0.003047,-0.010602,0.999939]]
2025-10-27T00:40:21.117Z,1761525621.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972784,-0.231711,-0.001521],[0.231716,-0.972767,-0.005652],[-0.000170,-0.005851,0.999983]]
2025-10-27T00:40:21.521Z,1761525621.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981986,-0.188912,0.003974],[0.188912,-0.981994,-0.000318],[0.003962,0.000438,0.999992]]
2025-10-27T00:40:21.952Z,1761525621.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988552,-0.150496,0.010768],[0.150596,-0.988553,0.009210],[0.009258,0.010726,0.999900]]
2025-10-27T00:40:22.331Z,1761525622.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992830,-0.118160,0.018062],[0.118543,-0.992710,0.021796],[0.015355,0.023781,0.999599]]
2025-10-27T00:40:22.780Z,1761525622.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995261,-0.093746,0.025830],[0.094586,-0.994955,0.033450],[0.022564,0.035735,0.999107]]
2025-10-27T00:40:23.138Z,1761525623.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996410,-0.077972,0.032988],[0.079158,-0.996200,0.036316],[0.030031,0.038797,0.998796]]
2025-10-27T00:40:23.542Z,1761525623.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996817,-0.070079,0.038017],[0.071549,-0.996682,0.038811],[0.035171,0.041407,0.998523]]
2025-10-27T00:40:23.949Z,1761525623.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996709,-0.071007,0.039111],[0.072624,-0.996490,0.041627],[0.036018,0.044330,0.998367]]
2025-10-27T00:40:24.349Z,1761525624.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996157,-0.079770,0.036178],[0.081267,-0.995808,0.041967],[0.032679,0.044746,0.998464]]
2025-10-27T00:40:24.767Z,1761525624.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994914,-0.096038,0.030376],[0.097216,-0.994457,0.040041],[0.026362,0.042791,0.998736]]
2025-10-27T00:40:25.158Z,1761525625.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992635,-0.118980,0.022789],[0.119692,-0.992264,0.032959],[0.018691,0.035444,0.999197]]
2025-10-27T00:40:25.563Z,1761525625.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989096,-0.146549,0.014549],[0.146861,-0.988881,0.023369],[0.010962,0.025250,0.999621]]
2025-10-27T00:40:25.966Z,1761525625.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984238,-0.176729,0.006523],[0.176814,-0.984105,0.016526],[0.003499,0.017419,0.999842]]
2025-10-27T00:40:26.370Z,1761525626.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977721,-0.209905,-0.000910],[0.209855,-0.977568,0.017926],[-0.004653,0.017335,0.999839]]
2025-10-27T00:40:26.780Z,1761525626.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969584,-0.244644,-0.007414],[0.244440,-0.969426,0.021481],[-0.012443,0.019016,0.999742]]
2025-10-27T00:40:27.187Z,1761525627.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960209,-0.279027,-0.011981],[0.278630,-0.960012,0.027237],[-0.019102,0.022815,0.999557]]
2025-10-27T00:40:27.584Z,1761525627.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949352,-0.313832,-0.015480],[0.313286,-0.949184,0.030037],[-0.024120,0.023666,0.999429]]
2025-10-27T00:40:27.987Z,1761525627.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938148,-0.345756,-0.018168],[0.345274,-0.938164,0.025177],[-0.025749,0.017347,0.999518]]
2025-10-27T00:40:28.389Z,1761525628.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927091,-0.374446,-0.017071],[0.374047,-0.927134,0.022628],[-0.024300,0.014593,0.999598]]
2025-10-27T00:40:28.798Z,1761525628.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916749,-0.399221,-0.013915],[0.398972,-0.916793,0.017667],[-0.019810,0.010645,0.999747]]
2025-10-27T00:40:29.205Z,1761525629.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908287,-0.418240,-0.009507],[0.418144,-0.908319,0.010600],[-0.013069,0.005652,0.999899]]
2025-10-27T00:40:29.601Z,1761525629.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902421,-0.430827,-0.004990],[0.430817,-0.902434,0.002964],[-0.005780,0.000525,0.999983]]
2025-10-27T00:40:30.006Z,1761525630.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898995,-0.437948,-0.002986],[0.437956,-0.898952,-0.008919],[0.001222,-0.009326,0.999956]]
2025-10-27T00:40:30.411Z,1761525630.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898438,-0.439086,-0.003506],[0.439041,-0.898156,-0.023648],[0.007235,-0.022786,0.999714]]
2025-10-27T00:40:30.815Z,1761525630.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900575,-0.434698,-0.001650],[0.434557,-0.900173,-0.029146],[0.011184,-0.026966,0.999574]]
2025-10-27T00:40:31.218Z,1761525631.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904611,-0.426237,0.000977],[0.426031,-0.904242,-0.029034],[0.013259,-0.025849,0.999578]]
2025-10-27T00:40:31.628Z,1761525631.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910806,-0.412825,0.002826],[0.412568,-0.910442,-0.029714],[0.014840,-0.025897,0.999555]]
2025-10-27T00:40:32.031Z,1761525632.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918967,-0.394306,0.004729],[0.394023,-0.918652,-0.028711],[0.015665,-0.024521,0.999577]]
2025-10-27T00:40:32.432Z,1761525632.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928183,-0.372066,0.006601],[0.371793,-0.927958,-0.025751],[0.015707,-0.021447,0.999647]]
2025-10-27T00:40:32.833Z,1761525632.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938364,-0.345563,0.007661],[0.345303,-0.938187,-0.023888],[0.015442,-0.019771,0.999685]]
2025-10-27T00:40:33.237Z,1761525633.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948858,-0.315598,0.008152],[0.315366,-0.948722,-0.021687],[0.014579,-0.018007,0.999732]]
2025-10-27T00:40:33.643Z,1761525633.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958948,-0.283451,0.008637],[0.283266,-0.958871,-0.018058],[0.013401,-0.014870,0.999800]]
2025-10-27T00:40:34.058Z,1761525634.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968333,-0.249509,0.008800],[0.249360,-0.968291,-0.015207],[0.012315,-0.012531,0.999846]]
2025-10-27T00:40:34.449Z,1761525634.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976554,-0.215082,0.009077],[0.214970,-0.976548,-0.011931],[0.011430,-0.009700,0.999888]]
2025-10-27T00:40:34.854Z,1761525634.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983340,-0.181531,0.009404],[0.181453,-0.983362,-0.008550],[0.010799,-0.006701,0.999919]]
2025-10-27T00:40:35.257Z,1761525635.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988703,-0.149542,0.010146],[0.149506,-0.988752,-0.004243],[0.010667,-0.002678,0.999940]]
2025-10-27T00:40:35.682Z,1761525635.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992667,-0.120379,0.010970],[0.120398,-0.992725,0.001079],[0.010760,0.002392,0.999939]]
2025-10-27T00:40:36.070Z,1761525636.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995470,-0.094338,0.011795],[0.094406,-0.995519,0.005370],[0.011236,0.006459,0.999916]]
2025-10-27T00:40:36.469Z,1761525636.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997319,-0.072067,0.012724],[0.072196,-0.997341,0.009957],[0.011972,0.010849,0.999869]]
2025-10-27T00:40:36.873Z,1761525636.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998438,-0.054148,0.013746],[0.054337,-0.998428,0.013758],[0.012980,0.014484,0.999811]]
2025-10-27T00:40:37.277Z,1761525637.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999074,-0.040478,0.014583],[0.040710,-0.999043,0.015990],[0.013922,0.016569,0.999766]]
2025-10-27T00:40:37.698Z,1761525637.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999385,-0.031474,0.015429],[0.031744,-0.999342,0.017552],[0.014867,0.018031,0.999727]]
2025-10-27T00:40:38.101Z,1761525638.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999487,-0.027720,0.016034],[0.028009,-0.999443,0.018115],[0.015523,0.018555,0.999707]]
2025-10-27T00:40:38.490Z,1761525638.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999438,-0.029419,0.016045],[0.029713,-0.999389,0.018397],[0.015494,0.018864,0.999702]]
2025-10-27T00:40:38.893Z,1761525638.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999209,-0.036545,0.015661],[0.036832,-0.999151,0.018442],[0.014974,0.019004,0.999707]]
2025-10-27T00:40:38.919Z,1761525638.919 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-10-27T00:35:38.8Z
2025-10-27T00:40:38.919Z,1761525638.919 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-10-27T00:40:38.919Z,1761525638.919 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-10-27T00:40:38.920Z,1761525638.920 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-10-27T00:40:38.920Z,1761525638.920 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-10-27T00:40:39.299Z,1761525639.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998714,-0.048553,0.014566],[0.048807,-0.998652,0.017679],[0.013688,0.018367,0.999738]]
2025-10-27T00:40:39.334Z,1761525639.334 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-10-27T00:40:39.334Z,1761525639.334 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-10-27T00:40:39.334Z,1761525639.334 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-10-27T00:40:39.334Z,1761525639.334 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-10-27T00:40:39.334Z,1761525639.334 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-10-27T00:40:39.334Z,1761525639.334 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-10-27T00:40:39.718Z,1761525639.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997805,-0.064932,0.012997],[0.065137,-0.997748,0.016012],[0.011928,0.016824,0.999787]]
2025-10-27T00:40:39.735Z,1761525639.735 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-10-27T00:40:39.735Z,1761525639.735 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-10-27T00:40:39.735Z,1761525639.735 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-10-27T00:40:39.735Z,1761525639.735 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-10-27T00:40:39.735Z,1761525639.735 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-10-27T00:40:39.735Z,1761525639.735 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-10-27T00:40:39.735Z,1761525639.735 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-10-27T00:40:39.736Z,1761525639.736 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-10-27T00:40:39.736Z,1761525639.736 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-10-27T00:40:39.736Z,1761525639.736 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-10-27T00:40:40.111Z,1761525640.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996357,-0.084584,0.010894],[0.084721,-0.996322,0.012808],[0.009771,0.013684,0.999859]]
2025-10-27T00:40:40.162Z,1761525640.162 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-10-27T00:40:40.163Z,1761525640.163 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-10-27T00:40:40.163Z,1761525640.163 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-10-27T00:40:40.163Z,1761525640.163 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-10-27T00:40:40.163Z,1761525640.163 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-10-27T00:40:40.163Z,1761525640.163 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-10-27T00:40:40.164Z,1761525640.164 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-10-27T00:40:40.164Z,1761525640.164 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-10-27T00:40:40.164Z,1761525640.164 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-10-27T00:40:40.164Z,1761525640.164 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-27T00:40:40.164Z,1761525640.164 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-10-27T00:40:40.164Z,1761525640.164 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-10-27T00:40:40.164Z,1761525640.164 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-10-27T00:40:40.165Z,1761525640.165 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-10-27T00:40:40.165Z,1761525640.165 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-10-27T00:40:40.165Z,1761525640.165 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-10-27T00:40:40.165Z,1761525640.165 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-10-27T00:40:40.509Z,1761525640.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994308,-0.106198,0.008592],[0.106284,-0.994282,0.010351],[0.007444,0.011205,0.999910]]
2025-10-27T00:40:40.534Z,1761525640.534 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-10-27T00:40:40.534Z,1761525640.534 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-10-27T00:40:40.534Z,1761525640.534 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-10-27T00:40:40.534Z,1761525640.534 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-10-27T00:40:40.534Z,1761525640.534 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-27T00:40:40.534Z,1761525640.534 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-10-27T00:40:40.534Z,1761525640.534 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-10-27T00:40:40.534Z,1761525640.534 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-10-27T00:40:40.535Z,1761525640.535 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-10-27T00:40:40.535Z,1761525640.535 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-10-27T00:40:40.535Z,1761525640.535 [lineCaptureHoming:Lap:Docked] Stopped
2025-10-27T00:40:40.535Z,1761525640.535 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-10-27T00:40:40.535Z,1761525640.535 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-10-27T00:40:40.536Z,1761525640.536 [lineCaptureHoming:Lap] Stopped
2025-10-27T00:40:40.536Z,1761525640.536 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-10-27T00:40:40.556Z,1761525640.556 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-10-27T00:40:40.556Z,1761525640.556 [MissionManager](INFO): lineCaptureHoming is completed.
2025-10-27T00:40:40.556Z,1761525640.556 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-10-27T00:40:40.556Z,1761525640.556 [lineCaptureHoming] Stopped
2025-10-27T00:40:40.557Z,1761525640.557 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-10-27T00:40:40.557Z,1761525640.557 [lineCaptureHoming:Science] Stopped
2025-10-27T00:40:40.557Z,1761525640.557 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-10-27T00:40:40.557Z,1761525640.557 [lineCaptureHoming:Science:B] Stopped
2025-10-27T00:40:40.557Z,1761525640.557 [lineCaptureHoming:Science:C] Stopped
2025-10-27T00:40:40.557Z,1761525640.557 [lineCaptureHoming:Science:E] Stopped
2025-10-27T00:40:40.557Z,1761525640.557 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-10-27T00:40:40.557Z,1761525640.557 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-10-27T00:40:40.557Z,1761525640.557 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:MicromodemComms] Stopped
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-10-27T00:40:40.558Z,1761525640.558 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-10-27T00:40:40.559Z,1761525640.559 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-10-27T00:40:40.559Z,1761525640.559 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-10-27T00:40:40.563Z,1761525640.563 [lineCaptureHoming:TrackAC.] Stopped
2025-10-27T00:40:40.563Z,1761525640.563 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-27T00:40:40.603Z,1761525640.603 [WetLabsBB2FL](INFO): Powering down
2025-10-27T00:40:40.690Z,1761525640.690 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-10-27T00:40:40.852Z,1761525640.852 [DAT](INFO): DAT read: user:199>

2025-10-27T00:40:40.853Z,1761525640.853 [DAT](INFO): DAT read: Tx time:00:40:42.2427

2025-10-27T00:40:40.853Z,1761525640.853 [DAT](INFO): Ping request sent.
2025-10-27T00:40:40.853Z,1761525640.853 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:40:40.853Z,1761525640.853 [DAT](INFO): publishing transmit ping time
2025-10-27T00:40:40.920Z,1761525640.920 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-10-27T00:40:40.920Z,1761525640.920 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-10-27T00:40:40.927Z,1761525640.927 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-10-27T00:40:41.120Z,1761525641.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991530,-0.129740,0.006032],[0.129792,-0.991499,0.009159],[0.004793,0.009864,0.999940]]
2025-10-27T00:40:41.495Z,1761525641.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987999,-0.154418,0.003675],[0.154441,-0.987977,0.006982],[0.002553,0.007466,0.999969]]
2025-10-27T00:40:41.898Z,1761525641.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983837,-0.179061,0.001382],[0.179066,-0.983824,0.005061],[0.000454,0.005227,0.999986]]
2025-10-27T00:40:42.302Z,1761525642.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979053,-0.203602,-0.000734],[0.203598,-0.979048,0.003473],[-0.001426,0.003250,0.999994]]
2025-10-27T00:40:42.707Z,1761525642.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973862,-0.227129,-0.002500],[0.227125,-0.973864,0.001620],[-0.002802,0.001009,0.999996]]
2025-10-27T00:40:43.110Z,1761525643.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968553,-0.248778,-0.003812],[0.248781,-0.968560,-0.000371],[-0.003600,-0.001308,0.999993]]
2025-10-27T00:40:43.120Z,1761525643.120 [DAT](INFO): DAT read: Rx Time:00:40:44.1034

2025-10-27T00:40:43.121Z,1761525643.121 [DAT](INFO): Rx dataTimestamp_ set to:1761525643.120667
2025-10-27T00:40:43.514Z,1761525643.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963518,-0.267601,-0.004759],[0.267613,-0.963524,-0.002098],[-0.004024,-0.003295,0.999986]]
2025-10-27T00:40:43.624Z,1761525643.624 [DAT](INFO): DAT read: OK

2025-10-27T00:40:43.624Z,1761525643.624 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T00:40:43.625Z,1761525643.625 [DAT](INFO): DAT read: user:200>

2025-10-27T00:40:43.876Z,1761525643.876 [DAT](INFO): DAT read: Tx time:00:40:45.1927

2025-10-27T00:40:43.876Z,1761525643.876 [DAT](INFO): Ping request sent.
2025-10-27T00:40:43.876Z,1761525643.876 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:40:43.877Z,1761525643.877 [DAT](INFO): publishing transmit ping time
2025-10-27T00:40:43.937Z,1761525643.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954831,-0.297106,-0.005053],[0.297131,-0.954822,-0.005227],[-0.003272,-0.006492,0.999974]]
2025-10-27T00:40:44.338Z,1761525644.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951778,-0.306754,-0.004568],[0.306779,-0.951758,-0.006524],[-0.002347,-0.007610,0.999968]]
2025-10-27T00:40:44.744Z,1761525644.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949694,-0.313154,-0.004001],[0.313177,-0.949661,-0.007997],[-0.001295,-0.008847,0.999960]]
2025-10-27T00:40:45.147Z,1761525645.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948596,-0.316475,-0.003161],[0.316491,-0.948557,-0.008536],[-0.000297,-0.009097,0.999959]]
2025-10-27T00:40:45.550Z,1761525645.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948611,-0.316433,-0.002627],[0.316444,-0.948567,-0.009118],[0.000393,-0.009480,0.999955]]
2025-10-27T00:40:45.669Z,1761525645.669 [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>

2025-10-27T00:40:45.689Z,1761525645.689 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-10-27T00:40:45.694Z,1761525645.694 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-10-27T00:40:45.699Z,1761525645.699 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-10-27T00:40:45.703Z,1761525645.703 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-10-27T00:40:45.707Z,1761525645.707 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-10-27T00:40:45.712Z,1761525645.712 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-10-27T00:40:45.716Z,1761525645.716 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-10-27T00:40:45.720Z,1761525645.720 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-10-27T00:40:45.724Z,1761525645.724 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-10-27T00:40:45.748Z,1761525645.748 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-10-27T00:40:45.756Z,1761525645.756 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-10-27T00:40:45.763Z,1761525645.763 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-10-27T00:40:45.771Z,1761525645.771 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-10-27T00:40:45.772Z,1761525645.772 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-27T00:40:45.772Z,1761525645.772 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-27T00:40:45.773Z,1761525645.773 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-27T00:40:45.924Z,1761525645.924 [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>

2025-10-27T00:40:45.933Z,1761525645.933 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-27T00:40:45.938Z,1761525645.938 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-27T00:40:45.955Z,1761525645.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949704,-0.313144,-0.001764],[0.313146,-0.949654,-0.009861],[0.001413,-0.009917,0.999950]]
2025-10-27T00:40:45.978Z,1761525645.978 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-27T00:40:45.990Z,1761525645.990 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-27T00:40:46.008Z,1761525646.008 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-27T00:40:46.035Z,1761525646.035 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-27T00:40:46.062Z,1761525646.062 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-27T00:40:46.148Z,1761525646.148 [DAT](INFO): DAT read: Rx Time:00:40:47.0535

2025-10-27T00:40:46.148Z,1761525646.148 [DAT](INFO): Rx dataTimestamp_ set to:1761525646.148145
2025-10-27T00:40:46.157Z,1761525646.157 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-27T00:40:46.157Z,1761525646.157 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-27T00:40:46.158Z,1761525646.158 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-27T00:40:46.203Z,1761525646.203 [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>

2025-10-27T00:40:46.212Z,1761525646.212 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-10-27T00:40:46.219Z,1761525646.219 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-27T00:40:46.222Z,1761525646.222 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-27T00:40:46.222Z,1761525646.222 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-27T00:40:46.228Z,1761525646.228 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-27T00:40:46.358Z,1761525646.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951616,-0.307290,-0.000753],[0.307282,-0.951567,-0.009938],[0.002337,-0.009688,0.999950]]
2025-10-27T00:40:46.512Z,1761525646.512 [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>

2025-10-27T00:40:46.521Z,1761525646.521 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-10-27T00:40:46.525Z,1761525646.525 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-10-27T00:40:46.544Z,1761525646.544 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-10-27T00:40:46.558Z,1761525646.558 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-10-27T00:40:46.584Z,1761525646.584 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-27T00:40:46.600Z,1761525646.600 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-27T00:40:46.609Z,1761525646.609 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-10-27T00:40:46.613Z,1761525646.613 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-27T00:40:46.613Z,1761525646.613 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-27T00:40:46.626Z,1761525646.626 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-27T00:40:46.657Z,1761525646.657 [DAT](INFO): DAT read: 00:40:47.0535 LVL= 14784, 20289, 11250, 16195, AGC= 40, IDX= 442, 0.29, 0.752, 1.817, 2.091, 3.017, PHS=-2.163,-1.156,-0.970, RAW= 261.7,  53.7, CAL= 263.2,  59.5, ROT= 246.8, -59.5

2025-10-27T00:40:46.658Z,1761525646.658 [DAT](INFO): got valid direction response:
 00:40:47.0535 LVL= 14784, 20289, 11250, 16195, AGC= 40, IDX= 442, 0.29, 0.752, 1.817, 2.091, 3.017, PHS=-2.163,-1.156,-0.970, RAW= 261.7,  53.7, CAL= 263.2,  59.5, ROT= 246.8, -59.5

2025-10-27T00:40:46.658Z,1761525646.658 [DAT](INFO): DAT read: OK

2025-10-27T00:40:46.658Z,1761525646.658 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T00:40:46.659Z,1761525646.659 [DAT](INFO): DAT read: user:201>

2025-10-27T00:40:46.660Z,1761525646.660 [DAT](INFO): DAT read: Tx time:00:40:48.1435

2025-10-27T00:40:46.660Z,1761525646.660 [DAT](INFO): Ping request sent.
2025-10-27T00:40:46.660Z,1761525646.660 [DAT](INFO): transmitted an acoustic signal
2025-10-27T00:40:46.661Z,1761525646.661 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-10-27T00:40:46.662Z,1761525646.662 [DAT](INFO): direction in FSK: [-0.199941,-0.466496,0.861629]
2025-10-27T00:40:46.662Z,1761525646.662 [DAT](INFO): publishing transmit ping time
2025-10-27T00:40:46.665Z,1761525646.665 [DAT](INFO): publishing transmit ping time
2025-10-27T00:40:46.762Z,1761525646.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954159,-0.299301,0.000327],[0.299283,-0.954112,-0.010040],[0.003317,-0.009482,0.999950]]
2025-10-27T00:40:47.168Z,1761525647.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957186,-0.289468,0.001534],[0.289441,-0.957148,-0.009567],[0.004238,-0.008714,0.999953]]
2025-10-27T00:40:47.570Z,1761525647.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960595,-0.277938,0.002806],[0.277906,-0.960570,-0.008591],[0.005083,-0.007473,0.999959]]
2025-10-27T00:40:47.974Z,1761525647.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964183,-0.265209,0.003931],[0.265173,-0.964169,-0.007851],[0.005872,-0.006527,0.999961]]
2025-10-27T00:40:48.380Z,1761525648.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967850,-0.251476,0.005087],[0.251440,-0.967849,-0.006780],[0.006628,-0.005283,0.999964]]
2025-10-27T00:40:48.782Z,1761525648.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971255,-0.237957,0.006296],[0.237926,-0.971269,-0.005372],[0.007393,-0.003720,0.999966]]
2025-10-27T00:40:49.175Z,1761525649.175 [DAT](INFO): DAT read: Rx Time:00:40:50.0036

2025-10-27T00:40:49.176Z,1761525649.176 [DAT](INFO): Rx dataTimestamp_ set to:1761525649.175382
2025-10-27T00:40:49.191Z,1761525649.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974455,-0.224454,0.007600],[0.224430,-0.974483,-0.003860],[0.008272,-0.002056,0.999964]]
2025-10-27T00:40:49.594Z,1761525649.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977356,-0.211404,0.009153],[0.211393,-0.977399,-0.002093],[0.009388,-0.000111,0.999956]]
2025-10-27T00:40:49.676Z,1761525649.676 [DAT](INFO): DAT read: OK

2025-10-27T00:40:49.676Z,1761525649.676 [DAT](INFO): unknown deviceResponse_: OK

2025-10-27T00:40:49.998Z,1761525649.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979804,-0.199670,0.010758],[0.199681,-0.979861,-0.000045],[0.010550,0.002104,0.999942]]
2025-10-27T00:40:50.404Z,1761525650.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981856,-0.189220,0.012441],[0.189253,-0.981927,0.001512],[0.011930,0.003839,0.999921]]
2025-10-27T00:40:50.806Z,1761525650.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983373,-0.181046,0.014110],[0.181113,-0.983456,0.003606],[0.013224,0.006101,0.999894]]
2025-10-27T00:40:51.011Z,1761525651.011 [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>

2025-10-27T00:40:51.054Z,1761525651.054 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-10-27T00:40:51.058Z,1761525651.058 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-27T00:40:51.061Z,1761525651.061 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-10-27T00:40:51.065Z,1761525651.065 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-10-27T00:40:51.069Z,1761525651.069 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-10-27T00:40:51.072Z,1761525651.072 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-10-27T00:40:51.104Z,1761525651.104 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-10-27T00:40:51.109Z,1761525651.109 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-10-27T00:40:51.142Z,1761525651.142 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-10-27T00:40:51.176Z,1761525651.176 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-27T00:40:51.217Z,1761525651.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984436,-0.175035,0.015737],[0.175140,-0.984528,0.005510],[0.014529,0.008181,0.999861]]
2025-10-27T00:40:51.229Z,1761525651.229 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-27T00:40:51.249Z,1761525651.249 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-10-27T00:40:51.257Z,1761525651.257 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-10-27T00:40:51.273Z,1761525651.273 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-10-27T00:40:51.282Z,1761525651.282 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-10-27T00:40:51.298Z,1761525651.298 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-27T00:40:51.311Z,1761525651.311 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-27T00:40:51.320Z,1761525651.320 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-27T00:40:51.339Z,1761525651.339 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-27T00:40:51.355Z,1761525651.355 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-27T00:40:51.363Z,1761525651.363 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-27T00:40:51.367Z,1761525651.367 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-27T00:40:51.374Z,1761525651.374 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-27T00:40:51.386Z,1761525651.386 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-27T00:40:51.390Z,1761525651.390 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-10-27T00:40:51.404Z,1761525651.404 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-10-27T00:40:51.409Z,1761525651.409 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-10-27T00:40:51.421Z,1761525651.421 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-10-27T00:40:51.426Z,1761525651.426 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-27T00:40:51.447Z,1761525651.447 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-27T00:40:51.454Z,1761525651.454 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-10-27T00:40:51.466Z,1761525651.466 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-10-27T00:40:51.474Z,1761525651.474 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-10-27T00:40:51.482Z,1761525651.482 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-10-27T00:40:51.490Z,1761525651.490 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-10-27T00:40:51.498Z,1761525651.498 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-27T00:40:51.506Z,1761525651.506 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-10-27T00:40:51.510Z,1761525651.510 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-10-27T00:40:51.537Z,1761525651.537 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-27T00:40:51.541Z,1761525651.541 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-10-27T00:40:51.557Z,1761525651.557 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-10-27T00:40:51.572Z,1761525651.572 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-10-27T00:40:51.577Z,1761525651.577 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-10-27T00:40:51.589Z,1761525651.589 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-10-27T00:40:51.595Z,1761525651.595 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-27T00:40:51.614Z,1761525651.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985002,-0.171693,0.017096],[0.171830,-0.985103,0.006851],[0.015665,0.009686,0.999830]]
2025-10-27T00:40:51.643Z,1761525651.643 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-27T00:40:51.655Z,1761525651.655 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-27T00:40:51.674Z,1761525651.674 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-27T00:40:51.684Z,1761525651.684 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-10-27T00:40:51.690Z,1761525651.690 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-10-27T00:40:51.714Z,1761525651.714 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-10-27T00:40:51.723Z,1761525651.723 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-10-27T00:40:51.739Z,1761525651.739 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-10-27T00:40:51.752Z,1761525651.752 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-10-27T00:40:51.765Z,1761525651.765 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l
2025-10-27T00:40:51.769Z,1761525651.769 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m
2025-10-27T00:40:51.781Z,1761525651.781 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-10-27T00:40:51.786Z,1761525651.786 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-10-27T00:40:51.802Z,1761525651.802 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-10-27T00:40:51.810Z,1761525651.810 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-10-27T00:40:51.822Z,1761525651.822 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-10-27T00:40:51.826Z,1761525651.826 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-10-27T00:40:51.834Z,1761525651.834 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-10-27T00:40:51.842Z,1761525651.842 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-10-27T00:40:51.851Z,1761525651.851 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-10-27T00:40:51.862Z,1761525651.862 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-10-27T00:40:51.874Z,1761525651.874 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-10-27T00:40:51.882Z,1761525651.882 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-10-27T00:40:51.895Z,1761525651.895 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-10-27T00:40:51.903Z,1761525651.903 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-10-27T00:40:51.911Z,1761525651.911 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-10-27T00:40:51.920Z,1761525651.920 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-10-27T00:40:51.933Z,1761525651.933 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-10-27T00:40:51.969Z,1761525651.969 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-10-27T00:40:51.977Z,1761525651.977 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-10-27T00:40:51.982Z,1761525651.982 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-10-27T00:40:51.997Z,1761525651.997 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-10-27T00:40:52.002Z,1761525652.002 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-10-27T00:40:52.019Z,1761525652.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985146,-0.170773,0.018016],[0.170928,-0.985255,0.007461],[0.016476,0.010429,0.999810]]
2025-10-27T00:40:52.038Z,1761525652.038 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-10-27T00:40:52.058Z,1761525652.058 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-27T00:40:52.070Z,1761525652.070 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-27T00:40:52.083Z,1761525652.083 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-27T00:40:52.098Z,1761525652.098 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-27T00:40:52.120Z,1761525652.120 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-27T00:40:52.126Z,1761525652.126 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-27T00:40:52.131Z,1761525652.131 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-27T00:40:52.143Z,1761525652.143 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-27T00:40:52.149Z,1761525652.149 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-27T00:40:52.165Z,1761525652.165 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-27T00:40:52.187Z,1761525652.187 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-27T00:40:52.220Z,1761525652.220 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-27T00:40:52.237Z,1761525652.237 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-27T00:40:52.241Z,1761525652.241 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-27T00:40:52.257Z,1761525652.257 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-27T00:40:52.261Z,1761525652.261 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-27T00:40:52.273Z,1761525652.273 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-27T00:40:52.278Z,1761525652.278 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-27T00:40:52.289Z,1761525652.289 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-27T00:40:52.294Z,1761525652.294 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-27T00:40:52.305Z,1761525652.305 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-27T00:40:52.310Z,1761525652.310 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-27T00:40:52.323Z,1761525652.323 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-27T00:40:52.334Z,1761525652.334 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-27T00:40:52.338Z,1761525652.338 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-27T00:40:52.346Z,1761525652.346 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-27T00:40:52.359Z,1761525652.359 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-27T00:40:52.366Z,1761525652.366 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-27T00:40:52.370Z,1761525652.370 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-27T00:40:52.378Z,1761525652.378 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-27T00:40:52.387Z,1761525652.387 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-27T00:40:52.403Z,1761525652.403 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-27T00:40:52.422Z,1761525652.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984940,-0.171908,0.018462],[0.172071,-0.985055,0.007629],[0.016875,0.010691,0.999800]]
2025-10-27T00:40:52.449Z,1761525652.449 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-27T00:40:52.457Z,1761525652.457 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-27T00:40:52.466Z,1761525652.466 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-27T00:40:52.487Z,1761525652.487 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-27T00:40:52.515Z,1761525652.515 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-27T00:40:52.528Z,1761525652.528 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-27T00:40:52.534Z,1761525652.534 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-27T00:40:52.554Z,1761525652.554 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-27T00:40:52.566Z,1761525652.566 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-10-27T00:40:52.579Z,1761525652.579 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-10-27T00:40:52.595Z,1761525652.595 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-10-27T00:40:52.603Z,1761525652.603 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-10-27T00:40:52.611Z,1761525652.611 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-10-27T00:40:52.620Z,1761525652.620 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-10-27T00:40:52.626Z,1761525652.626 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-10-27T00:40:52.643Z,1761525652.643 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-10-27T00:40:52.655Z,1761525652.655 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-10-27T00:40:52.661Z,1761525652.661 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-10-27T00:40:52.665Z,1761525652.665 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-10-27T00:40:52.670Z,1761525652.670 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-10-27T00:40:52.682Z,1761525652.682 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-10-27T00:40:52.690Z,1761525652.690 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-10-27T00:40:52.698Z,1761525652.698 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-10-27T00:40:52.707Z,1761525652.707 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-10-27T00:40:52.721Z,1761525652.721 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-10-27T00:40:52.775Z,1761525652.775 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T00:40:52.826Z,1761525652.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984191,-0.176103,0.018854],[0.176272,-0.984311,0.007715],[0.017199,0.010917,0.999792]]
2025-10-27T00:40:52.853Z,1761525652.853 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T00:40:52.933Z,1761525652.933 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T00:40:52.978Z,1761525652.978 [OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T00:40:53.005Z,1761525653.005 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T00:40:53.030Z,1761525653.030 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T00:40:53.053Z,1761525653.053 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T00:40:53.085Z,1761525653.085 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T00:40:53.109Z,1761525653.109 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T00:40:53.140Z,1761525653.140 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-27T00:40:53.214Z,1761525653.214 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T00:40:53.245Z,1761525653.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982954,-0.182894,0.018743],[0.183054,-0.983076,0.007195],[0.017110,0.010503,0.999798]]
2025-10-27T00:40:53.300Z,1761525653.300 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T00:40:53.376Z,1761525653.376 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T00:40:53.408Z,1761525653.408 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T00:40:53.481Z,1761525653.481 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T00:40:53.511Z,1761525653.511 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T00:40:53.577Z,1761525653.577 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-27T00:40:53.603Z,1761525653.603 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-27T00:40:53.634Z,1761525653.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981293,-0.191674,0.018060],[0.191812,-0.981412,0.006215],[0.016533,0.009563,0.999818]]
2025-10-27T00:40:53.700Z,1761525653.700 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-27T00:40:53.787Z,1761525653.787 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-10-27T00:40:53.792Z,1761525653.792 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-10-27T00:40:53.793Z,1761525653.793 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-10-27T00:40:53.808Z,1761525653.808 [OnDock:N.Docked](DEBUG): Construct.
2025-10-27T00:40:53.808Z,1761525653.808 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-10-27T00:40:53.847Z,1761525653.847 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-10-27T00:40:53.847Z,1761525653.847 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-27T00:40:53.968Z,1761525653.968 [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
    }
  }
}


2025-10-27T00:40:53.969Z,1761525653.969 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-10-27T00:40:54.038Z,1761525654.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979235,-0.202013,0.016994],[0.202120,-0.979349,0.004813],[0.015671,0.008148,0.999844]]
2025-10-27T00:40:54.079Z,1761525654.079 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-27T00:40:54.079Z,1761525654.079 [DefaultWithUndock] Running Loop=1
2025-10-27T00:40:54.079Z,1761525654.079 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-27T00:40:54.080Z,1761525654.080 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-27T00:40:54.080Z,1761525654.080 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-27T00:40:54.442Z,1761525654.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976776,-0.213694,0.015582],[0.213756,-0.976884,0.002421],[0.014705,0.005696,0.999876]]
2025-10-27T00:40:54.846Z,1761525654.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974000,-0.226128,0.013779],[0.226136,-0.974095,-0.000993],[0.013647,0.002148,0.999905]]
2025-10-27T00:40:55.283Z,1761525655.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971040,-0.238616,0.012017],[0.238595,-0.971114,-0.003127],[0.012416,-0.000169,0.999923]]
2025-10-27T00:40:55.654Z,1761525655.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967852,-0.251310,0.010340],[0.251278,-0.967906,-0.004287],[0.011086,-0.001551,0.999937]]
2025-10-27T00:40:56.058Z,1761525656.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964530,-0.263831,0.008665],[0.263789,-0.964564,-0.005674],[0.009855,-0.003187,0.999946]]
2025-10-27T00:40:56.464Z,1761525656.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961158,-0.275903,0.007280],[0.275861,-0.961177,-0.006223],[0.008715,-0.003973,0.999954]]
2025-10-27T00:40:56.866Z,1761525656.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957821,-0.287292,0.006464],[0.287254,-0.957834,-0.006306],[0.008003,-0.004184,0.999959]]
2025-10-27T00:40:57.305Z,1761525657.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954599,-0.297835,0.005899],[0.297797,-0.954607,-0.006529],[0.007576,-0.004476,0.999961]]
2025-10-27T00:40:57.674Z,1761525657.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951682,-0.307030,0.005811],[0.306988,-0.951687,-0.007039],[0.007691,-0.004915,0.999958]]
2025-10-27T00:40:58.080Z,1761525658.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949056,-0.315042,0.006402],[0.314995,-0.949064,-0.007421],[0.008414,-0.005026,0.999952]]
2025-10-27T00:40:58.236Z,1761525658.236 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour
2025-10-27T00:40:58.237Z,1761525658.237 [CommandExec](IMPORTANT): got command run
2025-10-27T00:40:58.241Z,1761525658.241 [CommandExec](IMPORTANT): Running 
2025-10-27T00:40:58.482Z,1761525658.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946781,-0.321790,0.007556],[0.321730,-0.946796,-0.008201],[0.009794,-0.005334,0.999938]]
2025-10-27T00:40:58.528Z,1761525658.528 [DefaultWithUndock] Stopped
2025-10-27T00:40:58.529Z,1761525658.529 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-27T00:40:58.529Z,1761525658.529 [DefaultWithUndock:A.Wait] Stopped
2025-10-27T00:40:58.529Z,1761525658.529 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-27T00:40:58.529Z,1761525658.529 [MissionManager](IMPORTANT): Started mission OnDock
2025-10-27T00:40:58.529Z,1761525658.529 [OnDock] Running Loop=1
2025-10-27T00:40:58.529Z,1761525658.529 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-10-27T00:40:58.529Z,1761525658.529 [OnDock:StandardEnvelopes] Running Loop=1
2025-10-27T00:40:58.529Z,1761525658.529 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-10-27T00:40:58.530Z,1761525658.530 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T00:40:58.530Z,1761525658.530 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-27T00:40:58.530Z,1761525658.530 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T00:40:58.530Z,1761525658.530 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-27T00:40:58.530Z,1761525658.530 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T00:40:58.530Z,1761525658.530 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-27T00:40:58.530Z,1761525658.530 [OnDock:BackseatDriver] Running Loop=1
2025-10-27T00:40:58.530Z,1761525658.530 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:PowerOnly] Running Loop=1
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:PowerOnly:A] Running Loop=1
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:PowerOnly:B] Running Loop=1
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:PowerOnly:C] Running Loop=1
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:PowerOnly:D] Running Loop=1
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-27T00:40:58.531Z,1761525658.531 [OnDock:dataRead] Running Loop=1
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:dataRead:A] Running Loop=1
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:science] Running Loop=1
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:science:Science] Running Loop=1
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:science:Science:A] Running Loop=1
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:science:Science:B] Running Loop=1
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:science:Science:C] Running Loop=1
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:science:Science:D] Running Loop=1
2025-10-27T00:40:58.532Z,1761525658.532 [OnDock:science:Science:E] Running Loop=1
2025-10-27T00:40:58.533Z,1761525658.533 [OnDock:science:Science:F] Running Loop=1
2025-10-27T00:40:58.533Z,1761525658.533 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-10-27T00:40:58.533Z,1761525658.533 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-10-27T00:40:58.533Z,1761525658.533 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-10-27T00:40:58.533Z,1761525658.533 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-10-27T00:40:58.534Z,1761525658.534 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-10-27T00:40:58.534Z,1761525658.534 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-10-27T00:40:58.534Z,1761525658.534 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-10-27T00:40:58.534Z,1761525658.534 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-10-27T00:40:58.534Z,1761525658.534 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-10-27T00:40:58.534Z,1761525658.534 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T00:40:58.534Z,1761525658.534 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T00:40:58.535Z,1761525658.535 [OnDock:science:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-27T00:40:58.535Z,1761525658.535 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChl
2025-10-27T00:40:58.535Z,1761525658.535 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-27T00:40:58.535Z,1761525658.535 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-10-27T00:40:58.535Z,1761525658.535 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-10-27T00:40:58.536Z,1761525658.536 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-10-27T00:40:58.536Z,1761525658.536 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-10-27T00:40:58.536Z,1761525658.536 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-10-27T00:40:58.536Z,1761525658.536 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-10-27T00:40:58.536Z,1761525658.536 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-10-27T00:40:58.536Z,1761525658.536 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-10-27T00:40:58.536Z,1761525658.536 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T00:40:58.536Z,1761525658.536 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T00:40:58.537Z,1761525658.537 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-10-27T00:40:58.537Z,1761525658.537 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-10-27T00:40:58.537Z,1761525658.537 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-27T00:40:58.537Z,1761525658.537 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-10-27T00:40:58.537Z,1761525658.537 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-10-27T00:40:58.537Z,1761525658.537 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-27T00:40:58.537Z,1761525658.537 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-10-27T00:40:58.537Z,1761525658.537 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-10-27T00:40:58.538Z,1761525658.538 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-27T00:40:58.538Z,1761525658.538 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-27T00:40:58.538Z,1761525658.538 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-27T00:40:58.538Z,1761525658.538 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-10-27T00:40:58.538Z,1761525658.538 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-27T00:40:58.538Z,1761525658.538 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-27T00:40:58.538Z,1761525658.538 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-27T00:40:58.539Z,1761525658.539 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-27T00:40:58.539Z,1761525658.539 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-27T00:40:58.539Z,1761525658.539 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-10-27T00:40:58.539Z,1761525658.539 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-27T00:40:58.539Z,1761525658.539 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-27T00:40:58.539Z,1761525658.539 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-27T00:40:58.539Z,1761525658.539 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-27T00:40:58.539Z,1761525658.539 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-27T00:40:58.540Z,1761525658.540 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-10-27T00:40:58.540Z,1761525658.540 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-27T00:40:58.540Z,1761525658.540 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-27T00:40:58.540Z,1761525658.540 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-10-27T00:40:58.540Z,1761525658.540 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-27T00:40:58.540Z,1761525658.540 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-27T00:40:58.540Z,1761525658.540 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-27T00:40:58.540Z,1761525658.540 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-27T00:40:58.540Z,1761525658.540 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-27T00:40:58.541Z,1761525658.541 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-27T00:40:58.541Z,1761525658.541 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-27T00:40:58.541Z,1761525658.541 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-10-27T00:40:58.541Z,1761525658.541 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-10-27T00:40:58.541Z,1761525658.541 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-27T00:40:58.541Z,1761525658.541 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-27T00:40:58.542Z,1761525658.542 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-10-27T00:40:58.542Z,1761525658.542 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-10-27T00:40:58.542Z,1761525658.542 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-10-27T00:40:58.542Z,1761525658.542 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-27T00:40:58.542Z,1761525658.542 [OnDock:J.] Running Loop=1
2025-10-27T00:40:58.542Z,1761525658.542 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-10-27T00:40:58.542Z,1761525658.542 [OnDock:PeriodicCheck] Running Loop=1
2025-10-27T00:40:58.542Z,1761525658.542 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-10-27T00:40:58.543Z,1761525658.543 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-10-27T00:40:58.563Z,1761525658.563 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-10-27T00:40:58.563Z,1761525658.563 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-10-27T00:40:58.563Z,1761525658.563 [OnDock:B] Running Loop=1
2025-10-27T00:40:58.564Z,1761525658.564 [OnDock:PeriodicCheck] Running Loop=1
2025-10-27T00:40:58.564Z,1761525658.564 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-10-27T00:40:58.564Z,1761525658.564 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-10-27T00:40:58.564Z,1761525658.564 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-10-27T00:40:58.564Z,1761525658.564 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-10-27T00:40:58.564Z,1761525658.564 [OnDock:J.] Running Loop=1
2025-10-27T00:40:58.572Z,1761525658.572 [OnDock:science] Stopped
2025-10-27T00:40:58.572Z,1761525658.572 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-10-27T00:40:58.572Z,1761525658.572 [OnDock:science:Science] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:A] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:B] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:C] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:D] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:E] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:F] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:Read_Oil] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:OceanCurrent] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:PeakDetectChl] Stopped
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-10-27T00:40:58.573Z,1761525658.573 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesChl
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-10-27T00:40:58.574Z,1761525658.574 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-10-27T00:40:58.575Z,1761525658.575 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-10-27T00:40:58.575Z,1761525658.575 [OnDock:science:Science:PeakDetectOil] Stopped
2025-10-27T00:40:58.579Z,1761525658.579 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-10-27T00:40:58.579Z,1761525658.579 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-10-27T00:40:58.579Z,1761525658.579 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-10-27T00:40:58.579Z,1761525658.579 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-10-27T00:40:58.579Z,1761525658.579 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T00:40:58.579Z,1761525658.579 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T00:40:58.579Z,1761525658.579 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-27T00:40:58.580Z,1761525658.580 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-27T00:40:58.581Z,1761525658.581 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-27T00:40:58.582Z,1761525658.582 [OnDock:dataRead] Running Loop=1
2025-10-27T00:40:58.588Z,1761525658.588 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-27T00:40:58.588Z,1761525658.588 [OnDock:PowerOnly] Running Loop=1
2025-10-27T00:40:58.588Z,1761525658.588 [OnDock:PowerOnly:D] Stopped
2025-10-27T00:40:58.588Z,1761525658.588 [OnDock:PowerOnly:C] Stopped
2025-10-27T00:40:58.588Z,1761525658.588 [OnDock:PowerOnly:B] Stopped
2025-10-27T00:40:58.588Z,1761525658.588 [OnDock:PowerOnly:A] Stopped
2025-10-27T00:40:58.588Z,1761525658.588 [OnDock:BackseatDriver] Running Loop=1
2025-10-27T00:40:58.589Z,1761525658.589 [OnDock:B] Stopped
2025-10-27T00:40:58.589Z,1761525658.589 [OnDock:C] Running Loop=1
2025-10-27T00:40:58.589Z,1761525658.589 [OnDock:StandardEnvelopes] Running Loop=1
2025-10-27T00:40:58.589Z,1761525658.589 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-27T00:40:58.589Z,1761525658.589 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-27T00:40:58.590Z,1761525658.590 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-27T00:40:58.656Z,1761525658.656 [CommandExec](IMPORTANT): got command ! ifconfig
2025-10-27T00:40:58.858Z,1761525658.858 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:834 errors:0 dropped:0 overruns:0 frame:0
            TX packets:1157 errors:0 dropped:0 overruns:0 carrier:0
            collisions:7 txqueuelen:1000 
            RX bytes:349007 (340.8 Kb)  TX bytes:164835 (160.9 Kb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:427 errors:0 dropped:0 overruns:0 frame:0
            TX packets:427 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:33974 (33.1 Kb)  TX bytes:33974 (33.1 Kb)
  
  
2025-10-27T00:40:59.138Z,1761525659.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944783,-0.327564,0.009273],[0.327487,-0.944814,-0.008910],[0.011680,-0.005381,0.999917]]
2025-10-27T00:40:59.169Z,1761525659.169 [OnDock:C] Stopped
2025-10-27T00:40:59.169Z,1761525659.169 [OnDock:D] Running Loop=1
2025-10-27T00:40:59.522Z,1761525659.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943014,-0.332559,0.011351],[0.332464,-0.943068,-0.009520],[0.013870,-0.005203,0.999890]]
2025-10-27T00:40:59.569Z,1761525659.569 [OnDock:D] Stopped
2025-10-27T00:40:59.569Z,1761525659.569 [OnDock:E] Running Loop=1
2025-10-27T00:40:59.926Z,1761525659.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941613,-0.336405,0.014032],[0.336292,-0.941707,-0.009837],[0.016523,-0.004543,0.999853]]
2025-10-27T00:40:59.956Z,1761525659.956 [OnDock:E] Stopped
2025-10-27T00:40:59.956Z,1761525659.956 [OnDock:K] Running Loop=1
2025-10-27T00:41:00.364Z,1761525660.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939774,-0.341166,0.020765],[0.341006,-0.939997,-0.010947],[0.023254,-0.003207,0.999724]]
2025-10-27T00:41:00.413Z,1761525660.413 [OnDock:K](IMPORTANT): Restarting logs
2025-10-27T00:41:00.413Z,1761525660.413 [OnDock:K] Stopped
2025-10-27T00:41:00.414Z,1761525660.414 [OnDock:L.Execute] Running Loop=1
2025-10-27T00:41:00.770Z,1761525660.770 [OnDock:L.Execute](INFO): Executing command restart logs
2025-10-27T00:41:00.770Z,1761525660.770 [OnDock:L.Execute] Stopped
2025-10-27T00:41:00.770Z,1761525660.770 [OnDock:N.Docked] Running Loop=1
2025-10-27T00:41:00.770Z,1761525660.770 [OnDock:N.Docked](DEBUG): Initialize.
2025-10-27T00:41:00.771Z,1761525660.771 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.