2025-10-27T03:20:41.997Z,1761535241.997 [lineCaptureHoming:BA.Execute] Stopped 2025-10-27T03:20:41.997Z,1761535241.997 [lineCaptureHoming:InitialDive] Running Loop=1 2025-10-27T03:20:41.998Z,1761535241.998 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive 2025-10-27T03:20:41.998Z,1761535241.998 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-10-27T03:20:41.998Z,1761535241.998 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize. 2025-10-27T03:20:41.998Z,1761535241.998 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-10-27T03:20:41.998Z,1761535241.998 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize. 2025-10-27T03:20:41.998Z,1761535241.998 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1 2025-10-27T03:20:41.998Z,1761535241.998 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize. 2025-10-27T03:20:42.020Z,1761535242.020 [CommandExec](IMPORTANT): got command restart logs 2025-10-27T03:20:42.369Z,1761535242.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445578,0.895154,0.012631],[-0.890683,0.441842,0.107054],[0.090249,-0.058951,0.994173]] 2025-10-27T03:20:42.444Z,1761535242.444 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-10-27T03:20:42.444Z,1761535242.444 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-10-27T03:20:42.770Z,1761535242.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420868,0.906913,0.019480],[-0.904275,0.417750,0.088161],[0.071816,-0.054719,0.995916]] 2025-10-27T03:20:43.174Z,1761535243.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419318,0.906550,0.048357],[-0.901185,0.409217,0.142853],[0.109715,-0.103479,0.988562]] 2025-10-27T03:20:43.578Z,1761535243.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440619,0.895069,0.068602],[-0.891743,0.427634,0.148067],[0.103194,-0.126416,0.986595]] 2025-10-27T03:20:43.872Z,1761535243.872 [DAT](INFO): DAT read: Response Not Received 2025-10-27T03:20:43.872Z,1761535243.872 [DAT](INFO): response not received 2025-10-27T03:20:43.872Z,1761535243.872 [DAT](ERROR): No response from remote modem. 2025-10-27T03:20:44.386Z,1761535244.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363629,0.923618,0.121261],[-0.931299,0.357454,0.070066],[0.021368,-0.138409,0.990145]] 2025-10-27T03:20:44.790Z,1761535244.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388723,0.910757,0.139341],[-0.920949,0.379594,0.088101],[0.027345,-0.162573,0.986318]] 2025-10-27T03:20:45.194Z,1761535245.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419873,0.904020,0.080337],[-0.907478,0.416831,0.052304],[0.013797,-0.094865,0.995395]] 2025-10-27T03:20:46.001Z,1761535246.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377063,0.926186,-0.001526],[-0.920309,0.374855,0.111871],[0.104185,-0.040778,0.993722]] 2025-10-27T03:20:46.810Z,1761535246.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371902,0.907403,0.195728],[-0.928017,0.358500,0.101302],[0.021753,-0.219313,0.975412]] 2025-10-27T03:20:47.214Z,1761535247.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399895,0.894398,0.200339],[-0.916327,0.395068,0.065320],[-0.020726,-0.209697,0.977547]] 2025-10-27T03:20:47.618Z,1761535247.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459063,0.886353,0.060334],[-0.888236,0.459237,0.011764],[-0.017280,-0.058991,0.998109]] 2025-10-27T03:20:48.022Z,1761535248.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436641,0.897565,-0.061001],[-0.899255,0.437424,-0.000573],[0.026169,0.055105,0.998138]] 2025-10-27T03:20:48.426Z,1761535248.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358280,0.932024,-0.054466],[-0.932036,0.360456,0.037161],[0.054267,0.037451,0.997824]] 2025-10-27T03:20:48.845Z,1761535248.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352587,0.935150,0.034295],[-0.935121,0.350728,0.050385],[0.035089,-0.049835,0.998141]] 2025-10-27T03:20:49.239Z,1761535249.239 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:20:50.042Z,1761535250.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299583,0.940298,0.161522],[-0.953103,0.287339,0.095027],[0.042942,-0.182416,0.982283]] 2025-10-27T03:20:50.854Z,1761535250.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311540,0.944555,0.103719],[-0.948002,0.301478,0.101992],[0.065068,-0.130100,0.989363]] 2025-10-27T03:20:51.282Z,1761535251.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302593,0.950562,0.069784],[-0.945408,0.290043,0.148590],[0.121003,-0.110936,0.986434]] 2025-10-27T03:20:51.657Z,1761535251.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262590,0.961902,0.076097],[-0.958390,0.250853,0.136241],[0.111961,-0.108706,0.987749]] 2025-10-27T03:20:52.080Z,1761535252.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225737,0.965247,0.131686],[-0.965585,0.203764,0.161638],[0.129188,-0.163641,0.978025]] 2025-10-27T03:20:52.977Z,1761535252.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288000,0.941733,0.173763],[-0.950956,0.259861,0.167793],[0.112862,-0.213566,0.970387]] 2025-10-27T03:20:53.377Z,1761535253.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207490,0.965568,0.156925],[-0.975443,0.192103,0.107733],[0.073878,-0.175425,0.981717]] 2025-10-27T03:20:53.386Z,1761535253.386 [NAL9602](INFO): SBD MO Status=0, MOMSN=3005, MT Status=0, MTMSN=0 2025-10-27T03:20:53.386Z,1761535253.386 [NAL9602](INFO): No messages in MT queue 2025-10-27T03:20:53.782Z,1761535253.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208177,0.956856,0.202703],[-0.977637,0.197248,0.072932],[0.029803,-0.213353,0.976521]] 2025-10-27T03:20:54.186Z,1761535254.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279856,0.944000,0.174768],[-0.959431,0.268513,0.085978],[0.034235,-0.191740,0.980849]] 2025-10-27T03:20:54.602Z,1761535254.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253260,0.961599,0.105769],[-0.965672,0.244765,0.086988],[0.057759,-0.124168,0.990579]] 2025-10-27T03:20:55.006Z,1761535255.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217233,0.963039,0.159267],[-0.974330,0.204053,0.095095],[0.059082,-0.175836,0.982645]] 2025-10-27T03:20:55.410Z,1761535255.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234864,0.946618,0.220802],[-0.971986,0.226593,0.062443],[0.009077,-0.229282,0.973318]] 2025-10-27T03:20:55.820Z,1761535255.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223580,0.959105,0.173580],[-0.974683,0.219608,0.042014],[0.002176,-0.178579,0.983923]] 2025-10-27T03:20:56.218Z,1761535256.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210298,0.971175,0.112225],[-0.976163,0.202292,0.078633],[0.053664,-0.126086,0.990567]] 2025-10-27T03:20:56.622Z,1761535256.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252875,0.966297,0.048218],[-0.964940,0.248270,0.085167],[0.070325,-0.068064,0.995199]] 2025-10-27T03:20:57.059Z,1761535257.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298808,0.954225,-0.013001],[-0.951587,0.298956,0.071463],[0.072078,-0.008982,0.997359]] 2025-10-27T03:20:57.458Z,1761535257.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272126,0.962096,0.017872],[-0.958643,0.269447,0.091664],[0.083374,-0.042077,0.995630]] 2025-10-27T03:20:57.861Z,1761535257.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291217,0.949543,0.116447],[-0.955199,0.281893,0.090175],[0.052799,-0.137491,0.989095]] 2025-10-27T03:20:58.329Z,1761535258.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247465,0.955483,0.160664],[-0.957008,0.215147,0.194546],[0.151320,-0.201900,0.967646]] 2025-10-27T03:20:59.074Z,1761535259.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246442,0.956466,0.156327],[-0.947499,0.203869,0.246341],[0.203747,-0.208829,0.956492]] 2025-10-27T03:20:59.478Z,1761535259.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292086,0.945846,0.141639],[-0.944012,0.261374,0.201310],[0.153388,-0.192509,0.969233]] 2025-10-27T03:20:59.893Z,1761535259.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332494,0.929643,0.158780],[-0.942681,0.332648,0.026397],[-0.028278,-0.158456,0.986961]] 2025-10-27T03:21:00.331Z,1761535260.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364020,0.919130,0.150630],[-0.931358,0.360576,0.050568],[-0.007835,-0.158698,0.987296]] 2025-10-27T03:21:00.701Z,1761535260.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357695,0.928958,0.095344],[-0.931941,0.348598,0.099829],[0.059501,-0.124563,0.990426]] 2025-10-27T03:21:01.098Z,1761535261.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349154,0.932648,0.090881],[-0.930315,0.333385,0.152864],[0.112270,-0.137922,0.984060]] 2025-10-27T03:21:01.502Z,1761535261.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345610,0.929861,0.126141],[-0.924100,0.313902,0.217957],[0.163074,-0.191895,0.967772]] 2025-10-27T03:21:01.902Z,1761535261.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365572,0.904572,0.219334],[-0.923801,0.323802,0.204315],[0.113797,-0.277313,0.954017]] 2025-10-27T03:21:02.332Z,1761535262.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380765,0.878136,0.289648],[-0.924310,0.352693,0.145805],[0.025880,-0.323242,0.945963]] 2025-10-27T03:21:02.726Z,1761535262.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394058,0.876581,0.276268],[-0.918897,0.381840,0.099123],[-0.018601,-0.292922,0.955955]] 2025-10-27T03:21:02.883Z,1761535262.883 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:21:03.113Z,1761535263.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401606,0.900665,0.165878],[-0.915439,0.399975,0.044622],[-0.026158,-0.169772,0.985136]] 2025-10-27T03:21:03.518Z,1761535263.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400255,0.912671,0.082624],[-0.916165,0.400578,0.013360],[-0.020904,-0.081045,0.996491]] 2025-10-27T03:21:04.335Z,1761535264.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384360,0.917902,0.098603],[-0.914775,0.364299,0.174564],[0.124312,-0.157295,0.979696]] 2025-10-27T03:21:04.733Z,1761535264.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414129,0.895641,0.162248],[-0.906937,0.390907,0.157025],[0.077214,-0.212178,0.974176]] 2025-10-27T03:21:05.134Z,1761535265.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438973,0.880040,0.181196],[-0.898345,0.433622,0.070336],[-0.016672,-0.193652,0.980929]] 2025-10-27T03:21:05.539Z,1761535265.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429024,0.889722,0.155988],[-0.903078,0.426246,0.052578],[-0.019710,-0.163427,0.986359]] 2025-10-27T03:21:05.942Z,1761535265.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425403,0.898206,0.110714],[-0.902225,0.411331,0.129604],[0.070872,-0.155023,0.985366]] 2025-10-27T03:21:06.346Z,1761535266.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465204,0.882303,0.071604],[-0.871525,0.442350,0.211594],[0.155016,-0.160839,0.974731]] 2025-10-27T03:21:06.752Z,1761535266.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459255,0.885979,0.064235],[-0.876040,0.439754,0.197915],[0.147101,-0.147166,0.978112]] 2025-10-27T03:21:07.155Z,1761535267.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446867,0.878886,0.166939],[-0.890849,0.420106,0.172912],[0.081838,-0.225986,0.970687]] 2025-10-27T03:21:07.558Z,1761535267.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450134,0.847559,0.281111],[-0.892622,0.435762,0.115488],[-0.024615,-0.302911,0.952701]] 2025-10-27T03:21:07.962Z,1761535267.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460585,0.855687,0.235925],[-0.887614,0.444494,0.120693],[-0.001592,-0.265000,0.964247]] 2025-10-27T03:21:08.366Z,1761535268.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486044,0.862515,0.140815],[-0.872941,0.471467,0.125272],[0.041659,-0.183811,0.982078]] 2025-10-27T03:21:08.777Z,1761535268.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492721,0.864514,0.099200],[-0.869221,0.483596,0.102905],[0.040990,-0.136930,0.989732]] 2025-10-27T03:21:09.174Z,1761535269.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471480,0.877822,0.084474],[-0.878928,0.459915,0.126351],[0.072063,-0.133818,0.988382]] 2025-10-27T03:21:09.578Z,1761535269.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479997,0.871818,0.097656],[-0.868116,0.455997,0.196065],[0.126402,-0.178887,0.975716]] 2025-10-27T03:21:09.982Z,1761535269.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528472,0.830426,0.176381],[-0.846708,0.500482,0.180563],[0.061669,-0.244766,0.967619]] 2025-10-27T03:21:10.418Z,1761535270.418 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -3, -530,A 2025-10-27T03:21:10.790Z,1761535270.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508719,0.846621,0.156325],[-0.860927,0.499631,0.095777],[0.002982,-0.183307,0.983051]] 2025-10-27T03:21:11.193Z,1761535271.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522508,0.849445,0.073678],[-0.851594,0.515651,0.094301],[0.042112,-0.112017,0.992814]] 2025-10-27T03:21:11.601Z,1761535271.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538665,0.842397,0.014388],[-0.840107,0.535752,0.084790],[0.063719,-0.057761,0.996295]] 2025-10-27T03:21:12.002Z,1761535272.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545241,0.838131,0.015776],[-0.835261,0.541585,0.094996],[0.071075,-0.064973,0.995353]] 2025-10-27T03:21:12.399Z,1761535272.399 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:21:12.826Z,1761535272.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533502,0.832907,0.147112],[-0.845194,0.518413,0.129985],[0.032000,-0.193685,0.980542]] 2025-10-27T03:21:13.214Z,1761535273.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530543,0.825571,0.192240],[-0.847558,0.513179,0.135248],[0.013003,-0.234689,0.971984]] 2025-10-27T03:21:14.023Z,1761535274.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597730,0.800894,0.035877],[-0.800139,0.593182,0.088954],[0.049961,-0.081878,0.995389]] 2025-10-27T03:21:14.838Z,1761535274.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488625,0.860826,-0.142209],[-0.849585,0.506538,0.147054],[0.198622,0.048964,0.978852]] 2025-10-27T03:21:15.234Z,1761535275.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431009,0.902162,0.018334],[-0.889270,0.421228,0.178229],[0.153068,-0.093122,0.983818]] 2025-10-27T03:21:15.640Z,1761535275.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445946,0.882185,0.151267],[-0.894031,0.430922,0.122537],[0.042916,-0.189883,0.980868]] 2025-10-27T03:21:16.047Z,1761535276.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471158,0.871915,0.133322],[-0.881200,0.458667,0.114502],[0.038685,-0.171432,0.984436]] 2025-10-27T03:21:16.855Z,1761535276.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463432,0.883533,0.067825],[-0.885921,0.463633,0.013705],[-0.019338,-0.066439,0.997603]] 2025-10-27T03:21:17.260Z,1761535277.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467135,0.875422,0.124182],[-0.872485,0.479158,-0.095798],[-0.143367,-0.063597,0.987624]] 2025-10-27T03:21:17.662Z,1761535277.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412220,0.888308,0.202442],[-0.908068,0.418650,0.012020],[-0.074075,-0.188785,0.979221]] 2025-10-27T03:21:18.072Z,1761535278.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479482,0.824260,0.301153],[-0.874271,0.419033,0.245075],[0.075812,-0.380798,0.921545]] 2025-10-27T03:21:18.885Z,1761535278.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515523,0.826113,0.227537],[-0.856860,0.498636,0.130970],[-0.005262,-0.262486,0.964922]] 2025-10-27T03:21:19.282Z,1761535279.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536628,0.843147,0.033664],[-0.841972,0.532390,0.087426],[0.055791,-0.075259,0.995602]] 2025-10-27T03:21:19.687Z,1761535279.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565403,0.822256,-0.064920],[-0.822925,0.567682,0.023047],[0.055804,0.040393,0.997624]] 2025-10-27T03:21:20.113Z,1761535280.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576536,0.810706,-0.101787],[-0.813812,0.580879,0.016997],[0.072906,0.073036,0.994661]] 2025-10-27T03:21:20.496Z,1761535280.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593162,0.798732,-0.100932],[-0.797525,0.600095,0.061964],[0.110061,0.043741,0.992962]] 2025-10-27T03:21:20.898Z,1761535280.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584881,0.807785,-0.073465],[-0.789999,0.587844,0.174188],[0.183893,-0.043842,0.981968]] 2025-10-27T03:21:21.310Z,1761535281.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553842,0.830047,-0.065425],[-0.806584,0.554361,0.205200],[0.206595,-0.060878,0.976531]] 2025-10-27T03:21:21.714Z,1761535281.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556476,0.829211,0.052373],[-0.819571,0.537464,0.198583],[0.136518,-0.153430,0.978684]] 2025-10-27T03:21:21.980Z,1761535281.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:21:22.113Z,1761535282.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574352,0.817035,0.050734],[-0.798150,0.545152,0.256449],[0.181870,-0.187785,0.965225]] 2025-10-27T03:21:22.918Z,1761535282.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530750,0.845883,-0.052783],[-0.801580,0.521229,0.292900],[0.275271,-0.113147,0.954685]] 2025-10-27T03:21:23.323Z,1761535283.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508905,0.859381,-0.049797],[-0.800923,0.493903,0.338500],[0.315496,-0.132381,0.939648]] 2025-10-27T03:21:23.731Z,1761535283.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496541,0.867886,-0.014839],[-0.807165,0.467953,0.359868],[0.319268,-0.166712,0.932885]] 2025-10-27T03:21:24.136Z,1761535284.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499875,0.865877,0.019521],[-0.810612,0.459795,0.362624],[0.305012,-0.197090,0.931731]] 2025-10-27T03:21:24.140Z,1761535284.140 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-27T03:21:24.534Z,1761535284.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495314,0.868341,-0.025440],[-0.801917,0.468294,0.370986],[0.334056,-0.163354,0.928290]] 2025-10-27T03:21:24.938Z,1761535284.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497231,0.862756,-0.091720],[-0.779357,0.490601,0.389761],[0.381267,-0.122318,0.916337]] 2025-10-27T03:21:25.748Z,1761535285.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487780,0.859964,-0.150109],[-0.762003,0.503335,0.407438],[0.425937,-0.084357,0.900812]] 2025-10-27T03:21:26.149Z,1761535286.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437811,0.885643,-0.154784],[-0.782369,0.460118,0.419749],[0.442967,-0.062673,0.894345]] 2025-10-27T03:21:26.554Z,1761535286.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406062,0.907966,-0.103498],[-0.806124,0.409237,0.427421],[0.430439,-0.090128,0.898109]] 2025-10-27T03:21:26.958Z,1761535286.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426997,0.904236,0.005494],[-0.798324,0.374115,0.471928],[0.424679,-0.205898,0.881620]] 2025-10-27T03:21:27.362Z,1761535287.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427590,0.903703,0.022094],[-0.780799,0.356900,0.512811],[0.455543,-0.236524,0.858217]] 2025-10-27T03:21:27.768Z,1761535287.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396075,0.918032,-0.018520],[-0.774063,0.344675,0.531060],[0.493913,-0.196004,0.847132]] 2025-10-27T03:21:28.170Z,1761535288.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389924,0.920845,-0.001930],[-0.772574,0.328279,0.543473],[0.501088,-0.210421,0.839425]] 2025-10-27T03:21:28.574Z,1761535288.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386713,0.922048,0.016723],[-0.772937,0.314177,0.551235],[0.503012,-0.226096,0.834182]] 2025-10-27T03:21:28.978Z,1761535288.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378771,0.925451,0.008527],[-0.764550,0.307699,0.566378],[0.521532,-0.221047,0.824101]] 2025-10-27T03:21:29.382Z,1761535289.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361463,0.932361,-0.006845],[-0.745755,0.293509,0.598082],[0.559637,-0.211080,0.801406]] 2025-10-27T03:21:29.393Z,1761535289.393 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 22.43 mm (2 active estimators). 2025-10-27T03:21:29.796Z,1761535289.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356947,0.933917,-0.019680],[-0.708120,0.284267,0.646342],[0.609224,-0.216775,0.762794]] 2025-10-27T03:21:30.193Z,1761535290.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376545,0.926291,-0.014092],[-0.674664,0.284617,0.681045],[0.634856,-0.246936,0.732106]] 2025-10-27T03:21:30.593Z,1761535290.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391831,0.919099,-0.041545],[-0.667676,0.315132,0.674463],[0.632990,-0.236537,0.737139]] 2025-10-27T03:21:30.997Z,1761535290.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388741,0.916119,-0.098011],[-0.679065,0.356786,0.641540],[0.622696,-0.182837,0.760802]] 2025-10-27T03:21:31.402Z,1761535291.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374866,0.915683,-0.144912],[-0.693162,0.380635,0.612082],[0.615631,-0.129001,0.777404]] 2025-10-27T03:21:31.419Z,1761535291.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:21:31.528Z,1761535291.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:21:31.528Z,1761535291.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:21:31.781Z,1761535291.781 [DAT](INFO): DAT read: user:301> 2025-10-27T03:21:31.782Z,1761535291.782 [DAT](INFO): DAT read: Tx time:03:21:33.1624 2025-10-27T03:21:31.783Z,1761535291.783 [DAT](INFO): Ping request sent. 2025-10-27T03:21:31.783Z,1761535291.783 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:21:31.784Z,1761535291.784 [DAT](INFO): publishing transmit ping time 2025-10-27T03:21:31.784Z,1761535291.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001060 2025-10-27T03:21:31.818Z,1761535291.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371450,0.917446,-0.142543],[-0.699035,0.377391,0.607393],[0.611044,-0.125974,0.781508]] 2025-10-27T03:21:32.032Z,1761535292.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248871 2025-10-27T03:21:32.210Z,1761535292.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386529,0.915458,-0.111944],[-0.686684,0.366691,0.627697],[0.615679,-0.165753,0.770367]] 2025-10-27T03:21:32.287Z,1761535292.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503618 2025-10-27T03:21:32.536Z,1761535292.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752749 2025-10-27T03:21:32.614Z,1761535292.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405011,0.907565,-0.110867],[-0.662761,0.374947,0.648200],[0.629852,-0.189050,0.753356]] 2025-10-27T03:21:32.789Z,1761535292.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006359 2025-10-27T03:21:33.020Z,1761535293.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415360,0.896882,-0.151914],[-0.648374,0.409033,0.642109],[0.638034,-0.168209,0.751411]] 2025-10-27T03:21:33.040Z,1761535293.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256849 2025-10-27T03:21:33.292Z,1761535293.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509322 2025-10-27T03:21:33.423Z,1761535293.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418258,0.886445,-0.198182],[-0.653641,0.445232,0.611982],[0.630725,-0.126427,0.765638]] 2025-10-27T03:21:33.545Z,1761535293.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761590 2025-10-27T03:21:33.796Z,1761535293.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012955 2025-10-27T03:21:33.826Z,1761535293.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424320,0.878119,-0.221041],[-0.666396,0.468097,0.580345],[0.613081,-0.098951,0.783799]] 2025-10-27T03:21:34.048Z,1761535294.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264752 2025-10-27T03:21:34.232Z,1761535294.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423922,0.877329,-0.224907],[-0.672667,0.471270,0.570459],[0.606472,-0.090543,0.789932]] 2025-10-27T03:21:34.302Z,1761535294.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519072 2025-10-27T03:21:34.552Z,1761535294.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768736 2025-10-27T03:21:34.635Z,1761535294.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418043,0.880290,-0.224343],[-0.670680,0.465646,0.577375],[0.612722,-0.090905,0.785053]] 2025-10-27T03:21:34.804Z,1761535294.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020768 2025-10-27T03:21:35.038Z,1761535295.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412961,0.883919,-0.219430],[-0.666249,0.457467,0.588928],[0.620947,-0.097009,0.777827]] 2025-10-27T03:21:35.056Z,1761535295.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272924 2025-10-27T03:21:35.308Z,1761535295.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524747 2025-10-27T03:21:35.560Z,1761535295.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776776 2025-10-27T03:21:35.812Z,1761535295.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028814 2025-10-27T03:21:35.846Z,1761535295.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427624,0.881027,-0.202312],[-0.659426,0.457116,0.596826],[0.618300,-0.121807,0.776446]] 2025-10-27T03:21:36.064Z,1761535296.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280691 2025-10-27T03:21:36.275Z,1761535296.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431673,0.878188,-0.206019],[-0.657185,0.462634,0.595044],[0.617873,-0.121472,0.776839]] 2025-10-27T03:21:36.316Z,1761535296.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533027 2025-10-27T03:21:36.568Z,1761535296.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784792 2025-10-27T03:21:36.820Z,1761535296.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036808 2025-10-27T03:21:37.072Z,1761535297.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288715 2025-10-27T03:21:37.324Z,1761535297.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540794 2025-10-27T03:21:37.462Z,1761535297.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417982,0.876972,-0.237089],[-0.646967,0.470567,0.600001],[0.637750,-0.097401,0.764060]] 2025-10-27T03:21:37.576Z,1761535297.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792950 2025-10-27T03:21:37.828Z,1761535297.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045022 2025-10-27T03:21:37.872Z,1761535297.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416099,0.878094,-0.236248],[-0.645075,0.468159,0.603908],[0.640889,-0.098888,0.761237]] 2025-10-27T03:21:38.080Z,1761535298.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296811 2025-10-27T03:21:38.313Z,1761535298.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415481,0.878015,-0.237626],[-0.642788,0.468251,0.606271],[0.643583,-0.099151,0.758927]] 2025-10-27T03:21:38.332Z,1761535298.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548811 2025-10-27T03:21:38.584Z,1761535298.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800719 2025-10-27T03:21:38.674Z,1761535298.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413330,0.876810,-0.245688],[-0.636979,0.471223,0.610087],[0.650704,-0.095669,0.753281]] 2025-10-27T03:21:38.836Z,1761535298.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052691 2025-10-27T03:21:39.078Z,1761535299.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409302,0.875491,-0.256879],[-0.627852,0.474544,0.616935],[0.662022,-0.091231,0.743911]] 2025-10-27T03:21:39.088Z,1761535299.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304872 2025-10-27T03:21:39.340Z,1761535299.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556742 2025-10-27T03:21:39.483Z,1761535299.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406777,0.873761,-0.266599],[-0.619033,0.478261,0.622949],[0.671812,-0.088367,0.735432]] 2025-10-27T03:21:39.592Z,1761535299.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808816 2025-10-27T03:21:39.844Z,1761535299.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060763 2025-10-27T03:21:39.886Z,1761535299.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405962,0.873258,-0.269471],[-0.614606,0.479100,0.626676],[0.676354,-0.088788,0.731206]] 2025-10-27T03:21:40.096Z,1761535300.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312761 2025-10-27T03:21:40.317Z,1761535300.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406888,0.873734,-0.266516],[-0.614813,0.477724,0.627522],[0.675609,-0.091474,0.731564]] 2025-10-27T03:21:40.348Z,1761535300.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564816 2025-10-27T03:21:40.600Z,1761535300.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816768 2025-10-27T03:21:40.697Z,1761535300.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408722,0.874995,-0.259481],[-0.618053,0.474561,0.626739],[0.671533,-0.095789,0.734757]] 2025-10-27T03:21:40.852Z,1761535300.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068716 2025-10-27T03:21:41.099Z,1761535301.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410238,0.876193,-0.252963],[-0.622837,0.471794,0.624087],[0.666167,-0.098470,0.739273]] 2025-10-27T03:21:41.104Z,1761535301.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320913 2025-10-27T03:21:41.356Z,1761535301.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572720 2025-10-27T03:21:41.608Z,1761535301.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825131 2025-10-27T03:21:41.860Z,1761535301.860 [DAT](INFO): Reached modem response timeout 2025-10-27T03:21:41.906Z,1761535301.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416681,0.879471,-0.230014],[-0.632067,0.462147,0.622022],[0.653351,-0.113800,0.748453]] 2025-10-27T03:21:42.321Z,1761535302.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419627,0.881995,-0.214470],[-0.634294,0.453946,0.625783],[0.649295,-0.126558,0.749932]] 2025-10-27T03:21:43.119Z,1761535303.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420350,0.884590,-0.202007],[-0.631099,0.444989,0.635374],[0.651936,-0.139593,0.745314]] 2025-10-27T03:21:43.522Z,1761535303.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419712,0.884072,-0.205569],[-0.625574,0.445856,0.640210],[0.657646,-0.140105,0.740184]] 2025-10-27T03:21:43.931Z,1761535303.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418585,0.879418,-0.226741],[-0.618652,0.458890,0.637722],[0.664873,-0.126668,0.736138]] 2025-10-27T03:21:44.128Z,1761535304.128 [DAT](INFO): DAT read: Response Not Received 2025-10-27T03:21:44.128Z,1761535304.128 [DAT](INFO): response not received 2025-10-27T03:21:44.128Z,1761535304.128 [DAT](ERROR): No response from remote modem. 2025-10-27T03:21:44.335Z,1761535304.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423539,0.861493,-0.280080],[-0.606242,0.499296,0.619011],[0.673116,-0.092379,0.733745]] 2025-10-27T03:21:44.742Z,1761535304.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427066,0.858064,-0.285203],[-0.604429,0.505492,0.615746],[0.672518,-0.090579,0.734517]] 2025-10-27T03:21:45.546Z,1761535305.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432730,0.864482,-0.255766],[-0.611072,0.489849,0.621803],[0.662824,-0.112781,0.740233]] 2025-10-27T03:21:45.948Z,1761535305.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436968,0.868259,-0.234917],[-0.616207,0.479221,0.625009],[0.655247,-0.128351,0.744431]] 2025-10-27T03:21:46.758Z,1761535306.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443010,0.871481,-0.210388],[-0.621684,0.467707,0.628299],[0.645950,-0.147548,0.748984]] 2025-10-27T03:21:47.159Z,1761535307.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440371,0.873021,-0.209540],[-0.622360,0.465048,0.629602],[0.647102,-0.146850,0.748127]] 2025-10-27T03:21:47.562Z,1761535307.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436427,0.875137,-0.208967],[-0.622682,0.461426,0.631944],[0.649460,-0.145678,0.746311]] 2025-10-27T03:21:47.967Z,1761535307.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431924,0.877695,-0.207591],[-0.623093,0.456796,0.634896],[0.652071,-0.144878,0.744186]] 2025-10-27T03:21:48.370Z,1761535308.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428390,0.879389,-0.207741],[-0.623619,0.454109,0.636305],[0.653897,-0.143035,0.742940]] 2025-10-27T03:21:48.782Z,1761535308.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425931,0.880230,-0.209233],[-0.623634,0.453174,0.636957],[0.655488,-0.140815,0.741962]] 2025-10-27T03:21:49.178Z,1761535309.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425045,0.879479,-0.214133],[-0.622496,0.455754,0.636229],[0.657142,-0.137128,0.741188]] 2025-10-27T03:21:49.588Z,1761535309.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425184,0.877686,-0.221102],[-0.620461,0.460491,0.634805],[0.658974,-0.132724,0.740363]] 2025-10-27T03:21:49.986Z,1761535309.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425639,0.875577,-0.228465],[-0.618070,0.465713,0.633326],[0.660924,-0.128361,0.739393]] 2025-10-27T03:21:50.390Z,1761535310.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425772,0.873856,-0.234723],[-0.616301,0.470008,0.631875],[0.662489,-0.124375,0.738674]] 2025-10-27T03:21:50.794Z,1761535310.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425506,0.872956,-0.238521],[-0.615697,0.472427,0.630658],[0.663221,-0.121492,0.738497]] 2025-10-27T03:21:51.208Z,1761535311.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425935,0.872898,-0.237966],[-0.616503,0.472519,0.629801],[0.662196,-0.121548,0.739407]] 2025-10-27T03:21:51.605Z,1761535311.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427844,0.873673,-0.231613],[-0.618552,0.469865,0.629778],[0.659047,-0.126182,0.741441]] 2025-10-27T03:21:52.006Z,1761535312.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432118,0.873937,-0.222502],[-0.620888,0.467248,0.629426],[0.654043,-0.133837,0.744524]] 2025-10-27T03:21:52.410Z,1761535312.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438352,0.872869,-0.214355],[-0.622871,0.466948,0.627687],[0.647981,-0.141632,0.748372]] 2025-10-27T03:21:52.815Z,1761535312.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444842,0.870723,-0.209661],[-0.624359,0.469332,0.624423],[0.642100,-0.146866,0.752422]] 2025-10-27T03:21:53.218Z,1761535313.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449882,0.868594,-0.207728],[-0.625562,0.472480,0.620834],[0.637400,-0.149355,0.755919]] 2025-10-27T03:21:53.626Z,1761535313.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453388,0.867134,-0.206200],[-0.626640,0.474625,0.618105],[0.633847,-0.151028,0.758570]] 2025-10-27T03:21:53.959Z,1761535313.959 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:21:54.026Z,1761535314.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455113,0.866641,-0.204466],[-0.628028,0.475199,0.616252],[0.631231,-0.152054,0.760544]] 2025-10-27T03:21:54.430Z,1761535314.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455609,0.865854,-0.206680],[-0.629779,0.477613,0.612588],[0.629125,-0.148938,0.762902]] 2025-10-27T03:21:54.833Z,1761535314.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456158,0.863953,-0.213321],[-0.631719,0.483211,0.606167],[0.626778,-0.141749,0.766196]] 2025-10-27T03:21:55.654Z,1761535315.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457898,0.858179,-0.232072],[-0.635226,0.498468,0.589930],[0.621946,-0.122709,0.773386]] 2025-10-27T03:21:56.046Z,1761535316.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460038,0.856447,-0.234230],[-0.636104,0.501952,0.586017],[0.619465,-0.120596,0.775706]] 2025-10-27T03:21:56.449Z,1761535316.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463455,0.853230,-0.239180],[-0.636450,0.508325,0.580118],[0.616556,-0.116633,0.778624]] 2025-10-27T03:21:56.853Z,1761535316.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467767,0.849548,-0.243849],[-0.636931,0.515286,0.573409],[0.612791,-0.112907,0.782138]] 2025-10-27T03:21:57.273Z,1761535317.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472653,0.846313,-0.245670],[-0.637934,0.520917,0.567174],[0.607980,-0.111355,0.786105]] 2025-10-27T03:21:57.665Z,1761535317.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477066,0.844490,-0.243401],[-0.640117,0.523645,0.562179],[0.602211,-0.112392,0.790386]] 2025-10-27T03:21:58.066Z,1761535318.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481015,0.843529,-0.238921],[-0.643227,0.524729,0.557600],[0.595721,-0.114534,0.794983]] 2025-10-27T03:21:58.470Z,1761535318.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484488,0.842881,-0.234142],[-0.646569,0.525312,0.553169],[0.589253,-0.116615,0.799488]] 2025-10-27T03:21:58.876Z,1761535318.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487381,0.842974,-0.227718],[-0.649602,0.524306,0.550564],[0.583505,-0.120409,0.803134]] 2025-10-27T03:21:59.281Z,1761535319.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489517,0.843529,-0.220978],[-0.652095,0.522365,0.549460],[0.578917,-0.124871,0.805768]] 2025-10-27T03:21:59.682Z,1761535319.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490773,0.844634,-0.213858],[-0.654255,0.519349,0.549752],[0.575406,-0.129886,0.807489]] 2025-10-27T03:22:00.085Z,1761535320.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491732,0.846817,-0.202731],[-0.656196,0.513429,0.552990],[0.572369,-0.138892,0.808147]] 2025-10-27T03:22:00.489Z,1761535320.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493609,0.848466,-0.190932],[-0.657385,0.507745,0.556812],[0.569381,-0.149332,0.808397]] 2025-10-27T03:22:00.893Z,1761535320.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495073,0.849721,-0.181318],[-0.658832,0.503188,0.559233],[0.566429,-0.157403,0.808939]] 2025-10-27T03:22:01.297Z,1761535321.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495858,0.850973,-0.173118],[-0.660738,0.499070,0.560673],[0.563516,-0.163629,0.809738]] 2025-10-27T03:22:01.718Z,1761535321.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495897,0.851796,-0.168906],[-0.662974,0.496990,0.559880],[0.560849,-0.165663,0.811175]] 2025-10-27T03:22:02.107Z,1761535322.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495375,0.852522,-0.166762],[-0.665370,0.495795,0.558095],[0.558468,-0.165508,0.812847]] 2025-10-27T03:22:02.510Z,1761535322.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494650,0.853299,-0.164932],[-0.667803,0.494630,0.556219],[0.556201,-0.164992,0.814505]] 2025-10-27T03:22:02.914Z,1761535322.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493753,0.854045,-0.163753],[-0.670289,0.493743,0.554013],[0.554004,-0.163784,0.816244]] 2025-10-27T03:22:03.317Z,1761535323.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493104,0.854139,-0.165210],[-0.672727,0.494779,0.550120],[0.551621,-0.160125,0.818580]] 2025-10-27T03:22:03.738Z,1761535323.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492935,0.853713,-0.167895],[-0.675179,0.497042,0.545053],[0.548770,-0.155317,0.821418]] 2025-10-27T03:22:04.126Z,1761535324.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493368,0.852910,-0.170681],[-0.677553,0.499889,0.539474],[0.545445,-0.150514,0.824521]] 2025-10-27T03:22:04.529Z,1761535324.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494499,0.851431,-0.174745],[-0.679749,0.504124,0.532729],[0.541675,-0.144651,0.828049]] 2025-10-27T03:22:04.934Z,1761535324.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496223,0.850086,-0.176402],[-0.681701,0.507324,0.527168],[0.537631,-0.141339,0.831249]] 2025-10-27T03:22:05.341Z,1761535325.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498126,0.849184,-0.175377],[-0.683419,0.508972,0.523341],[0.533675,-0.140834,0.833880]] 2025-10-27T03:22:05.765Z,1761535325.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500095,0.848604,-0.172560],[-0.684913,0.509539,0.520831],[0.529905,-0.142277,0.836037]] 2025-10-27T03:22:06.145Z,1761535326.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501931,0.848188,-0.169242],[-0.685965,0.509572,0.519411],[0.526799,-0.144614,0.837597]] 2025-10-27T03:22:06.550Z,1761535326.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503931,0.847412,-0.167172],[-0.686117,0.510299,0.518496],[0.524687,-0.146587,0.838579]] 2025-10-27T03:22:07.357Z,1761535327.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508177,0.842923,-0.176740],[-0.683352,0.519529,0.512951],[0.524200,-0.139894,0.840026]] 2025-10-27T03:22:07.766Z,1761535327.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510693,0.838823,-0.188595],[-0.680358,0.528397,0.507847],[0.525647,-0.131042,0.840549]] 2025-10-27T03:22:08.166Z,1761535328.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513704,0.833870,-0.201913],[-0.676272,0.538367,0.502810],[0.527982,-0.121748,0.840484]] 2025-10-27T03:22:08.569Z,1761535328.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517218,0.828618,-0.214191],[-0.671464,0.548053,0.498773],[0.530680,-0.114153,0.839850]] 2025-10-27T03:22:08.976Z,1761535328.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521626,0.822974,-0.224991],[-0.665966,0.557590,0.495563],[0.533288,-0.108662,0.838926]] 2025-10-27T03:22:09.378Z,1761535329.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526769,0.816782,-0.235334],[-0.660055,0.567506,0.492203],[0.535576,-0.103944,0.838066]] 2025-10-27T03:22:09.785Z,1761535329.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531970,0.810868,-0.243929],[-0.654519,0.576530,0.489099],[0.537227,-0.100530,0.837425]] 2025-10-27T03:22:10.186Z,1761535330.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537570,0.805058,-0.250798],[-0.649242,0.584962,0.486110],[0.538054,-0.098490,0.837136]] 2025-10-27T03:22:10.590Z,1761535330.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544361,0.798960,-0.255605],[-0.643777,0.593254,0.483323],[0.537794,-0.098550,0.837296]] 2025-10-27T03:22:10.993Z,1761535330.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552026,0.792651,-0.258790],[-0.638233,0.601396,0.480606],[0.536588,-0.100138,0.837882]] 2025-10-27T03:22:11.399Z,1761535331.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560112,0.786388,-0.260514],[-0.632642,0.609067,0.478332],[0.534825,-0.103107,0.838648]] 2025-10-27T03:22:11.810Z,1761535331.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567408,0.780594,-0.262147],[-0.627461,0.616031,0.476233],[0.533235,-0.105731,0.839333]] 2025-10-27T03:22:12.206Z,1761535332.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573508,0.775351,-0.264423],[-0.622685,0.622338,0.474299],[0.532308,-0.107362,0.839715]] 2025-10-27T03:22:12.611Z,1761535332.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577986,0.770699,-0.268245],[-0.618444,0.628148,0.472184],[0.532409,-0.107021,0.839695]] 2025-10-27T03:22:13.014Z,1761535333.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581475,0.766534,-0.272604],[-0.614437,0.633390,0.470408],[0.533249,-0.106033,0.839287]] 2025-10-27T03:22:13.419Z,1761535333.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584229,0.762040,-0.279233],[-0.610674,0.639376,0.467200],[0.534560,-0.102431,0.838900]] 2025-10-27T03:22:13.822Z,1761535333.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586339,0.758043,-0.285617],[-0.607264,0.644674,0.464356],[0.536132,-0.098825,0.838330]] 2025-10-27T03:22:14.238Z,1761535334.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587876,0.754248,-0.292424],[-0.604137,0.649746,0.461355],[0.537978,-0.094555,0.837639]] 2025-10-27T03:22:14.632Z,1761535334.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588948,0.751336,-0.297713],[-0.601600,0.653561,0.459277],[0.539646,-0.091386,0.836918]] 2025-10-27T03:22:15.034Z,1761535335.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589646,0.749766,-0.300281],[-0.599450,0.655431,0.459423],[0.541273,-0.090894,0.835920]] 2025-10-27T03:22:15.841Z,1761535335.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590482,0.751114,-0.295225],[-0.596820,0.652644,0.466757],[0.543264,-0.099415,0.833655]] 2025-10-27T03:22:16.263Z,1761535336.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590119,0.753777,-0.289102],[-0.596385,0.648389,0.473199],[0.544137,-0.106828,0.832168]] 2025-10-27T03:22:16.651Z,1761535336.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589331,0.756917,-0.282427],[-0.596501,0.643443,0.479759],[0.544863,-0.114269,0.830702]] 2025-10-27T03:22:17.053Z,1761535337.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587697,0.760204,-0.276952],[-0.597081,0.638502,0.485603],[0.545991,-0.120025,0.829149]] 2025-10-27T03:22:17.458Z,1761535337.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585585,0.763371,-0.272680],[-0.597789,0.633872,0.490769],[0.547483,-0.124382,0.827521]] 2025-10-27T03:22:17.868Z,1761535337.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583027,0.766856,-0.268349],[-0.598658,0.628792,0.496215],[0.549261,-0.128658,0.825687]] 2025-10-27T03:22:18.314Z,1761535338.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579988,0.771411,-0.261800],[-0.599514,0.621779,0.503959],[0.551541,-0.135337,0.823096]] 2025-10-27T03:22:18.670Z,1761535338.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576741,0.775409,-0.257122],[-0.600211,0.615719,0.510527],[0.554182,-0.140114,0.820518]] 2025-10-27T03:22:19.074Z,1761535339.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573308,0.779188,-0.253346],[-0.600921,0.610062,0.516447],[0.556966,-0.143843,0.817984]] 2025-10-27T03:22:19.478Z,1761535339.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570005,0.782456,-0.250711],[-0.601416,0.605228,0.521535],[0.559815,-0.146496,0.815565]] 2025-10-27T03:22:19.882Z,1761535339.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566375,0.785906,-0.248138],[-0.601682,0.600057,0.527171],[0.563203,-0.149276,0.812723]] 2025-10-27T03:22:20.319Z,1761535340.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562767,0.788932,-0.246737],[-0.601763,0.595653,0.532051],[0.566722,-0.150944,0.809964]] 2025-10-27T03:22:20.694Z,1761535340.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559194,0.791873,-0.245438],[-0.601310,0.591216,0.537485],[0.570726,-0.152974,0.806765]] 2025-10-27T03:22:21.092Z,1761535341.092 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.114178 2025-10-27T03:22:21.097Z,1761535341.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555504,0.794437,-0.245530],[-0.600296,0.587477,0.542692],[0.575378,-0.154077,0.803244]] 2025-10-27T03:22:21.114Z,1761535341.114 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T03:22:21.114Z,1761535341.114 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T03:22:21.114Z,1761535341.114 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T03:22:21.114Z,1761535341.114 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T03:22:21.114Z,1761535341.114 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T03:22:21.580Z,1761535341.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548912,0.799083,-0.245278],[-0.596427,0.580013,0.554852],[0.585637,-0.158275,0.794971]] 2025-10-27T03:22:22.095Z,1761535342.095 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:22:22.382Z,1761535342.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542932,0.801579,-0.250392],[-0.590831,0.576497,0.564420],[0.596777,-0.158503,0.786596]] 2025-10-27T03:22:22.785Z,1761535342.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541081,0.801326,-0.255162],[-0.587130,0.577180,0.567576],[0.602088,-0.157291,0.782783]] 2025-10-27T03:22:23.195Z,1761535343.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539669,0.801600,-0.257284],[-0.582975,0.576305,0.572724],[0.607369,-0.159091,0.778327]] 2025-10-27T03:22:23.592Z,1761535343.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538432,0.801226,-0.261014],[-0.578687,0.576732,0.576629],[0.612545,-0.159430,0.774190]] 2025-10-27T03:22:24.046Z,1761535344.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537506,0.800324,-0.265647],[-0.574169,0.578067,0.579800],[0.617590,-0.159120,0.770236]] 2025-10-27T03:22:24.402Z,1761535344.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536704,0.799323,-0.270243],[-0.569656,0.579528,0.582786],[0.622448,-0.158838,0.766374]] 2025-10-27T03:22:24.802Z,1761535344.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536324,0.798903,-0.272231],[-0.565421,0.579559,0.586864],[0.626622,-0.160825,0.762549]] 2025-10-27T03:22:25.216Z,1761535345.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536432,0.798926,-0.271953],[-0.561759,0.578502,0.591406],[0.629815,-0.164477,0.759131]] 2025-10-27T03:22:25.609Z,1761535345.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536853,0.798881,-0.271252],[-0.558785,0.577574,0.595119],[0.632098,-0.167920,0.756475]] 2025-10-27T03:22:26.014Z,1761535346.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537390,0.798783,-0.270478],[-0.556480,0.576857,0.597968],[0.633674,-0.170826,0.754504]] 2025-10-27T03:22:26.417Z,1761535346.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538098,0.798474,-0.269981],[-0.554742,0.576645,0.599785],[0.634596,-0.172973,0.753239]] 2025-10-27T03:22:26.823Z,1761535346.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538805,0.798018,-0.269919],[-0.553483,0.576885,0.600717],[0.635095,-0.174274,0.752518]] 2025-10-27T03:22:27.630Z,1761535347.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540487,0.797602,-0.267779],[-0.551996,0.576361,0.602585],[0.634960,-0.177877,0.751788]] 2025-10-27T03:22:28.034Z,1761535348.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541094,0.797189,-0.267784],[-0.551729,0.576832,0.602379],[0.634676,-0.178199,0.751952]] 2025-10-27T03:22:28.446Z,1761535348.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541884,0.796124,-0.269347],[-0.551518,0.578662,0.600815],[0.634184,-0.177022,0.752644]] 2025-10-27T03:22:28.842Z,1761535348.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543039,0.794727,-0.271143],[-0.551593,0.581071,0.598417],[0.633131,-0.175403,0.753909]] 2025-10-27T03:22:29.245Z,1761535349.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544623,0.792936,-0.273200],[-0.552033,0.584161,0.594992],[0.631383,-0.173231,0.755874]] 2025-10-27T03:22:29.650Z,1761535349.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546079,0.790648,-0.276900],[-0.552773,0.588439,0.590069],[0.629476,-0.169161,0.758383]] 2025-10-27T03:22:29.664Z,1761535349.664 [Radio_Surface](INFO): Powering down 2025-10-27T03:22:30.457Z,1761535350.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548647,0.786414,-0.283796],[-0.554841,0.596410,0.580040],[0.625410,-0.160776,0.763553]] 2025-10-27T03:22:30.862Z,1761535350.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549399,0.783818,-0.289466],[-0.555878,0.601515,0.573742],[0.623827,-0.154306,0.766179]] 2025-10-27T03:22:31.267Z,1761535351.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549977,0.780564,-0.297060],[-0.556654,0.607755,0.566366],[0.622625,-0.146128,0.768755]] 2025-10-27T03:22:31.680Z,1761535351.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550016,0.777788,-0.304184],[-0.557281,0.613082,0.559973],[0.622030,-0.138478,0.770651]] 2025-10-27T03:22:31.706Z,1761535351.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:22:31.768Z,1761535351.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:22:31.768Z,1761535351.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:22:32.021Z,1761535352.021 [DAT](INFO): DAT read: user:302> 2025-10-27T03:22:32.021Z,1761535352.021 [DAT](INFO): DAT read: Tx time:03:22:33.4125 2025-10-27T03:22:32.022Z,1761535352.022 [DAT](INFO): Ping request sent. 2025-10-27T03:22:32.022Z,1761535352.022 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:22:32.022Z,1761535352.022 [DAT](INFO): publishing transmit ping time 2025-10-27T03:22:32.023Z,1761535352.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-27T03:22:32.078Z,1761535352.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549949,0.775774,-0.309405],[-0.557590,0.616838,0.555522],[0.621812,-0.132987,0.771793]] 2025-10-27T03:22:32.276Z,1761535352.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253210 2025-10-27T03:22:32.477Z,1761535352.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549457,0.774717,-0.312907],[-0.557726,0.618935,0.553048],[0.622124,-0.129360,0.772158]] 2025-10-27T03:22:32.524Z,1761535352.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502258 2025-10-27T03:22:32.777Z,1761535352.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754648 2025-10-27T03:22:32.881Z,1761535352.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548873,0.774090,-0.315472],[-0.557428,0.620187,0.551944],[0.622906,-0.127094,0.771904]] 2025-10-27T03:22:33.028Z,1761535353.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006202 2025-10-27T03:22:33.280Z,1761535353.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258266 2025-10-27T03:22:33.288Z,1761535353.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548721,0.772811,-0.318855],[-0.556825,0.622341,0.550125],[0.623580,-0.124319,0.771812]] 2025-10-27T03:22:33.532Z,1761535353.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510107 2025-10-27T03:22:33.696Z,1761535353.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548875,0.771188,-0.322499],[-0.556167,0.624938,0.547843],[0.624032,-0.121334,0.771921]] 2025-10-27T03:22:33.784Z,1761535353.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762500 2025-10-27T03:22:34.036Z,1761535354.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014167 2025-10-27T03:22:34.094Z,1761535354.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549758,0.769364,-0.325339],[-0.555323,0.627567,0.545689],[0.624006,-0.119328,0.772255]] 2025-10-27T03:22:34.291Z,1761535354.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268330 2025-10-27T03:22:34.498Z,1761535354.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551398,0.767330,-0.327360],[-0.554330,0.630250,0.543602],[0.623441,-0.118275,0.772873]] 2025-10-27T03:22:34.540Z,1761535354.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518203 2025-10-27T03:22:34.792Z,1761535354.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770154 2025-10-27T03:22:34.901Z,1761535354.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553039,0.765757,-0.328273],[-0.553591,0.632199,0.542089],[0.622643,-0.118068,0.773548]] 2025-10-27T03:22:35.044Z,1761535355.044 [DAT](INFO): DAT read: Rx Time:03:22:35.8908 2025-10-27T03:22:35.044Z,1761535355.044 [DAT](INFO): Rx dataTimestamp_ set to:1761535355.044150 2025-10-27T03:22:35.045Z,1761535355.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023214 2025-10-27T03:22:35.297Z,1761535355.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274977 2025-10-27T03:22:35.312Z,1761535355.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555447,0.764481,-0.327183],[-0.552790,0.633395,0.541511],[0.621210,-0.119917,0.774414]] 2025-10-27T03:22:35.553Z,1761535355.553 [DAT](INFO): DAT read: 03:22:35.8908 LVL= 25584, 22897, 32754, 32755, AGC= 67, IDX= 500,-0.18, 1.756,-0.389, 0.227, 1.418, PHS= 0.439,-1.763,-1.236, RAW= 103.2, 24.4, CAL= 102.6, 29.9, ROT= 47.4, -29.9 2025-10-27T03:22:35.554Z,1761535355.554 [DAT](INFO): got valid direction response: 03:22:35.8908 LVL= 25584, 22897, 32754, 32755, AGC= 67, IDX= 500,-0.18, 1.756,-0.389, 0.227, 1.418, PHS= 0.439,-1.763,-1.236, RAW= 103.2, 24.4, CAL= 102.6, 29.9, ROT= 47.4, -29.9 2025-10-27T03:22:35.555Z,1761535355.555 [DAT](INFO): DAT read: Bearing 206.4, 53.4 (Local) 2025-10-27T03:22:35.556Z,1761535355.556 [DAT](INFO): Local bearing/azimuth received: Bearing 206.4, 53.4 (Local) 2025-10-27T03:22:35.557Z,1761535355.557 [DAT](INFO): DAT read: Range 11 to 50 : 55.6 m (Round-trip 74.2 ms) speed 0.0 m/s 2025-10-27T03:22:35.558Z,1761535355.558 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:22:35.559Z,1761535355.559 [DAT](INFO): direction in FSK: [0.586782,0.638120,0.498488] 2025-10-27T03:22:35.559Z,1761535355.559 [DAT](INFO): publishing direction and range info 2025-10-27T03:22:35.715Z,1761535355.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558211,0.763761,-0.324145],[-0.552262,0.633587,0.541825],[0.619199,-0.123440,0.775471]] 2025-10-27T03:22:36.113Z,1761535356.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561456,0.763113,-0.320041],[-0.552229,0.633561,0.541890],[0.616288,-0.127511,0.777129]] 2025-10-27T03:22:36.525Z,1761535356.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565064,0.762208,-0.315818],[-0.552691,0.633906,0.541014],[0.612564,-0.131158,0.779463]] 2025-10-27T03:22:36.924Z,1761535356.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569183,0.761052,-0.311176],[-0.553318,0.634487,0.539690],[0.608170,-0.135003,0.782243]] 2025-10-27T03:22:37.326Z,1761535357.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573912,0.759150,-0.307110],[-0.553985,0.636093,0.537109],[0.603097,-0.138119,0.785619]] 2025-10-27T03:22:37.733Z,1761535357.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579474,0.756777,-0.302487],[-0.554600,0.638128,0.534052],[0.597184,-0.141710,0.789487]] 2025-10-27T03:22:38.136Z,1761535358.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585181,0.753822,-0.298858],[-0.555478,0.641139,0.529514],[0.590769,-0.143853,0.793914]] 2025-10-27T03:22:38.544Z,1761535358.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591112,0.750466,-0.295614],[-0.556433,0.644734,0.524118],[0.583925,-0.145324,0.798694]] 2025-10-27T03:22:38.943Z,1761535358.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596761,0.747420,-0.291959],[-0.557817,0.647966,0.518632],[0.576816,-0.146640,0.803604]] 2025-10-27T03:22:39.346Z,1761535359.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602019,0.744605,-0.288335],[-0.559506,0.651006,0.512976],[0.569672,-0.147496,0.808529]] 2025-10-27T03:22:39.750Z,1761535359.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606992,0.741261,-0.286518],[-0.561394,0.655135,0.505604],[0.562493,-0.146048,0.813801]] 2025-10-27T03:22:40.182Z,1761535360.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610494,0.739210,-0.284368],[-0.564275,0.657892,0.498770],[0.555779,-0.144035,0.818757]] 2025-10-27T03:22:40.558Z,1761535360.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613065,0.737172,-0.284127],[-0.567671,0.661162,0.490524],[0.549455,-0.139433,0.823807]] 2025-10-27T03:22:40.961Z,1761535360.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615121,0.734616,-0.286296],[-0.570956,0.665462,0.480801],[0.543723,-0.132288,0.828773]] 2025-10-27T03:22:41.787Z,1761535361.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617179,0.732452,-0.287408],[-0.578010,0.669893,0.465991],[0.533849,-0.121475,0.836809]] 2025-10-27T03:22:42.174Z,1761535362.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617137,0.733732,-0.284217],[-0.581775,0.668685,0.463031],[0.529793,-0.120403,0.839537]] 2025-10-27T03:22:42.578Z,1761535362.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616551,0.736274,-0.278864],[-0.585478,0.665577,0.462843],[0.526385,-0.122097,0.841434]] 2025-10-27T03:22:42.982Z,1761535362.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615745,0.739014,-0.273345],[-0.588901,0.662103,0.463483],[0.523502,-0.124414,0.842892]] 2025-10-27T03:22:43.387Z,1761535363.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614591,0.742248,-0.267107],[-0.592320,0.657849,0.465179],[0.520994,-0.127683,0.843956]] 2025-10-27T03:22:43.789Z,1761535363.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613358,0.745480,-0.260864],[-0.595645,0.653511,0.467045],[0.518650,-0.131083,0.844878]] 2025-10-27T03:22:44.194Z,1761535364.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612061,0.748801,-0.254318],[-0.598749,0.648878,0.469529],[0.516606,-0.135108,0.845496]] 2025-10-27T03:22:44.598Z,1761535364.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611441,0.750947,-0.249438],[-0.601196,0.645828,0.470604],[0.514493,-0.137786,0.846352]] 2025-10-27T03:22:45.002Z,1761535365.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610909,0.752472,-0.246123],[-0.603354,0.643786,0.470642],[0.512595,-0.139020,0.847302]] 2025-10-27T03:22:45.406Z,1761535365.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610460,0.753805,-0.243138],[-0.605334,0.641995,0.470546],[0.510793,-0.140070,0.848216]] 2025-10-27T03:22:45.809Z,1761535365.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610173,0.754859,-0.240576],[-0.606875,0.640524,0.470565],[0.509305,-0.141127,0.848936]] 2025-10-27T03:22:46.214Z,1761535366.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610221,0.755149,-0.239540],[-0.607527,0.640110,0.470287],[0.508469,-0.141452,0.849382]] 2025-10-27T03:22:46.641Z,1761535366.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610771,0.754952,-0.238761],[-0.607407,0.640163,0.470369],[0.507952,-0.142263,0.849556]] 2025-10-27T03:22:47.021Z,1761535367.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611706,0.754697,-0.237165],[-0.607071,0.640050,0.470958],[0.507228,-0.144112,0.849677]] 2025-10-27T03:22:47.425Z,1761535367.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612638,0.754306,-0.236003],[-0.606715,0.640197,0.471217],[0.506530,-0.145498,0.849857]] 2025-10-27T03:22:47.830Z,1761535367.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614082,0.753271,-0.235556],[-0.606051,0.641242,0.470649],[0.505574,-0.146258,0.850296]] 2025-10-27T03:22:48.238Z,1761535368.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615985,0.751388,-0.236597],[-0.604810,0.643535,0.469114],[0.504745,-0.145870,0.850855]] 2025-10-27T03:22:48.649Z,1761535368.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618438,0.749220,-0.237073],[-0.603322,0.645987,0.467657],[0.503524,-0.146186,0.851524]] 2025-10-27T03:22:49.042Z,1761535369.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621069,0.746515,-0.238721],[-0.601593,0.649293,0.465300],[0.502354,-0.145371,0.852354]] 2025-10-27T03:22:49.449Z,1761535369.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624043,0.743379,-0.240744],[-0.599659,0.653143,0.462399],[0.500979,-0.144193,0.853363]] 2025-10-27T03:22:49.849Z,1761535369.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626887,0.740478,-0.242292],[-0.597877,0.656609,0.459791],[0.499556,-0.143376,0.854334]] 2025-10-27T03:22:50.287Z,1761535370.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629912,0.737360,-0.243947],[-0.596054,0.660330,0.456819],[0.497926,-0.142351,0.855457]] 2025-10-27T03:22:50.657Z,1761535370.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632729,0.734411,-0.245550],[-0.594539,0.663891,0.453620],[0.496162,-0.141029,0.856699]] 2025-10-27T03:22:51.062Z,1761535371.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635418,0.731717,-0.246647],[-0.593259,0.667075,0.450616],[0.494256,-0.140004,0.857969]] 2025-10-27T03:22:51.466Z,1761535371.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637906,0.729269,-0.247474],[-0.592317,0.669980,0.447534],[0.492175,-0.138901,0.859343]] 2025-10-27T03:22:51.870Z,1761535371.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640253,0.727620,-0.246263],[-0.592098,0.671697,0.445245],[0.489383,-0.139257,0.860878]] 2025-10-27T03:22:52.223Z,1761535372.223 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:22:52.312Z,1761535372.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642370,0.726289,-0.244674],[-0.592046,0.672995,0.443350],[0.486664,-0.139936,0.862308]] 2025-10-27T03:22:52.678Z,1761535372.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644083,0.725072,-0.243778],[-0.592137,0.674331,0.441193],[0.484284,-0.139814,0.863667]] 2025-10-27T03:22:52.684Z,1761535372.684 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-27T03:22:53.082Z,1761535373.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645449,0.724848,-0.240812],[-0.592529,0.674128,0.440978],[0.481980,-0.141940,0.864608]] 2025-10-27T03:22:53.227Z,1761535373.227 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-27T03:22:53.227Z,1761535373.227 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:22:53.494Z,1761535373.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646756,0.724372,-0.238729],[-0.592953,0.674416,0.439966],[0.479702,-0.142996,0.865701]] 2025-10-27T03:22:53.890Z,1761535373.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647711,0.724158,-0.236782],[-0.593507,0.674450,0.439167],[0.477724,-0.143922,0.866641]] 2025-10-27T03:22:54.318Z,1761535374.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648626,0.723671,-0.235763],[-0.593790,0.674925,0.438052],[0.476128,-0.144139,0.867483]] 2025-10-27T03:22:54.704Z,1761535374.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649497,0.722548,-0.236809],[-0.593702,0.676491,0.435751],[0.475050,-0.142425,0.868357]] 2025-10-27T03:22:55.117Z,1761535375.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650408,0.721059,-0.238838],[-0.593109,0.678539,0.433366],[0.474543,-0.140208,0.868994]] 2025-10-27T03:22:55.505Z,1761535375.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651164,0.719454,-0.241601],[-0.592397,0.680820,0.430755],[0.474396,-0.137368,0.869528]] 2025-10-27T03:22:55.909Z,1761535375.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652048,0.717779,-0.244186],[-0.591305,0.683020,0.428768],[0.474544,-0.135189,0.869788]] 2025-10-27T03:22:56.324Z,1761535376.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652953,0.715909,-0.247239],[-0.589973,0.685456,0.426710],[0.474957,-0.132757,0.869938]] 2025-10-27T03:22:56.722Z,1761535376.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653903,0.713740,-0.250968],[-0.588527,0.688312,0.424102],[0.475443,-0.129621,0.870145]] 2025-10-27T03:22:57.124Z,1761535377.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654511,0.711565,-0.255518],[-0.587254,0.691328,0.420950],[0.476180,-0.125463,0.870351]] 2025-10-27T03:22:57.526Z,1761535377.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655481,0.709300,-0.259302],[-0.585794,0.694229,0.418200],[0.476644,-0.122225,0.870558]] 2025-10-27T03:22:57.931Z,1761535377.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656155,0.707388,-0.262798],[-0.584430,0.696667,0.416048],[0.477391,-0.119405,0.870540]] 2025-10-27T03:22:58.333Z,1761535378.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656668,0.705800,-0.265771],[-0.583062,0.698625,0.414684],[0.478358,-0.117349,0.870289]] 2025-10-27T03:22:58.738Z,1761535378.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657226,0.704298,-0.268363],[-0.581491,0.700360,0.413961],[0.479503,-0.116015,0.869838]] 2025-10-27T03:22:59.141Z,1761535379.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658035,0.702573,-0.270889],[-0.579653,0.702266,0.413310],[0.480617,-0.114951,0.869364]] 2025-10-27T03:22:59.547Z,1761535379.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659160,0.700525,-0.273447],[-0.577464,0.704447,0.412662],[0.481709,-0.114104,0.868871]] 2025-10-27T03:22:59.950Z,1761535379.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660281,0.698862,-0.274992],[-0.575105,0.705990,0.413318],[0.482994,-0.114756,0.868071]] 2025-10-27T03:23:00.353Z,1761535380.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661705,0.697427,-0.275212],[-0.572511,0.707015,0.415163],[0.484125,-0.117154,0.867120]] 2025-10-27T03:23:00.757Z,1761535380.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663221,0.695812,-0.275651],[-0.569734,0.708218,0.416931],[0.485326,-0.119470,0.866132]] 2025-10-27T03:23:01.164Z,1761535381.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665201,0.693419,-0.276908],[-0.566670,0.710335,0.417503],[0.486202,-0.120808,0.865456]] 2025-10-27T03:23:01.565Z,1761535381.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667660,0.690039,-0.279421],[-0.563231,0.713633,0.416532],[0.486827,-0.120723,0.865116]] 2025-10-27T03:23:01.969Z,1761535381.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670429,0.686351,-0.281866],[-0.559506,0.717159,0.415494],[0.487317,-0.120854,0.864822]] 2025-10-27T03:23:02.374Z,1761535382.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673623,0.681866,-0.285115],[-0.555267,0.721513,0.413639],[0.487761,-0.120321,0.864646]] 2025-10-27T03:23:03.183Z,1761535383.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680686,0.671751,-0.292262],[-0.546393,0.731285,0.408260],[0.487976,-0.118207,0.864816]] 2025-10-27T03:23:03.594Z,1761535383.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684000,0.667259,-0.294805],[-0.542283,0.735410,0.406326],[0.487927,-0.118059,0.864864]] 2025-10-27T03:23:04.017Z,1761535384.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687033,0.662500,-0.298462],[-0.538518,0.740005,0.402977],[0.487835,-0.116131,0.865176]] 2025-10-27T03:23:04.395Z,1761535384.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689829,0.657910,-0.302145],[-0.534980,0.744423,0.399538],[0.487783,-0.113971,0.865493]] 2025-10-27T03:23:04.802Z,1761535384.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692293,0.653765,-0.305485],[-0.531856,0.748380,0.396303],[0.487708,-0.111884,0.865808]] 2025-10-27T03:23:05.238Z,1761535385.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696075,0.647532,-0.310132],[-0.527114,0.754187,0.391603],[0.487473,-0.109110,0.866294]] 2025-10-27T03:23:06.010Z,1761535386.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697449,0.645676,-0.310914],[-0.525512,0.755778,0.390686],[0.487239,-0.109095,0.866427]] 2025-10-27T03:23:06.421Z,1761535386.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698523,0.644844,-0.310228],[-0.524409,0.756272,0.391214],[0.486889,-0.110585,0.866435]] 2025-10-27T03:23:06.823Z,1761535386.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698921,0.644758,-0.309509],[-0.523783,0.756122,0.392341],[0.486991,-0.112100,0.866183]] 2025-10-27T03:23:07.226Z,1761535387.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699328,0.644576,-0.308969],[-0.523166,0.756091,0.393222],[0.487070,-0.113349,0.865976]] 2025-10-27T03:23:07.631Z,1761535387.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699831,0.644299,-0.308409],[-0.522410,0.756118,0.394175],[0.487160,-0.114740,0.865742]] 2025-10-27T03:23:08.034Z,1761535388.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700484,0.643864,-0.307832],[-0.521521,0.756265,0.395068],[0.487173,-0.116198,0.865541]] 2025-10-27T03:23:08.434Z,1761535388.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701739,0.642648,-0.307516],[-0.520080,0.757095,0.395377],[0.486907,-0.117518,0.865512]] 2025-10-27T03:23:08.837Z,1761535388.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703790,0.640180,-0.307975],[-0.517618,0.759028,0.394901],[0.486570,-0.118514,0.865566]] 2025-10-27T03:23:09.244Z,1761535389.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705943,0.636998,-0.309641],[-0.515000,0.761784,0.393015],[0.486229,-0.117981,0.865830]] 2025-10-27T03:23:09.647Z,1761535389.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707984,0.634195,-0.310734],[-0.512235,0.764031,0.392266],[0.486183,-0.118549,0.865778]] 2025-10-27T03:23:10.050Z,1761535390.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710186,0.631157,-0.311893],[-0.509131,0.766418,0.391649],[0.486232,-0.119349,0.865641]] 2025-10-27T03:23:10.453Z,1761535390.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712354,0.627350,-0.314616],[-0.505852,0.769702,0.389451],[0.486483,-0.118278,0.865647]] 2025-10-27T03:23:10.858Z,1761535390.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714765,0.623647,-0.316505],[-0.502179,0.772649,0.388367],[0.486752,-0.118649,0.865445]] 2025-10-27T03:23:11.277Z,1761535391.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716716,0.620140,-0.318974],[-0.498582,0.775474,0.387371],[0.487580,-0.118601,0.864985]] 2025-10-27T03:23:11.665Z,1761535391.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718464,0.617008,-0.321109],[-0.494906,0.777854,0.387313],[0.488751,-0.119352,0.864221]] 2025-10-27T03:23:12.078Z,1761535392.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720221,0.613721,-0.323464],[-0.491432,0.780438,0.386537],[0.489670,-0.119432,0.863690]] 2025-10-27T03:23:12.474Z,1761535392.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722014,0.609143,-0.328087],[-0.488339,0.784588,0.382029],[0.490123,-0.115613,0.863952]] 2025-10-27T03:23:12.879Z,1761535392.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724573,0.603945,-0.332031],[-0.484610,0.789015,0.377636],[0.490049,-0.112719,0.864376]] 2025-10-27T03:23:13.309Z,1761535393.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727675,0.598814,-0.334532],[-0.480361,0.793029,0.374644],[0.489635,-0.111923,0.864714]] 2025-10-27T03:23:13.685Z,1761535393.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731309,0.592970,-0.337007],[-0.475569,0.797507,0.371237],[0.488897,-0.111219,0.865222]] 2025-10-27T03:23:14.090Z,1761535394.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735245,0.586559,-0.339653],[-0.470510,0.802383,0.367153],[0.487888,-0.110137,0.865930]] 2025-10-27T03:23:14.496Z,1761535394.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739289,0.578583,-0.344519],[-0.465410,0.808776,0.359548],[0.486667,-0.105468,0.867198]] 2025-10-27T03:23:14.897Z,1761535394.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743580,0.569471,-0.350416],[-0.460223,0.816064,0.349620],[0.485060,-0.098700,0.868893]] 2025-10-27T03:23:15.338Z,1761535395.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747361,0.561107,-0.355823],[-0.455629,0.822601,0.340190],[0.483583,-0.092122,0.870437]] 2025-10-27T03:23:15.712Z,1761535395.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751062,0.553493,-0.359933],[-0.451135,0.828275,0.332323],[0.482062,-0.087216,0.871785]] 2025-10-27T03:23:16.111Z,1761535396.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754045,0.548085,-0.361965],[-0.447625,0.832102,0.327473],[0.480675,-0.084904,0.872779]] 2025-10-27T03:23:16.513Z,1761535396.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756409,0.544212,-0.362876],[-0.444824,0.834719,0.324616],[0.479559,-0.084127,0.873468]] 2025-10-27T03:23:16.918Z,1761535396.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758430,0.542375,-0.361405],[-0.442590,0.835645,0.325286],[0.478433,-0.086752,0.873828]] 2025-10-27T03:23:17.362Z,1761535397.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759776,0.542940,-0.357710],[-0.441133,0.834627,0.329849],[0.477643,-0.092813,0.873638]] 2025-10-27T03:23:17.732Z,1761535397.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760997,0.543962,-0.353539],[-0.439967,0.833207,0.334955],[0.476774,-0.099355,0.873393]] 2025-10-27T03:23:18.130Z,1761535398.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762067,0.545961,-0.348110],[-0.439134,0.830874,0.341775],[0.475831,-0.107589,0.872931]] 2025-10-27T03:23:18.538Z,1761535398.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762896,0.547727,-0.343490],[-0.438614,0.828800,0.347432],[0.474982,-0.114395,0.872528]] 2025-10-27T03:23:18.938Z,1761535398.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763880,0.548639,-0.339827],[-0.437960,0.827458,0.351433],[0.474002,-0.119622,0.872360]] 2025-10-27T03:23:19.391Z,1761535399.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764700,0.549209,-0.337053],[-0.437472,0.826519,0.354238],[0.473131,-0.123435,0.872302]] 2025-10-27T03:23:19.759Z,1761535399.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765386,0.549171,-0.335554],[-0.437212,0.826301,0.355067],[0.472261,-0.125055,0.872543]] 2025-10-27T03:23:20.569Z,1761535400.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766901,0.549663,-0.331260],[-0.436672,0.825189,0.358304],[0.470298,-0.130131,0.872860]] 2025-10-27T03:23:20.969Z,1761535400.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767813,0.549726,-0.329035],[-0.436272,0.824730,0.359843],[0.469180,-0.132744,0.873069]] 2025-10-27T03:23:21.417Z,1761535401.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768432,0.549548,-0.327885],[-0.435735,0.824579,0.360838],[0.468665,-0.134409,0.873091]] 2025-10-27T03:23:21.887Z,1761535401.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769171,0.548914,-0.327215],[-0.434908,0.824805,0.361319],[0.468222,-0.135608,0.873143]] 2025-10-27T03:23:22.273Z,1761535402.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770043,0.548200,-0.326361],[-0.434223,0.825116,0.361434],[0.467423,-0.136606,0.873415]] 2025-10-27T03:23:22.677Z,1761535402.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770942,0.547369,-0.325632],[-0.433742,0.825603,0.360897],[0.466386,-0.136990,0.873909]] 2025-10-27T03:23:23.082Z,1761535403.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772076,0.545496,-0.326087],[-0.433015,0.827092,0.358354],[0.465184,-0.135477,0.874786]] 2025-10-27T03:23:23.355Z,1761535403.355 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:23:23.497Z,1761535403.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773182,0.543606,-0.326622],[-0.432301,0.828601,0.355719],[0.464011,-0.133836,0.875661]] 2025-10-27T03:23:23.963Z,1761535403.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774302,0.541397,-0.327637],[-0.431489,0.830413,0.352464],[0.462897,-0.131542,0.876597]] 2025-10-27T03:23:24.361Z,1761535404.361 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:23:24.382Z,1761535404.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775307,0.539527,-0.328343],[-0.430669,0.831880,0.350001],[0.461977,-0.129951,0.877320]] 2025-10-27T03:23:24.840Z,1761535404.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777349,0.534907,-0.331064],[-0.428978,0.835675,0.342965],[0.460116,-0.124584,0.879075]] 2025-10-27T03:23:25.242Z,1761535405.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778627,0.532925,-0.331258],[-0.428221,0.837161,0.340277],[0.458658,-0.123097,0.880045]] 2025-10-27T03:23:25.648Z,1761535405.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780316,0.530606,-0.331006],[-0.427494,0.838876,0.336949],[0.456461,-0.121424,0.881419]] 2025-10-27T03:23:26.055Z,1761535406.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782171,0.529051,-0.329111],[-0.426998,0.839823,0.335216],[0.453741,-0.121666,0.882789]] 2025-10-27T03:23:26.476Z,1761535406.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784079,0.527342,-0.327309],[-0.426618,0.840938,0.332896],[0.450796,-0.121381,0.884336]] 2025-10-27T03:23:26.854Z,1761535406.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786106,0.525067,-0.326100],[-0.426230,0.842587,0.329202],[0.447621,-0.119794,0.886163]] 2025-10-27T03:23:27.258Z,1761535407.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788072,0.523132,-0.324460],[-0.426099,0.843972,0.325809],[0.444276,-0.118509,0.888017]] 2025-10-27T03:23:27.661Z,1761535407.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790417,0.521089,-0.322035],[-0.425597,0.845259,0.323118],[0.440576,-0.118341,0.889881]] 2025-10-27T03:23:28.067Z,1761535408.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792293,0.519632,-0.319772],[-0.425598,0.846213,0.320608],[0.437193,-0.117921,0.891603]] 2025-10-27T03:23:28.501Z,1761535408.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794250,0.517696,-0.318054],[-0.425426,0.847576,0.317218],[0.433798,-0.116642,0.893428]] 2025-10-27T03:23:28.873Z,1761535408.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796249,0.516439,-0.315084],[-0.425256,0.848245,0.315653],[0.430284,-0.117347,0.895034]] 2025-10-27T03:23:29.280Z,1761535409.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798534,0.514819,-0.311937],[-0.424506,0.849035,0.314538],[0.426776,-0.118750,0.896527]] 2025-10-27T03:23:29.682Z,1761535409.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800859,0.512912,-0.309105],[-0.423542,0.850032,0.313142],[0.423363,-0.119864,0.897996]] 2025-10-27T03:23:30.087Z,1761535410.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803560,0.510676,-0.305780],[-0.422463,0.851210,0.311394],[0.419305,-0.121043,0.899740]] 2025-10-27T03:23:30.534Z,1761535410.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806336,0.508951,-0.301315],[-0.421688,0.851916,0.310512],[0.414731,-0.123316,0.901550]] 2025-10-27T03:23:30.952Z,1761535410.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809072,0.507498,-0.296393],[-0.421760,0.852591,0.308557],[0.409294,-0.124638,0.903849]] 2025-10-27T03:23:31.354Z,1761535411.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811837,0.506863,-0.289846],[-0.422376,0.852547,0.307834],[0.403137,-0.127487,0.906216]] 2025-10-27T03:23:31.760Z,1761535411.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814633,0.505738,-0.283903],[-0.423156,0.853042,0.305381],[0.396625,-0.128638,0.908923]] 2025-10-27T03:23:31.796Z,1761535411.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:23:32.044Z,1761535412.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:23:32.044Z,1761535412.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:23:32.161Z,1761535412.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817441,0.504284,-0.278367],[-0.424141,0.853943,0.301472],[0.389737,-0.128369,0.911936]] 2025-10-27T03:23:32.296Z,1761535412.296 [DAT](INFO): DAT read: user:303> 2025-10-27T03:23:32.297Z,1761535412.297 [DAT](INFO): DAT read: Tx time:03:23:33.6625 2025-10-27T03:23:32.297Z,1761535412.297 [DAT](INFO): Ping request sent. 2025-10-27T03:23:32.297Z,1761535412.297 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:23:32.297Z,1761535412.297 [DAT](INFO): publishing transmit ping time 2025-10-27T03:23:32.298Z,1761535412.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-27T03:23:32.550Z,1761535412.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252750 2025-10-27T03:23:32.572Z,1761535412.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819871,0.504165,-0.271349],[-0.425885,0.853769,0.299501],[0.382667,-0.129988,0.914696]] 2025-10-27T03:23:32.800Z,1761535412.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502747 2025-10-27T03:23:32.973Z,1761535412.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821979,0.505238,-0.262839],[-0.428366,0.852606,0.299275],[0.375303,-0.133406,0.917252]] 2025-10-27T03:23:33.053Z,1761535413.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755184 2025-10-27T03:23:33.304Z,1761535413.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006692 2025-10-27T03:23:33.561Z,1761535413.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263700 2025-10-27T03:23:33.777Z,1761535413.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825438,0.508070,-0.246003],[-0.434920,0.850213,0.296618],[0.359857,-0.137848,0.922768]] 2025-10-27T03:23:33.808Z,1761535413.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510891 2025-10-27T03:23:34.060Z,1761535414.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762748 2025-10-27T03:23:34.182Z,1761535414.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826657,0.510196,-0.237358],[-0.439031,0.848632,0.295086],[0.351981,-0.139728,0.925519]] 2025-10-27T03:23:34.312Z,1761535414.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015094 2025-10-27T03:23:34.566Z,1761535414.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268995 2025-10-27T03:23:34.605Z,1761535414.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827508,0.512491,-0.229312],[-0.443515,0.847115,0.292729],[0.344275,-0.140532,0.928292]] 2025-10-27T03:23:34.816Z,1761535414.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518752 2025-10-27T03:23:34.990Z,1761535414.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828457,0.514318,-0.221666],[-0.447826,0.846031,0.289281],[0.336318,-0.140389,0.931225]] 2025-10-27T03:23:35.068Z,1761535415.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770764 2025-10-27T03:23:35.320Z,1761535415.320 [DAT](INFO): DAT read: Rx Time:03:23:36.1376 2025-10-27T03:23:35.320Z,1761535415.320 [DAT](INFO): Rx dataTimestamp_ set to:1761535415.320187 2025-10-27T03:23:35.321Z,1761535415.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023869 2025-10-27T03:23:35.394Z,1761535415.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829126,0.516566,-0.213799],[-0.452310,0.844581,0.286527],[0.328581,-0.140863,0.933912]] 2025-10-27T03:23:35.574Z,1761535415.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276452 2025-10-27T03:23:35.797Z,1761535415.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829777,0.518433,-0.206634],[-0.456458,0.843466,0.283215],[0.321117,-0.140685,0.936532]] 2025-10-27T03:23:35.830Z,1761535415.830 [DAT](INFO): DAT read: 03:23:36.1376 LVL= 30608, 32753, 32754, 32755, AGC= 68, IDX= 404,-0.27, 0.510, 0.144,-1.019, 0.808, PHS=-0.197,-0.619,-1.872, RAW= 44.0, 32.2, CAL= 41.1, 38.6, ROT= 108.9, -38.6 2025-10-27T03:23:35.847Z,1761535415.847 [DAT](INFO): got valid direction response: 03:23:36.1376 LVL= 30608, 32753, 32754, 32755, AGC= 68, IDX= 404,-0.27, 0.510, 0.144,-1.019, 0.808, PHS=-0.197,-0.619,-1.872, RAW= 44.0, 32.2, CAL= 41.1, 38.6, ROT= 108.9, -38.6 2025-10-27T03:23:35.848Z,1761535415.848 [DAT](INFO): DAT read: Bearing 265.6, 30.5 (Local) 2025-10-27T03:23:35.848Z,1761535415.848 [DAT](INFO): Local bearing/azimuth received: Bearing 265.6, 30.5 (Local) 2025-10-27T03:23:35.849Z,1761535415.849 [DAT](INFO): DAT read: Range 11 to 50 : 53.1 m (Round-trip 70.9 ms) speed -0.1 m/s 2025-10-27T03:23:35.850Z,1761535415.850 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:23:35.851Z,1761535415.851 [DAT](INFO): direction in FSK: [-0.253148,0.739385,0.623880] 2025-10-27T03:23:35.851Z,1761535415.851 [DAT](INFO): publishing direction and range info 2025-10-27T03:23:36.201Z,1761535416.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830369,0.520479,-0.198972],[-0.460422,0.842017,0.281104],[0.313846,-0.141809,0.938824]] 2025-10-27T03:23:36.628Z,1761535416.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830908,0.522440,-0.191439],[-0.464222,0.840592,0.279110],[0.306740,-0.143045,0.940983]] 2025-10-27T03:23:37.416Z,1761535417.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832725,0.524432,-0.177597],[-0.470317,0.839229,0.272941],[0.292184,-0.143757,0.945496]] 2025-10-27T03:23:37.819Z,1761535417.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833831,0.524848,-0.171059],[-0.472756,0.838939,0.269598],[0.285006,-0.143930,0.947658]] 2025-10-27T03:23:38.222Z,1761535418.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834941,0.524799,-0.165709],[-0.474961,0.839242,0.264735],[0.278003,-0.142333,0.949977]] 2025-10-27T03:23:38.660Z,1761535418.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836378,0.523844,-0.161429],[-0.476283,0.840268,0.259044],[0.271342,-0.139772,0.952280]] 2025-10-27T03:23:39.034Z,1761535419.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837823,0.522528,-0.158172],[-0.477371,0.841746,0.252153],[0.264897,-0.135753,0.954673]] 2025-10-27T03:23:39.434Z,1761535419.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839496,0.520813,-0.154923],[-0.477924,0.843394,0.245511],[0.258526,-0.132064,0.956934]] 2025-10-27T03:23:39.839Z,1761535419.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841332,0.518724,-0.151939],[-0.478107,0.845306,0.238477],[0.252139,-0.127996,0.959189]] 2025-10-27T03:23:40.248Z,1761535420.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843414,0.516289,-0.148656],[-0.477637,0.847225,0.232532],[0.246000,-0.125117,0.961161]] 2025-10-27T03:23:40.691Z,1761535420.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845405,0.514141,-0.144740],[-0.477224,0.848786,0.227638],[0.239892,-0.123373,0.962928]] 2025-10-27T03:23:41.053Z,1761535421.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847553,0.511396,-0.141872],[-0.476448,0.850959,0.221054],[0.233774,-0.119761,0.964887]] 2025-10-27T03:23:41.457Z,1761535421.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849840,0.508706,-0.137806],[-0.475473,0.852817,0.215935],[0.227371,-0.117987,0.966634]] 2025-10-27T03:23:41.857Z,1761535421.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852133,0.506169,-0.132898],[-0.474466,0.854393,0.211885],[0.220796,-0.117499,0.968216]] 2025-10-27T03:23:42.261Z,1761535422.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854633,0.503217,-0.127966],[-0.473017,0.856192,0.207824],[0.214144,-0.117083,0.969760]] 2025-10-27T03:23:42.726Z,1761535422.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857038,0.500371,-0.122945],[-0.471606,0.857891,0.203990],[0.207544,-0.116845,0.971222]] 2025-10-27T03:23:43.070Z,1761535423.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859273,0.497941,-0.117068],[-0.470370,0.859113,0.201685],[0.201002,-0.118237,0.972429]] 2025-10-27T03:23:43.473Z,1761535423.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861388,0.495660,-0.111048],[-0.469163,0.860156,0.200044],[0.194672,-0.120216,0.973474]] 2025-10-27T03:23:43.880Z,1761535423.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863512,0.493192,-0.105393],[-0.467844,0.861396,0.197783],[0.188330,-0.121481,0.974564]] 2025-10-27T03:23:44.281Z,1761535424.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865792,0.490396,-0.099581],[-0.466153,0.862757,0.195834],[0.181951,-0.123131,0.975568]] 2025-10-27T03:23:44.738Z,1761535424.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867871,0.487745,-0.094364],[-0.464666,0.864170,0.193123],[0.175741,-0.123758,0.976626]] 2025-10-27T03:23:45.090Z,1761535425.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869583,0.485682,-0.089104],[-0.463607,0.865150,0.191271],[0.169985,-0.125017,0.977484]] 2025-10-27T03:23:45.503Z,1761535425.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871064,0.484017,-0.083517],[-0.462878,0.865811,0.190040],[0.164293,-0.126878,0.978218]] 2025-10-27T03:23:45.897Z,1761535425.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872248,0.482825,-0.077870],[-0.462585,0.866178,0.189080],[0.158742,-0.128903,0.978869]] 2025-10-27T03:23:46.302Z,1761535426.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873414,0.481603,-0.072161],[-0.462184,0.866472,0.188711],[0.153410,-0.131471,0.979378]] 2025-10-27T03:23:46.341Z,1761535426.341 [lineCaptureHoming:InitialDive:C.Pitch] Stopped 2025-10-27T03:23:46.342Z,1761535426.342 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive 2025-10-27T03:23:46.342Z,1761535426.342 [lineCaptureHoming:InitialDive] Stopped 2025-10-27T03:23:46.342Z,1761535426.342 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive 2025-10-27T03:23:46.342Z,1761535426.342 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped 2025-10-27T03:23:46.342Z,1761535426.342 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize. 2025-10-27T03:23:46.342Z,1761535426.342 [lineCaptureHoming:InitialDive:B.Mass] Stopped 2025-10-27T03:23:46.342Z,1761535426.342 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize. 2025-10-27T03:23:46.342Z,1761535426.342 [lineCaptureHoming:RepeatHack] Running Loop=1 2025-10-27T03:23:46.342Z,1761535426.342 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack 2025-10-27T03:23:46.343Z,1761535426.343 [lineCaptureHoming:RepeatHack:A] Running Loop=1 2025-10-27T03:23:46.750Z,1761535426.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874239,0.480817,-0.067241],[-0.462312,0.866755,0.187090],[0.148238,-0.132475,0.980039]] 2025-10-27T03:23:46.780Z,1761535426.780 [lineCaptureHoming:RepeatHack] Stopped 2025-10-27T03:23:46.780Z,1761535426.780 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack 2025-10-27T03:23:46.780Z,1761535426.780 [lineCaptureHoming:RepeatHack:A] Stopped 2025-10-27T03:23:46.780Z,1761535426.780 [lineCaptureHoming:Lap] Running Loop=1 2025-10-27T03:23:46.780Z,1761535426.780 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap 2025-10-27T03:23:46.780Z,1761535426.780 [lineCaptureHoming:Lap:A] Running Loop=1 2025-10-27T03:23:47.110Z,1761535427.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874546,0.480954,-0.062068],[-0.463182,0.866344,0.186842],[0.143634,-0.134654,0.980427]] 2025-10-27T03:23:47.145Z,1761535427.145 [lineCaptureHoming:Lap:A] Stopped 2025-10-27T03:23:47.145Z,1761535427.145 [lineCaptureHoming:Lap:B] Running Loop=1 2025-10-27T03:23:47.145Z,1761535427.145 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B 2025-10-27T03:23:47.518Z,1761535427.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874609,0.481383,-0.057711],[-0.464366,0.865955,0.185706],[0.139371,-0.135621,0.980909]] 2025-10-27T03:23:47.541Z,1761535427.541 [lineCaptureHoming:LineCapture] Running Loop=1 2025-10-27T03:23:47.541Z,1761535427.541 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture 2025-10-27T03:23:47.541Z,1761535427.541 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-27T03:23:47.541Z,1761535427.541 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-27T03:23:47.541Z,1761535427.541 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T03:23:47.541Z,1761535427.541 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-27T03:23:47.541Z,1761535427.541 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize. 2025-10-27T03:23:47.542Z,1761535427.542 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T03:23:47.543Z,1761535427.543 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T03:23:47.543Z,1761535427.543 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T03:23:47.543Z,1761535427.543 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T03:23:47.543Z,1761535427.543 [lineCaptureHoming:LineCapture:A] Running Loop=1 2025-10-27T03:23:47.543Z,1761535427.543 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T03:23:47.544Z,1761535427.544 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T03:23:47.544Z,1761535427.544 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-27T03:23:47.544Z,1761535427.544 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-27T03:23:47.544Z,1761535427.544 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-27T03:23:47.544Z,1761535427.544 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-27T03:23:47.545Z,1761535427.545 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-27T03:23:47.545Z,1761535427.545 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-27T03:23:47.545Z,1761535427.545 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T03:23:47.545Z,1761535427.545 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T03:23:47.546Z,1761535427.546 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T03:23:47.546Z,1761535427.546 [lineCaptureHoming:LineCapture:A] Stopped 2025-10-27T03:23:47.546Z,1761535427.546 [lineCaptureHoming:LineCapture:B] Running Loop=1 2025-10-27T03:23:47.917Z,1761535427.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873767,0.483011,-0.056842],[-0.466807,0.865713,0.180644],[0.136462,-0.131306,0.981905]] 2025-10-27T03:23:47.964Z,1761535427.964 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T03:23:47.964Z,1761535427.964 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T03:23:47.964Z,1761535427.964 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T03:23:47.966Z,1761535427.966 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 53.099998 m (mode 0.000000 count ). 2025-10-27T03:23:47.966Z,1761535427.966 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T03:23:47.966Z,1761535427.966 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T03:23:47.969Z,1761535427.969 [lineCaptureHoming:LineCapture:B] Stopped 2025-10-27T03:23:47.969Z,1761535427.969 [lineCaptureHoming:LineCapture:D] Running Loop=1 2025-10-27T03:23:48.321Z,1761535428.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873442,0.483607,-0.056776],[-0.468526,0.866452,0.172464],[0.132599,-0.124037,0.983378]] 2025-10-27T03:23:48.341Z,1761535428.341 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T03:23:48.341Z,1761535428.341 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T03:23:48.341Z,1761535428.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:23:48.344Z,1761535428.344 [lineCaptureHoming:LineCapture:D] Stopped 2025-10-27T03:23:48.344Z,1761535428.344 [lineCaptureHoming:LineCapture:E] Running Loop=1 2025-10-27T03:23:48.428Z,1761535428.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:23:48.428Z,1761535428.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:23:48.680Z,1761535428.680 [DAT](INFO): DAT read: user:304> 2025-10-27T03:23:48.681Z,1761535428.681 [DAT](INFO): DAT read: Tx time:03:23:50.0626 2025-10-27T03:23:48.681Z,1761535428.681 [DAT](INFO): Ping request sent. 2025-10-27T03:23:48.681Z,1761535428.681 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:23:48.681Z,1761535428.681 [DAT](INFO): publishing transmit ping time 2025-10-27T03:23:48.682Z,1761535428.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T03:23:48.805Z,1761535428.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873594,0.483349,-0.056624],[-0.469465,0.867664,0.163589],[0.128201,-0.116327,0.984902]] 2025-10-27T03:23:48.875Z,1761535428.875 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T03:23:48.875Z,1761535428.875 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T03:23:48.877Z,1761535428.877 [lineCaptureHoming:LineCapture:E] Stopped 2025-10-27T03:23:48.877Z,1761535428.877 [lineCaptureHoming:LineCapture:F] Running Loop=1 2025-10-27T03:23:48.932Z,1761535428.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250914 2025-10-27T03:23:49.129Z,1761535429.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873903,0.482855,-0.056074],[-0.470194,0.868932,0.154515],[0.123333,-0.108665,0.986398]] 2025-10-27T03:23:49.155Z,1761535429.155 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T03:23:49.155Z,1761535429.155 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T03:23:49.156Z,1761535429.156 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T03:23:49.156Z,1761535429.156 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T03:23:49.158Z,1761535429.158 [lineCaptureHoming:LineCapture:F] Stopped 2025-10-27T03:23:49.158Z,1761535429.158 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1 2025-10-27T03:23:49.158Z,1761535429.158 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-27T03:23:49.158Z,1761535429.158 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-27T03:23:49.158Z,1761535429.158 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-27T03:23:49.158Z,1761535429.158 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2025-10-27T03:23:49.158Z,1761535429.158 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-27T03:23:49.159Z,1761535429.159 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2025-10-27T03:23:49.159Z,1761535429.159 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-27T03:23:49.159Z,1761535429.159 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T03:23:49.159Z,1761535429.159 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-27T03:23:49.160Z,1761535429.160 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T03:23:49.160Z,1761535429.160 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-27T03:23:49.160Z,1761535429.160 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T03:23:49.160Z,1761535429.160 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-27T03:23:49.160Z,1761535429.160 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-27T03:23:49.160Z,1761535429.160 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-27T03:23:49.160Z,1761535429.160 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-27T03:23:49.160Z,1761535429.160 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-27T03:23:49.160Z,1761535429.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-27T03:23:49.161Z,1761535429.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T03:23:49.161Z,1761535429.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-27T03:23:49.161Z,1761535429.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T03:23:49.161Z,1761535429.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-27T03:23:49.161Z,1761535429.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T03:23:49.162Z,1761535429.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-27T03:23:49.162Z,1761535429.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-27T03:23:49.162Z,1761535429.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-27T03:23:49.162Z,1761535429.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T03:23:49.162Z,1761535429.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-27T03:23:49.162Z,1761535429.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-27T03:23:49.162Z,1761535429.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-27T03:23:49.162Z,1761535429.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-27T03:23:49.162Z,1761535429.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-27T03:23:49.184Z,1761535429.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502854 2025-10-27T03:23:49.436Z,1761535429.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755129 2025-10-27T03:23:49.533Z,1761535429.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874725,0.481483,-0.055051],[-0.470052,0.870581,0.145398],[0.117933,-0.101307,0.987840]] 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-27T03:23:49.573Z,1761535429.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-27T03:23:49.574Z,1761535429.574 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-27T03:23:49.575Z,1761535429.575 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-27T03:23:49.575Z,1761535429.575 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T03:23:49.576Z,1761535429.576 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.225540 m. 2025-10-27T03:23:49.688Z,1761535429.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007182 2025-10-27T03:23:49.938Z,1761535429.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875523,0.480211,-0.053446],[-0.469941,0.872028,0.136833],[0.112315,-0.094684,0.989151]] 2025-10-27T03:23:49.940Z,1761535429.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258929 2025-10-27T03:23:50.192Z,1761535430.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510820 2025-10-27T03:23:50.373Z,1761535430.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:23:50.444Z,1761535430.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762889 2025-10-27T03:23:50.552Z,1761535430.552 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:23:50.668Z,1761535430.668 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:23:50.696Z,1761535430.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015297 2025-10-27T03:23:50.751Z,1761535430.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877507,0.476924,-0.050243],[-0.469003,0.875327,0.117639],[0.100084,-0.079665,0.991785]] 2025-10-27T03:23:50.948Z,1761535430.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266999 2025-10-27T03:23:51.153Z,1761535431.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878556,0.475375,-0.046455],[-0.468421,0.876531,0.110793],[0.093387,-0.075577,0.992757]] 2025-10-27T03:23:51.200Z,1761535431.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518916 2025-10-27T03:23:51.452Z,1761535431.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770880 2025-10-27T03:23:51.555Z,1761535431.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879698,0.473607,-0.042759],[-0.467570,0.877850,0.103724],[0.086661,-0.071253,0.993687]] 2025-10-27T03:23:51.705Z,1761535431.705 [DAT](INFO): DAT read: Rx Time:03:23:52.5443 2025-10-27T03:23:51.706Z,1761535431.706 [DAT](INFO): Rx dataTimestamp_ set to:1761535431.705285 2025-10-27T03:23:51.706Z,1761535431.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025427 2025-10-27T03:23:51.956Z,1761535431.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274817 2025-10-27T03:23:52.213Z,1761535432.213 [DAT](INFO): DAT read: 03:23:52.5443 LVL= 24192, 29169, 32754, 32755, AGC= 64, IDX= 486, 0.27,-2.329,-2.086, 2.365,-2.225, PHS=-0.002, 0.184,-1.737, RAW= 25.0, 16.7, CAL= 23.0, 19.7, ROT= 127.0, -19.7 2025-10-27T03:23:52.214Z,1761535432.214 [DAT](INFO): got valid direction response: 03:23:52.5443 LVL= 24192, 29169, 32754, 32755, AGC= 64, IDX= 486, 0.27,-2.329,-2.086, 2.365,-2.225, PHS=-0.002, 0.184,-1.737, RAW= 25.0, 16.7, CAL= 23.0, 19.7, ROT= 127.0, -19.7 2025-10-27T03:23:52.215Z,1761535432.215 [DAT](INFO): DAT read: Bearing 292.7, 43.0 (Local) 2025-10-27T03:23:52.216Z,1761535432.216 [DAT](INFO): Local bearing/azimuth received: Bearing 292.7, 43.0 (Local) 2025-10-27T03:23:52.217Z,1761535432.217 [DAT](INFO): DAT read: Range 11 to 50 : 58.1 m (Round-trip 77.5 ms) speed -0.3 m/s 2025-10-27T03:23:52.217Z,1761535432.217 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:23:52.218Z,1761535432.218 [DAT](INFO): direction in FSK: [-0.566591,0.751892,0.337095] 2025-10-27T03:23:52.219Z,1761535432.219 [DAT](INFO): publishing direction and range info 2025-10-27T03:23:52.223Z,1761535432.223 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:23:52.223Z,1761535432.223 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:23:52.223Z,1761535432.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:23:52.362Z,1761535432.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881933,0.470405,-0.030210],[-0.466002,0.879738,0.094361],[0.070965,-0.069142,0.995080]] 2025-10-27T03:23:52.464Z,1761535432.464 [DAT](INFO): DAT read: user:305> 2025-10-27T03:23:52.465Z,1761535432.465 [DAT](INFO): DAT read: Tx time:03:23:53.8626 2025-10-27T03:23:52.466Z,1761535432.466 [DAT](INFO): Ping request sent. 2025-10-27T03:23:52.466Z,1761535432.466 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:23:52.466Z,1761535432.466 [DAT](INFO): publishing transmit ping time 2025-10-27T03:23:52.467Z,1761535432.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-27T03:23:52.713Z,1761535432.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246965 2025-10-27T03:23:52.766Z,1761535432.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883338,0.468177,-0.022900],[-0.464618,0.880992,0.089349],[0.062006,-0.068286,0.995737]] 2025-10-27T03:23:52.824Z,1761535432.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:23:52.964Z,1761535432.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498054 2025-10-27T03:23:53.172Z,1761535433.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884672,0.465967,-0.015147],[-0.463244,0.882235,0.084065],[0.052535,-0.067353,0.996345]] 2025-10-27T03:23:53.216Z,1761535433.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750195 2025-10-27T03:23:53.468Z,1761535433.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002113 2025-10-27T03:23:53.574Z,1761535433.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886242,0.463172,-0.006835],[-0.461266,0.883758,0.078776],[0.042527,-0.066662,0.996869]] 2025-10-27T03:23:53.720Z,1761535433.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254396 2025-10-27T03:23:53.978Z,1761535433.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511793 2025-10-27T03:23:53.987Z,1761535433.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887645,0.460525,0.001866],[-0.459379,0.885135,0.074212],[0.032525,-0.066732,0.997241]] 2025-10-27T03:23:54.120Z,1761535434.120 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T03:23:54.228Z,1761535434.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762098 2025-10-27T03:23:54.381Z,1761535434.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889007,0.457760,0.011076],[-0.457362,0.886547,0.069676],[0.022076,-0.067008,0.997508]] 2025-10-27T03:23:54.480Z,1761535434.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014585 2025-10-27T03:23:54.500Z,1761535434.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:23:54.735Z,1761535434.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268713 2025-10-27T03:23:54.796Z,1761535434.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890771,0.454016,0.019926],[-0.454309,0.888526,0.064222],[0.011453,-0.066259,0.997737]] 2025-10-27T03:23:54.989Z,1761535434.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523208 2025-10-27T03:23:55.191Z,1761535435.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892938,0.449234,0.029156],[-0.450178,0.890959,0.059432],[0.000722,-0.066194,0.997807]] 2025-10-27T03:23:55.240Z,1761535435.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774266 2025-10-27T03:23:55.282Z,1761535435.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:23:55.493Z,1761535435.493 [DAT](INFO): DAT read: Rx Time:03:23:56.3458 2025-10-27T03:23:55.494Z,1761535435.494 [DAT](INFO): Rx dataTimestamp_ set to:1761535435.493442 2025-10-27T03:23:55.495Z,1761535435.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028933 2025-10-27T03:23:55.503Z,1761535435.503 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:23:55.744Z,1761535435.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278134 2025-10-27T03:23:56.003Z,1761535436.003 [DAT](INFO): DAT read: 03:23:56.3458 LVL= 20208, 25009, 30514, 32755, AGC= 62, IDX= 437, 0.15, 1.996, 2.563, 0.654, 2.299, PHS=-0.202, 0.309,-1.689, RAW= 15.8, 17.3, CAL= 14.9, 21.0, ROT= 135.1, -21.0 2025-10-27T03:23:56.004Z,1761535436.004 [DAT](INFO): got valid direction response: 03:23:56.3458 LVL= 20208, 25009, 30514, 32755, AGC= 62, IDX= 437, 0.15, 1.996, 2.563, 0.654, 2.299, PHS=-0.202, 0.309,-1.689, RAW= 15.8, 17.3, CAL= 14.9, 21.0, ROT= 135.1, -21.0 2025-10-27T03:23:56.005Z,1761535436.005 [DAT](INFO): DAT read: Bearing 293.8, 40.0 (Local) 2025-10-27T03:23:56.006Z,1761535436.006 [DAT](INFO): Local bearing/azimuth received: Bearing 293.8, 40.0 (Local) 2025-10-27T03:23:56.011Z,1761535436.011 [DAT](INFO): DAT read: Range 11 to 50 : 59.2 m (Round-trip 79.0 ms) speed -0.4 m/s 2025-10-27T03:23:56.012Z,1761535436.012 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:23:56.013Z,1761535436.013 [DAT](INFO): direction in FSK: [-0.661292,0.658988,0.358368] 2025-10-27T03:23:56.013Z,1761535436.013 [DAT](INFO): publishing direction and range info 2025-10-27T03:23:56.033Z,1761535436.033 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:23:56.033Z,1761535436.033 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:23:56.033Z,1761535436.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:23:56.084Z,1761535436.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897696,0.436962,0.056621],[-0.439517,0.897102,0.045098],[-0.031089,-0.065371,0.997377]] 2025-10-27T03:23:56.248Z,1761535436.248 [DAT](INFO): DAT read: user:306> 2025-10-27T03:23:56.249Z,1761535436.249 [DAT](INFO): DAT read: Tx time:03:23:57.6626 2025-10-27T03:23:56.250Z,1761535436.250 [DAT](INFO): Ping request sent. 2025-10-27T03:23:56.250Z,1761535436.250 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:23:56.250Z,1761535436.250 [DAT](INFO): publishing transmit ping time 2025-10-27T03:23:56.251Z,1761535436.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001126 2025-10-27T03:23:56.501Z,1761535436.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251280 2025-10-27T03:23:56.752Z,1761535436.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501927 2025-10-27T03:23:57.004Z,1761535437.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753893 2025-10-27T03:23:57.210Z,1761535437.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899113,0.431392,0.074142],[-0.434582,0.900010,0.033462],[-0.052293,-0.062307,0.996686]] 2025-10-27T03:23:57.256Z,1761535437.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006101 2025-10-27T03:23:57.508Z,1761535437.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258061 2025-10-27T03:23:57.614Z,1761535437.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899411,0.429074,0.083395],[-0.432577,0.901133,0.028913],[-0.062744,-0.062079,0.996097]] 2025-10-27T03:23:57.640Z,1761535437.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:23:57.760Z,1761535437.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510043 2025-10-27T03:23:58.012Z,1761535438.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761925 2025-10-27T03:23:58.024Z,1761535438.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899445,0.427101,0.092651],[-0.430868,0.902085,0.024401],[-0.073157,-0.061868,0.995400]] 2025-10-27T03:23:58.264Z,1761535438.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013925 2025-10-27T03:23:58.422Z,1761535438.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899222,0.425652,0.101092],[-0.429518,0.902856,0.019085],[-0.083148,-0.060583,0.994694]] 2025-10-27T03:23:58.516Z,1761535438.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265909 2025-10-27T03:23:58.768Z,1761535438.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518152 2025-10-27T03:23:58.825Z,1761535438.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898892,0.424251,0.109569],[-0.428171,0.903590,0.013971],[-0.093078,-0.059473,0.993881]] 2025-10-27T03:23:59.020Z,1761535439.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769931 2025-10-27T03:23:59.230Z,1761535439.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898179,0.423476,0.118077],[-0.427437,0.903998,0.009265],[-0.102818,-0.058792,0.992961]] 2025-10-27T03:23:59.273Z,1761535439.273 [DAT](INFO): DAT read: Rx Time:03:24:00.1475 2025-10-27T03:23:59.273Z,1761535439.273 [DAT](INFO): Rx dataTimestamp_ set to:1761535439.272902 2025-10-27T03:23:59.274Z,1761535439.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023800 2025-10-27T03:23:59.524Z,1761535439.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274017 2025-10-27T03:23:59.634Z,1761535439.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897226,0.422859,0.127181],[-0.426982,0.904242,0.005761],[-0.112566,-0.059473,0.991863]] 2025-10-27T03:23:59.720Z,1761535439.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:23:59.782Z,1761535439.782 [DAT](INFO): DAT read: 03:24:00.1475 LVL= 25680, 23537, 31282, 32755, AGC= 61, IDX= 455,-0.50,-1.416,-0.783,-2.709,-1.082, PHS=-0.232, 0.344,-1.671, RAW= 13.9, 17.0, CAL= 13.2, 20.8, ROT= 136.8, -20.8 2025-10-27T03:23:59.784Z,1761535439.784 [DAT](INFO): got valid direction response: 03:24:00.1475 LVL= 25680, 23537, 31282, 32755, AGC= 61, IDX= 455,-0.50,-1.416,-0.783,-2.709,-1.082, PHS=-0.232, 0.344,-1.671, RAW= 13.9, 17.0, CAL= 13.2, 20.8, ROT= 136.8, -20.8 2025-10-27T03:23:59.785Z,1761535439.785 [DAT](INFO): DAT read: Bearing 292.4, 43.3 (Local) 2025-10-27T03:23:59.785Z,1761535439.785 [DAT](INFO): Local bearing/azimuth received: Bearing 292.4, 43.3 (Local) 2025-10-27T03:23:59.786Z,1761535439.786 [DAT](INFO): DAT read: Range 11 to 50 : 60.5 m (Round-trip 80.7 ms) speed -0.3 m/s 2025-10-27T03:23:59.787Z,1761535439.787 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:23:59.788Z,1761535439.788 [DAT](INFO): direction in FSK: [-0.681459,0.639932,0.355107] 2025-10-27T03:23:59.788Z,1761535439.788 [DAT](INFO): publishing direction and range info 2025-10-27T03:23:59.828Z,1761535439.828 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:23:59.828Z,1761535439.828 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:23:59.829Z,1761535439.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:00.028Z,1761535440.028 [DAT](INFO): DAT read: user:307> 2025-10-27T03:24:00.029Z,1761535440.029 [DAT](INFO): DAT read: Tx time:03:24:01.4626 2025-10-27T03:24:00.029Z,1761535440.029 [DAT](INFO): Ping request sent. 2025-10-27T03:24:00.029Z,1761535440.029 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:00.029Z,1761535440.029 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:00.030Z,1761535440.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-27T03:24:00.133Z,1761535440.133 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-27T03:24:00.280Z,1761535440.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250958 2025-10-27T03:24:00.441Z,1761535440.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893812,0.424770,0.143771],[-0.428921,0.903339,-0.002341],[-0.130869,-0.059574,0.989608]] 2025-10-27T03:24:00.532Z,1761535440.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503275 2025-10-27T03:24:00.784Z,1761535440.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754911 2025-10-27T03:24:00.848Z,1761535440.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891890,0.426372,0.150799],[-0.430230,0.902686,-0.007708],[-0.139411,-0.058004,0.988534]] 2025-10-27T03:24:01.036Z,1761535441.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932 2025-10-27T03:24:01.249Z,1761535441.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890558,0.426512,0.158096],[-0.430088,0.902699,-0.012611],[-0.148092,-0.056764,0.987343]] 2025-10-27T03:24:01.288Z,1761535441.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258988 2025-10-27T03:24:01.540Z,1761535441.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887 2025-10-27T03:24:01.654Z,1761535441.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888938,0.427184,0.165237],[-0.430471,0.902440,-0.017228],[-0.156476,-0.055815,0.986103]] 2025-10-27T03:24:01.792Z,1761535441.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763417 2025-10-27T03:24:02.044Z,1761535442.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014833 2025-10-27T03:24:02.059Z,1761535442.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887356,0.427811,0.171980],[-0.430724,0.902217,-0.021940],[-0.164550,-0.054607,0.984856]] 2025-10-27T03:24:02.119Z,1761535442.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:02.296Z,1761535442.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266851 2025-10-27T03:24:02.474Z,1761535442.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885849,0.428114,0.178859],[-0.430704,0.902115,-0.026106],[-0.172528,-0.053909,0.983528]] 2025-10-27T03:24:02.548Z,1761535442.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519143 2025-10-27T03:24:02.800Z,1761535442.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887 2025-10-27T03:24:02.866Z,1761535442.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884356,0.428429,0.185372],[-0.430617,0.902023,-0.030396],[-0.180232,-0.052944,0.982198]] 2025-10-27T03:24:03.052Z,1761535443.052 [DAT](INFO): DAT read: Rx Time:03:24:03.9488 2025-10-27T03:24:03.053Z,1761535443.053 [DAT](INFO): Rx dataTimestamp_ set to:1761535443.052289 2025-10-27T03:24:03.053Z,1761535443.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024141 2025-10-27T03:24:03.270Z,1761535443.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882864,0.428717,0.191710],[-0.430437,0.901951,-0.034760],[-0.187815,-0.051831,0.980836]] 2025-10-27T03:24:03.304Z,1761535443.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275021 2025-10-27T03:24:03.561Z,1761535443.561 [DAT](INFO): DAT read: 03:24:03.9488 LVL= 25424, 21233, 30930, 32755, AGC= 61, IDX= 436,-0.38, 0.052, 0.794,-1.086, 0.465, PHS=-0.311, 0.374,-1.594, RAW= 10.0, 17.4, CAL= 9.7, 21.4, ROT= 140.3, -21.4 2025-10-27T03:24:03.562Z,1761535443.562 [DAT](INFO): got valid direction response: 03:24:03.9488 LVL= 25424, 21233, 30930, 32755, AGC= 61, IDX= 436,-0.38, 0.052, 0.794,-1.086, 0.465, PHS=-0.311, 0.374,-1.594, RAW= 10.0, 17.4, CAL= 9.7, 21.4, ROT= 140.3, -21.4 2025-10-27T03:24:03.563Z,1761535443.563 [DAT](INFO): DAT read: Bearing 291.7, 44.5 (Local) 2025-10-27T03:24:03.563Z,1761535443.563 [DAT](INFO): Local bearing/azimuth received: Bearing 291.7, 44.5 (Local) 2025-10-27T03:24:03.565Z,1761535443.565 [DAT](INFO): DAT read: Range 11 to 50 : 61.5 m (Round-trip 82.0 ms) speed -0.2 m/s 2025-10-27T03:24:03.565Z,1761535443.565 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:03.566Z,1761535443.566 [DAT](INFO): direction in FSK: [-0.716354,0.594728,0.364877] 2025-10-27T03:24:03.567Z,1761535443.567 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:03.570Z,1761535443.570 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:03.570Z,1761535443.570 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:03.570Z,1761535443.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:03.696Z,1761535443.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880052,0.428636,0.204403],[-0.429804,0.901992,-0.040980],[-0.201935,-0.051789,0.978029]] 2025-10-27T03:24:03.809Z,1761535443.809 [DAT](INFO): DAT read: user:308> 2025-10-27T03:24:03.810Z,1761535443.810 [DAT](INFO): DAT read: Tx time:03:24:05.1642 2025-10-27T03:24:03.811Z,1761535443.811 [DAT](INFO): Ping request sent. 2025-10-27T03:24:03.811Z,1761535443.811 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:03.811Z,1761535443.811 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:03.812Z,1761535443.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000890 2025-10-27T03:24:04.060Z,1761535444.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249206 2025-10-27T03:24:04.088Z,1761535444.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878772,0.428307,0.210506],[-0.429243,0.902135,-0.043629],[-0.208592,-0.052018,0.976618]] 2025-10-27T03:24:04.122Z,1761535444.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:04.312Z,1761535444.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501104 2025-10-27T03:24:04.492Z,1761535444.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877649,0.427542,0.216657],[-0.428262,0.902479,-0.046081],[-0.215230,-0.052343,0.975160]] 2025-10-27T03:24:04.564Z,1761535444.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753234 2025-10-27T03:24:04.816Z,1761535444.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005195 2025-10-27T03:24:04.890Z,1761535444.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876571,0.426627,0.222740],[-0.427207,0.902874,-0.048098],[-0.221626,-0.052995,0.973691]] 2025-10-27T03:24:05.068Z,1761535445.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257141 2025-10-27T03:24:05.292Z,1761535445.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875635,0.425312,0.228852],[-0.425906,0.903420,-0.049364],[-0.227745,-0.054244,0.972209]] 2025-10-27T03:24:05.328Z,1761535445.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517233 2025-10-27T03:24:05.580Z,1761535445.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769149 2025-10-27T03:24:05.705Z,1761535445.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874825,0.424205,0.233947],[-0.424404,0.903972,-0.052104],[-0.233584,-0.053706,0.970852]] 2025-10-27T03:24:05.833Z,1761535445.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022323 2025-10-27T03:24:06.088Z,1761535446.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277376 2025-10-27T03:24:06.099Z,1761535446.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874206,0.423089,0.238242],[-0.422656,0.904587,-0.055540],[-0.239009,-0.052141,0.969616]] 2025-10-27T03:24:06.145Z,1761535446.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:06.340Z,1761535446.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529203 2025-10-27T03:24:06.502Z,1761535446.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873720,0.421907,0.242091],[-0.420700,0.905258,-0.059318],[-0.244181,-0.050021,0.968439]] 2025-10-27T03:24:06.592Z,1761535446.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781402 2025-10-27T03:24:06.844Z,1761535446.844 [DAT](INFO): DAT read: Rx Time:03:24:07.6512 2025-10-27T03:24:06.844Z,1761535446.844 [DAT](INFO): Rx dataTimestamp_ set to:1761535446.844130 2025-10-27T03:24:06.845Z,1761535446.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034239 2025-10-27T03:24:06.906Z,1761535446.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873303,0.420159,0.246592],[-0.418636,0.906086,-0.061252],[-0.249169,-0.049741,0.967182]] 2025-10-27T03:24:07.098Z,1761535447.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286833 2025-10-27T03:24:07.309Z,1761535447.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872813,0.418519,0.251075],[-0.416910,0.906812,-0.062267],[-0.253738,-0.050328,0.965963]] 2025-10-27T03:24:07.353Z,1761535447.353 [DAT](INFO): DAT read: 03:24:07.6512 LVL= 23744, 21729, 32754, 32755, AGC= 63, IDX= 429, 0.02,-2.309,-1.546, 2.913,-1.885, PHS=-0.322, 0.385,-1.529, RAW= 8.6, 17.2, CAL= 8.4, 21.2, ROT= 141.6, -21.2 2025-10-27T03:24:07.354Z,1761535447.354 [DAT](INFO): got valid direction response: 03:24:07.6512 LVL= 23744, 21729, 32754, 32755, AGC= 63, IDX= 429, 0.02,-2.309,-1.546, 2.913,-1.885, PHS=-0.322, 0.385,-1.529, RAW= 8.6, 17.2, CAL= 8.4, 21.2, ROT= 141.6, -21.2 2025-10-27T03:24:07.355Z,1761535447.355 [DAT](INFO): DAT read: Bearing 289.5, 46.3 (Local) 2025-10-27T03:24:07.356Z,1761535447.356 [DAT](INFO): Local bearing/azimuth received: Bearing 289.5, 46.3 (Local) 2025-10-27T03:24:07.357Z,1761535447.357 [DAT](INFO): DAT read: Range 11 to 50 : 62.1 m (Round-trip 82.9 ms) speed -0.2 m/s 2025-10-27T03:24:07.358Z,1761535447.358 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:07.359Z,1761535447.359 [DAT](INFO): direction in FSK: [-0.730656,0.579111,0.361625] 2025-10-27T03:24:07.359Z,1761535447.359 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:07.362Z,1761535447.362 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:07.362Z,1761535447.362 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:07.366Z,1761535447.366 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:07.600Z,1761535447.600 [DAT](INFO): DAT read: user:309> 2025-10-27T03:24:07.601Z,1761535447.601 [DAT](INFO): DAT read: Tx time:03:24:09.0126 2025-10-27T03:24:07.601Z,1761535447.601 [DAT](INFO): Ping request sent. 2025-10-27T03:24:07.601Z,1761535447.601 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:07.601Z,1761535447.601 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:07.602Z,1761535447.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-27T03:24:07.726Z,1761535447.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872318,0.417058,0.255193],[-0.415221,0.907484,-0.063749],[-0.258170,-0.050352,0.964786]] 2025-10-27T03:24:07.852Z,1761535447.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250715 2025-10-27T03:24:08.104Z,1761535448.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502550 2025-10-27T03:24:08.119Z,1761535448.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871873,0.415999,0.258422],[-0.413730,0.908016,-0.065836],[-0.262039,-0.049516,0.963786]] 2025-10-27T03:24:08.164Z,1761535448.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:08.356Z,1761535448.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754594 2025-10-27T03:24:08.521Z,1761535448.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871216,0.415403,0.261579],[-0.412837,0.908304,-0.067445],[-0.265610,-0.049230,0.962823]] 2025-10-27T03:24:08.609Z,1761535448.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007323 2025-10-27T03:24:08.860Z,1761535448.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258578 2025-10-27T03:24:08.927Z,1761535448.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870807,0.414508,0.264345],[-0.411572,0.908749,-0.069168],[-0.268894,-0.048565,0.961945]] 2025-10-27T03:24:09.112Z,1761535449.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510616 2025-10-27T03:24:09.330Z,1761535449.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870462,0.413382,0.267229],[-0.410356,0.909246,-0.069853],[-0.271853,-0.048855,0.961098]] 2025-10-27T03:24:09.364Z,1761535449.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762732 2025-10-27T03:24:09.616Z,1761535449.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014528 2025-10-27T03:24:09.738Z,1761535449.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870120,0.412405,0.269841],[-0.409405,0.909656,-0.070100],[-0.274372,-0.049479,0.960350]] 2025-10-27T03:24:09.869Z,1761535449.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267539 2025-10-27T03:24:10.131Z,1761535450.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529940 2025-10-27T03:24:10.144Z,1761535450.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869816,0.411866,0.271636],[-0.408627,0.909922,-0.071182],[-0.276485,-0.049083,0.959764]] 2025-10-27T03:24:10.198Z,1761535450.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:10.372Z,1761535450.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770586 2025-10-27T03:24:10.544Z,1761535450.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869547,0.411592,0.272908],[-0.408068,0.910079,-0.072358],[-0.278150,-0.048447,0.959315]] 2025-10-27T03:24:10.624Z,1761535450.624 [DAT](INFO): DAT read: Rx Time:03:24:11.5008 2025-10-27T03:24:10.625Z,1761535450.625 [DAT](INFO): Rx dataTimestamp_ set to:1761535450.624257 2025-10-27T03:24:10.625Z,1761535450.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023819 2025-10-27T03:24:10.876Z,1761535450.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274655 2025-10-27T03:24:10.950Z,1761535450.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869690,0.410777,0.273681],[-0.407108,0.910469,-0.072865],[-0.279110,-0.048048,0.959056]] 2025-10-27T03:24:11.136Z,1761535451.136 [DAT](INFO): DAT read: 03:24:11.5008 LVL= 32304, 26449, 32754, 32755, AGC= 63, IDX= 441, 0.17,-0.040, 0.681,-1.168, 0.359, PHS=-0.297, 0.368,-1.570, RAW= 10.3, 17.3, CAL= 10.0, 21.3, ROT= 140.0, -21.3 2025-10-27T03:24:11.137Z,1761535451.137 [DAT](INFO): got valid direction response: 03:24:11.5008 LVL= 32304, 26449, 32754, 32755, AGC= 63, IDX= 441, 0.17,-0.040, 0.681,-1.168, 0.359, PHS=-0.297, 0.368,-1.570, RAW= 10.3, 17.3, CAL= 10.0, 21.3, ROT= 140.0, -21.3 2025-10-27T03:24:11.138Z,1761535451.138 [DAT](INFO): DAT read: Bearing 286.4, 48.7 (Local) 2025-10-27T03:24:11.138Z,1761535451.138 [DAT](INFO): Local bearing/azimuth received: Bearing 286.4, 48.7 (Local) 2025-10-27T03:24:11.139Z,1761535451.139 [DAT](INFO): DAT read: Range 11 to 50 : 63.0 m (Round-trip 84.0 ms) speed -0.1 m/s 2025-10-27T03:24:11.140Z,1761535451.140 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:11.141Z,1761535451.141 [DAT](INFO): direction in FSK: [-0.713717,0.598880,0.363251] 2025-10-27T03:24:11.141Z,1761535451.141 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:11.153Z,1761535451.153 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:11.153Z,1761535451.153 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:11.153Z,1761535451.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:11.349Z,1761535451.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869859,0.409858,0.274519],[-0.406085,0.910897,-0.073225],[-0.280071,-0.047783,0.958789]] 2025-10-27T03:24:11.380Z,1761535451.380 [DAT](INFO): DAT read: user:310> 2025-10-27T03:24:11.381Z,1761535451.381 [DAT](INFO): DAT read: Tx time:03:24:12.7626 2025-10-27T03:24:11.381Z,1761535451.381 [DAT](INFO): Ping request sent. 2025-10-27T03:24:11.381Z,1761535451.381 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:11.381Z,1761535451.381 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:11.382Z,1761535451.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-27T03:24:11.632Z,1761535451.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250774 2025-10-27T03:24:11.757Z,1761535451.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870030,0.409061,0.275168],[-0.405128,0.911280,-0.073760],[-0.280927,-0.047304,0.958562]] 2025-10-27T03:24:11.884Z,1761535451.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502716 2025-10-27T03:24:12.138Z,1761535452.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756823 2025-10-27T03:24:12.176Z,1761535452.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870223,0.408356,0.275602],[-0.404225,0.911629,-0.074395],[-0.281627,-0.046665,0.958389]] 2025-10-27T03:24:12.231Z,1761535452.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:12.388Z,1761535452.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006778 2025-10-27T03:24:12.562Z,1761535452.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870433,0.407826,0.275726],[-0.403494,0.911902,-0.075014],[-0.282028,-0.045959,0.958305]] 2025-10-27T03:24:12.640Z,1761535452.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258602 2025-10-27T03:24:12.892Z,1761535452.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510755 2025-10-27T03:24:12.972Z,1761535452.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870716,0.407398,0.275464],[-0.402818,0.912141,-0.075743],[-0.282119,-0.045011,0.958323]] 2025-10-27T03:24:13.147Z,1761535453.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765287 2025-10-27T03:24:13.371Z,1761535453.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870951,0.407208,0.275002],[-0.402544,0.912247,-0.075920],[-0.281785,-0.044577,0.958441]] 2025-10-27T03:24:13.396Z,1761535453.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014870 2025-10-27T03:24:13.648Z,1761535453.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267004 2025-10-27T03:24:13.777Z,1761535453.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871013,0.407388,0.274539],[-0.403330,0.912073,-0.073806],[-0.280468,-0.046444,0.958739]] 2025-10-27T03:24:13.901Z,1761535453.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519951 2025-10-27T03:24:14.154Z,1761535454.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772928 2025-10-27T03:24:14.208Z,1761535454.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871075,0.407837,0.273675],[-0.404219,0.911807,-0.072216],[-0.278991,-0.047719,0.959107]] 2025-10-27T03:24:14.242Z,1761535454.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:14.404Z,1761535454.404 [DAT](INFO): DAT read: Rx Time:03:24:15.2517 2025-10-27T03:24:14.404Z,1761535454.404 [DAT](INFO): Rx dataTimestamp_ set to:1761535454.404108 2025-10-27T03:24:14.405Z,1761535454.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023797 2025-10-27T03:24:14.581Z,1761535454.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871277,0.408647,0.271816],[-0.404902,0.911485,-0.072451],[-0.277363,-0.046934,0.959618]] 2025-10-27T03:24:14.657Z,1761535454.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275171 2025-10-27T03:24:14.913Z,1761535454.913 [DAT](INFO): DAT read: 03:24:15.2517 LVL= 26336, 21969, 32754, 32755, AGC= 62, IDX= 434,-0.46,-2.329,-1.561, 2.891,-1.921, PHS=-0.306, 0.405,-1.515, RAW= 8.5, 16.6, CAL= 8.4, 20.6, ROT= 141.6, -20.6 2025-10-27T03:24:14.914Z,1761535454.914 [DAT](INFO): got valid direction response: 03:24:15.2517 LVL= 26336, 21969, 32754, 32755, AGC= 62, IDX= 434,-0.46,-2.329,-1.561, 2.891,-1.921, PHS=-0.306, 0.405,-1.515, RAW= 8.5, 16.6, CAL= 8.4, 20.6, ROT= 141.6, -20.6 2025-10-27T03:24:14.915Z,1761535454.915 [DAT](INFO): DAT read: Bearing 287.5, 47.6 (Local) 2025-10-27T03:24:14.916Z,1761535454.916 [DAT](INFO): Local bearing/azimuth received: Bearing 287.5, 47.6 (Local) 2025-10-27T03:24:14.917Z,1761535454.917 [DAT](INFO): DAT read: Range 11 to 50 : 63.6 m (Round-trip 84.9 ms) speed 0.0 m/s 2025-10-27T03:24:14.918Z,1761535454.918 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:14.919Z,1761535454.919 [DAT](INFO): direction in FSK: [-0.733584,0.581431,0.351842] 2025-10-27T03:24:14.920Z,1761535454.920 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:14.923Z,1761535454.923 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:14.923Z,1761535454.923 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:14.923Z,1761535454.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:14.991Z,1761535454.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871403,0.410106,0.269204],[-0.405995,0.910915,-0.073500],[-0.275365,-0.045247,0.960275]] 2025-10-27T03:24:15.162Z,1761535455.162 [DAT](INFO): DAT read: user:311> 2025-10-27T03:24:15.165Z,1761535455.165 [DAT](INFO): DAT read: Tx time:03:24:16.5626 2025-10-27T03:24:15.166Z,1761535455.166 [DAT](INFO): Ping request sent. 2025-10-27T03:24:15.166Z,1761535455.166 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:15.167Z,1761535455.167 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:15.169Z,1761535455.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002848 2025-10-27T03:24:15.390Z,1761535455.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871542,0.410923,0.267500],[-0.407046,0.910525,-0.072517],[-0.273364,-0.045683,0.960825]] 2025-10-27T03:24:15.412Z,1761535455.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246450 2025-10-27T03:24:15.664Z,1761535455.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498305 2025-10-27T03:24:15.808Z,1761535455.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871466,0.411940,0.266180],[-0.408676,0.909970,-0.070275],[-0.271165,-0.047539,0.961358]] 2025-10-27T03:24:15.916Z,1761535455.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750707 2025-10-27T03:24:16.170Z,1761535456.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004601 2025-10-27T03:24:16.230Z,1761535456.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871393,0.413327,0.264263],[-0.410378,0.909300,-0.069016],[-0.268820,-0.048307,0.961978]] 2025-10-27T03:24:16.278Z,1761535456.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:16.420Z,1761535456.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254403 2025-10-27T03:24:16.603Z,1761535456.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871214,0.415216,0.261881],[-0.412383,0.908436,-0.068442],[-0.266321,-0.048367,0.962670]] 2025-10-27T03:24:16.672Z,1761535456.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506364 2025-10-27T03:24:16.924Z,1761535456.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758381 2025-10-27T03:24:17.006Z,1761535457.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871195,0.416838,0.259356],[-0.414015,0.907713,-0.068176],[-0.263839,-0.047983,0.963373]] 2025-10-27T03:24:17.178Z,1761535457.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012255 2025-10-27T03:24:17.410Z,1761535457.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871306,0.418133,0.256887],[-0.415370,0.907131,-0.067686],[-0.261332,-0.047728,0.964068]] 2025-10-27T03:24:17.428Z,1761535457.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262391 2025-10-27T03:24:17.680Z,1761535457.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514373 2025-10-27T03:24:17.817Z,1761535457.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871421,0.419373,0.254463],[-0.416741,0.906559,-0.066922],[-0.258751,-0.047728,0.964764]] 2025-10-27T03:24:17.933Z,1761535457.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767076 2025-10-27T03:24:18.187Z,1761535458.187 [DAT](INFO): DAT read: Rx Time:03:24:19.0523 2025-10-27T03:24:18.188Z,1761535458.188 [DAT](INFO): Rx dataTimestamp_ set to:1761535458.187762 2025-10-27T03:24:18.190Z,1761535458.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024111 2025-10-27T03:24:18.267Z,1761535458.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871522,0.420899,0.251583],[-0.418247,0.905883,-0.066673],[-0.255967,-0.047117,0.965536]] 2025-10-27T03:24:18.306Z,1761535458.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:18.437Z,1761535458.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271161 2025-10-27T03:24:18.625Z,1761535458.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871857,0.421881,0.248760],[-0.419120,0.905478,-0.066693],[-0.253383,-0.046113,0.966266]] 2025-10-27T03:24:18.695Z,1761535458.695 [DAT](INFO): DAT read: 03:24:19.0523 LVL= 25840, 25265, 29570, 32755, AGC= 63, IDX= 440, 0.29, 0.276, 1.005,-0.839, 0.673, PHS=-0.295, 0.377,-1.556, RAW= 10.0, 17.0, CAL= 9.8, 21.0, ROT= 140.2, -21.0 2025-10-27T03:24:18.696Z,1761535458.696 [DAT](INFO): got valid direction response: 03:24:19.0523 LVL= 25840, 25265, 29570, 32755, AGC= 63, IDX= 440, 0.29, 0.276, 1.005,-0.839, 0.673, PHS=-0.295, 0.377,-1.556, RAW= 10.0, 17.0, CAL= 9.8, 21.0, ROT= 140.2, -21.0 2025-10-27T03:24:18.698Z,1761535458.698 [DAT](INFO): DAT read: Bearing 287.4, 48.0 (Local) 2025-10-27T03:24:18.698Z,1761535458.698 [DAT](INFO): Local bearing/azimuth received: Bearing 287.4, 48.0 (Local) 2025-10-27T03:24:18.700Z,1761535458.700 [DAT](INFO): DAT read: Range 11 to 50 : 64.1 m (Round-trip 85.5 ms) speed -0.2 m/s 2025-10-27T03:24:18.701Z,1761535458.701 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:18.702Z,1761535458.702 [DAT](INFO): direction in FSK: [-0.717254,0.597594,0.358368] 2025-10-27T03:24:18.703Z,1761535458.703 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:18.708Z,1761535458.708 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:18.708Z,1761535458.708 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:18.708Z,1761535458.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:18.940Z,1761535458.940 [DAT](INFO): DAT read: user:312> 2025-10-27T03:24:18.942Z,1761535458.942 [DAT](INFO): DAT read: Tx time:03:24:20.3126 2025-10-27T03:24:18.942Z,1761535458.942 [DAT](INFO): Ping request sent. 2025-10-27T03:24:18.942Z,1761535458.942 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:18.943Z,1761535458.943 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:18.943Z,1761535458.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000857 2025-10-27T03:24:19.026Z,1761535459.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872229,0.422704,0.246042],[-0.419809,0.905149,-0.066822],[-0.250951,-0.045007,0.966953]] 2025-10-27T03:24:19.194Z,1761535459.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251579 2025-10-27T03:24:19.434Z,1761535459.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872867,0.422753,0.243688],[-0.419938,0.905144,-0.066079],[-0.248508,-0.044656,0.967600]] 2025-10-27T03:24:19.445Z,1761535459.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502366 2025-10-27T03:24:19.697Z,1761535459.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754157 2025-10-27T03:24:19.843Z,1761535459.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873520,0.422429,0.241900],[-0.419961,0.905259,-0.064338],[-0.246160,-0.045388,0.968166]] 2025-10-27T03:24:19.949Z,1761535459.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006150 2025-10-27T03:24:20.202Z,1761535460.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259473 2025-10-27T03:24:20.301Z,1761535460.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874453,0.421518,0.240114],[-0.419285,0.905671,-0.062935],[-0.243992,-0.045642,0.968703]] 2025-10-27T03:24:20.338Z,1761535460.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:20.341Z,1761535460.341 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 64.10 m. Transitioning docking module to standby. 2025-10-27T03:24:20.453Z,1761535460.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510471 2025-10-27T03:24:20.642Z,1761535460.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875634,0.420385,0.237786],[-0.418098,0.906246,-0.062542],[-0.241784,-0.044654,0.969302]] 2025-10-27T03:24:20.705Z,1761535460.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762152 2025-10-27T03:24:20.736Z,1761535460.736 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:24:20.956Z,1761535460.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014135 2025-10-27T03:24:21.045Z,1761535461.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876932,0.418605,0.236134],[-0.416608,0.907050,-0.060808],[-0.239640,-0.045051,0.969816]] 2025-10-27T03:24:21.208Z,1761535461.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265527 2025-10-27T03:24:21.460Z,1761535461.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517706 2025-10-27T03:24:21.461Z,1761535461.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878953,0.414942,0.235084],[-0.413449,0.908675,-0.058043],[-0.237700,-0.046178,0.970240]] 2025-10-27T03:24:21.712Z,1761535461.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769846 2025-10-27T03:24:21.854Z,1761535461.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880994,0.411424,0.233624],[-0.410325,0.910240,-0.055648],[-0.235549,-0.046836,0.970733]] 2025-10-27T03:24:21.966Z,1761535461.966 [DAT](INFO): DAT read: Rx Time:03:24:22.8032 2025-10-27T03:24:21.967Z,1761535461.967 [DAT](INFO): Rx dataTimestamp_ set to:1761535461.966233 2025-10-27T03:24:21.968Z,1761535461.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025652 2025-10-27T03:24:22.216Z,1761535462.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273725 2025-10-27T03:24:22.296Z,1761535462.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882949,0.408052,0.232153],[-0.407379,0.911713,-0.053119],[-0.233332,-0.047673,0.971228]] 2025-10-27T03:24:22.396Z,1761535462.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:22.474Z,1761535462.474 [DAT](INFO): DAT read: 03:24:22.8032 LVL= 26992, 31601, 32754, 32755, AGC= 62, IDX= 433,-0.06,-3.140,-2.414, 2.132,-2.665, PHS=-0.373, 0.296,-1.531, RAW= 8.8, 19.6, CAL= 8.4, 23.8, ROT= 141.6, -23.8 2025-10-27T03:24:22.477Z,1761535462.477 [DAT](INFO): got valid direction response: 03:24:22.8032 LVL= 26992, 31601, 32754, 32755, AGC= 62, IDX= 433,-0.06,-3.140,-2.414, 2.132,-2.665, PHS=-0.373, 0.296,-1.531, RAW= 8.8, 19.6, CAL= 8.4, 23.8, ROT= 141.6, -23.8 2025-10-27T03:24:22.479Z,1761535462.479 [DAT](INFO): DAT read: Bearing 285.3, 44.6 (Local) 2025-10-27T03:24:22.479Z,1761535462.479 [DAT](INFO): Local bearing/azimuth received: Bearing 285.3, 44.6 (Local) 2025-10-27T03:24:22.481Z,1761535462.481 [DAT](INFO): DAT read: Range 11 to 50 : 64.8 m (Round-trip 86.4 ms) speed 0.0 m/s 2025-10-27T03:24:22.482Z,1761535462.482 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:22.488Z,1761535462.488 [DAT](INFO): direction in FSK: [-0.717048,0.568325,0.403545] 2025-10-27T03:24:22.488Z,1761535462.488 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:22.525Z,1761535462.525 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:22.525Z,1761535462.525 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:22.525Z,1761535462.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:22.662Z,1761535462.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884887,0.405152,0.229843],[-0.404510,0.913048,-0.052112],[-0.230971,-0.046861,0.971832]] 2025-10-27T03:24:22.720Z,1761535462.720 [DAT](INFO): DAT read: user:313> 2025-10-27T03:24:22.721Z,1761535462.721 [DAT](INFO): DAT read: Tx time:03:24:24.1626 2025-10-27T03:24:22.722Z,1761535462.722 [DAT](INFO): Ping request sent. 2025-10-27T03:24:22.722Z,1761535462.722 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:22.722Z,1761535462.722 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:22.723Z,1761535462.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001133 2025-10-27T03:24:22.972Z,1761535462.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249914 2025-10-27T03:24:23.067Z,1761535463.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886757,0.402801,0.226745],[-0.401798,0.914211,-0.052694],[-0.228518,-0.044379,0.972528]] 2025-10-27T03:24:23.224Z,1761535463.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501840 2025-10-27T03:24:23.470Z,1761535463.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888369,0.400883,0.223814],[-0.399623,0.915148,-0.052966],[-0.226056,-0.042388,0.973192]] 2025-10-27T03:24:23.476Z,1761535463.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753815 2025-10-27T03:24:23.728Z,1761535463.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005973 2025-10-27T03:24:23.874Z,1761535463.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889784,0.398925,0.221684],[-0.397911,0.915992,-0.051233],[-0.223499,-0.042624,0.973772]] 2025-10-27T03:24:23.980Z,1761535463.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258254 2025-10-27T03:24:24.232Z,1761535464.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510110 2025-10-27T03:24:24.300Z,1761535464.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891078,0.396603,0.220650],[-0.396520,0.916840,-0.046642],[-0.220799,-0.045930,0.974237]] 2025-10-27T03:24:24.484Z,1761535464.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761904 2025-10-27T03:24:24.683Z,1761535464.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892055,0.394779,0.219971],[-0.395877,0.917387,-0.041009],[-0.217988,-0.050500,0.974644]] 2025-10-27T03:24:24.736Z,1761535464.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013786 2025-10-27T03:24:24.744Z,1761535464.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:24.988Z,1761535464.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265860 2025-10-27T03:24:25.086Z,1761535465.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892585,0.394633,0.218076],[-0.396307,0.917334,-0.037935],[-0.215019,-0.052565,0.975194]] 2025-10-27T03:24:25.240Z,1761535465.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517919 2025-10-27T03:24:25.489Z,1761535465.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892996,0.395596,0.214622],[-0.396958,0.917024,-0.038620],[-0.212092,-0.050708,0.975933]] 2025-10-27T03:24:25.492Z,1761535465.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769797 2025-10-27T03:24:25.652Z,1761535465.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:24:25.744Z,1761535465.744 [DAT](INFO): DAT read: Rx Time:03:24:26.6536 2025-10-27T03:24:25.744Z,1761535465.744 [DAT](INFO): Rx dataTimestamp_ set to:1761535465.744126 2025-10-27T03:24:25.745Z,1761535465.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022928 2025-10-27T03:24:25.897Z,1761535465.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892911,0.398093,0.210312],[-0.398748,0.916136,-0.041182],[-0.209069,-0.047089,0.976767]] 2025-10-27T03:24:25.996Z,1761535465.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274252 2025-10-27T03:24:26.253Z,1761535466.253 [DAT](INFO): DAT read: 03:24:26.6536 LVL= 26496, 27473, 32754, 32755, AGC= 59, IDX= 453, 0.20, 1.059, 1.733,-0.019, 1.496, PHS=-0.335, 0.282,-1.559, RAW= 10.8, 19.4, CAL= 10.3, 23.6, ROT= 139.7, -23.6 2025-10-27T03:24:26.254Z,1761535466.254 [DAT](INFO): got valid direction response: 03:24:26.6536 LVL= 26496, 27473, 32754, 32755, AGC= 59, IDX= 453, 0.20, 1.059, 1.733,-0.019, 1.496, PHS=-0.335, 0.282,-1.559, RAW= 10.8, 19.4, CAL= 10.3, 23.6, ROT= 139.7, -23.6 2025-10-27T03:24:26.255Z,1761535466.255 [DAT](INFO): DAT read: Bearing 285.3, 44.5 (Local) 2025-10-27T03:24:26.256Z,1761535466.256 [DAT](INFO): Local bearing/azimuth received: Bearing 285.3, 44.5 (Local) 2025-10-27T03:24:26.257Z,1761535466.257 [DAT](INFO): DAT read: Range 11 to 50 : 65.1 m (Round-trip 86.8 ms) speed 0.0 m/s 2025-10-27T03:24:26.258Z,1761535466.258 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:26.259Z,1761535466.259 [DAT](INFO): direction in FSK: [-0.698881,0.592694,0.400349] 2025-10-27T03:24:26.259Z,1761535466.259 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:26.262Z,1761535466.262 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:26.262Z,1761535466.262 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:26.279Z,1761535466.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:26.345Z,1761535466.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892574,0.401100,0.205989],[-0.401104,0.914993,-0.043635],[-0.205980,-0.043676,0.977581]] 2025-10-27T03:24:26.501Z,1761535466.501 [DAT](INFO): DAT read: user:314> 2025-10-27T03:24:26.502Z,1761535466.502 [DAT](INFO): DAT read: Tx time:03:24:27.9126 2025-10-27T03:24:26.502Z,1761535466.502 [DAT](INFO): Ping request sent. 2025-10-27T03:24:26.502Z,1761535466.502 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:26.502Z,1761535466.502 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:26.503Z,1761535466.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-10-27T03:24:26.655Z,1761535466.655 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:24:26.707Z,1761535466.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891534,0.405191,0.202455],[-0.404923,0.913259,-0.044659],[-0.202989,-0.042163,0.978273]] 2025-10-27T03:24:26.740Z,1761535466.740 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby. 2025-10-27T03:24:26.752Z,1761535466.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250047 2025-10-27T03:24:27.004Z,1761535467.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501903 2025-10-27T03:24:27.105Z,1761535467.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889550,0.410966,0.199518],[-0.410837,0.910645,-0.044030],[-0.199785,-0.042803,0.978905]] 2025-10-27T03:24:27.125Z,1761535467.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:27.127Z,1761535467.127 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2025-10-27T03:24:27.127Z,1761535467.127 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2025-10-27T03:24:27.127Z,1761535467.127 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2025-10-27T03:24:27.256Z,1761535467.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753855 2025-10-27T03:24:27.508Z,1761535467.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005973 2025-10-27T03:24:27.520Z,1761535467.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887412,0.416858,0.196798],[-0.416985,0.907904,-0.042833],[-0.196529,-0.044051,0.979508]] 2025-10-27T03:24:27.560Z,1761535467.560 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2025-10-27T03:24:27.560Z,1761535467.560 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2025-10-27T03:24:27.560Z,1761535467.560 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2025-10-27T03:24:27.760Z,1761535467.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257893 2025-10-27T03:24:27.917Z,1761535467.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885215,0.422543,0.194555],[-0.423033,0.905180,-0.041132],[-0.193488,-0.045892,0.980029]] 2025-10-27T03:24:27.958Z,1761535467.958 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2025-10-27T03:24:27.959Z,1761535467.959 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-27T03:24:27.963Z,1761535467.963 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2025-10-27T03:24:27.963Z,1761535467.963 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-27T03:24:27.963Z,1761535467.963 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-27T03:24:28.012Z,1761535468.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510015 2025-10-27T03:24:28.264Z,1761535468.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761958 2025-10-27T03:24:28.322Z,1761535468.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882969,0.428063,0.192685],[-0.429127,0.902429,-0.038358],[-0.190304,-0.048818,0.980511]] 2025-10-27T03:24:28.396Z,1761535468.396 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-27T03:24:28.396Z,1761535468.396 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T03:24:28.397Z,1761535468.397 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-27T03:24:28.397Z,1761535468.397 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T03:24:28.397Z,1761535468.397 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-27T03:24:28.398Z,1761535468.398 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-27T03:24:28.398Z,1761535468.398 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-27T03:24:28.398Z,1761535468.398 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-27T03:24:28.403Z,1761535468.403 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-27T03:24:28.403Z,1761535468.403 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-27T03:24:28.403Z,1761535468.403 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-27T03:24:28.404Z,1761535468.404 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-27T03:24:28.404Z,1761535468.404 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-10-27T03:24:28.404Z,1761535468.404 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-27T03:24:28.404Z,1761535468.404 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-10-27T03:24:28.405Z,1761535468.405 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 65.099998 m 2025-10-27T03:24:28.405Z,1761535468.405 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-10-27T03:24:28.405Z,1761535468.405 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-10-27T03:24:28.406Z,1761535468.406 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg ) 2025-10-27T03:24:28.406Z,1761535468.406 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-27T03:24:28.406Z,1761535468.406 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-10-27T03:24:28.406Z,1761535468.406 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-10-27T03:24:28.413Z,1761535468.413 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630 2025-10-27T03:24:28.516Z,1761535468.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014027 2025-10-27T03:24:28.729Z,1761535468.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880544,0.433682,0.191213],[-0.435396,0.899550,-0.035215],[-0.187278,-0.052245,0.980917]] 2025-10-27T03:24:28.768Z,1761535468.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266029 2025-10-27T03:24:28.770Z,1761535468.770 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630 2025-10-27T03:24:28.772Z,1761535468.772 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-10-27T03:24:28.772Z,1761535468.772 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-27T03:24:28.772Z,1761535468.772 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-10-27T03:24:28.772Z,1761535468.772 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-27T03:24:28.808Z,1761535468.808 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-10-27T03:24:28.808Z,1761535468.808 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-27T03:24:29.020Z,1761535469.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517947 2025-10-27T03:24:29.159Z,1761535469.159 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-27T03:24:29.159Z,1761535469.159 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-27T03:24:29.159Z,1761535469.159 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-27T03:24:29.160Z,1761535469.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:29.161Z,1761535469.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-27T03:24:29.161Z,1761535469.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T03:24:29.161Z,1761535469.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-27T03:24:29.161Z,1761535469.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T03:24:29.161Z,1761535469.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-27T03:24:29.162Z,1761535469.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-27T03:24:29.163Z,1761535469.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-27T03:24:29.163Z,1761535469.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-27T03:24:29.164Z,1761535469.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-27T03:24:29.164Z,1761535469.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-27T03:24:29.164Z,1761535469.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T03:24:29.164Z,1761535469.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-27T03:24:29.164Z,1761535469.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-27T03:24:29.164Z,1761535469.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-27T03:24:29.165Z,1761535469.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-10-27T03:24:29.165Z,1761535469.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-27T03:24:29.165Z,1761535469.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-10-27T03:24:29.165Z,1761535469.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-10-27T03:24:29.165Z,1761535469.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-10-27T03:24:29.165Z,1761535469.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-27T03:24:29.166Z,1761535469.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-10-27T03:24:29.167Z,1761535469.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00. 2025-10-27T03:24:29.167Z,1761535469.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T03:24:29.167Z,1761535469.167 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-27T03:24:29.167Z,1761535469.167 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T03:24:29.167Z,1761535469.167 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-27T03:24:29.168Z,1761535469.168 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T03:24:29.168Z,1761535469.168 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-27T03:24:29.168Z,1761535469.168 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-27T03:24:29.168Z,1761535469.168 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-27T03:24:29.168Z,1761535469.168 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-10-27T03:24:29.168Z,1761535469.168 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-10-27T03:24:29.272Z,1761535469.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770047 2025-10-27T03:24:29.524Z,1761535469.524 [DAT](INFO): DAT read: Rx Time:03:24:30.4044 2025-10-27T03:24:29.524Z,1761535469.524 [DAT](INFO): Rx dataTimestamp_ set to:1761535469.524212 2025-10-27T03:24:29.525Z,1761535469.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023075 2025-10-27T03:24:29.533Z,1761535469.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875422,0.446232,0.185778],[-0.447811,0.893412,-0.035773],[-0.181940,-0.051877,0.981940]] 2025-10-27T03:24:29.598Z,1761535469.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.099998 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T03:24:29.609Z,1761535469.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.842606 m, bearing: 110.660081 deg, lat: 36.779297 deg, lon: -121.859641 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T03:24:29.609Z,1761535469.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:24:29.612Z,1761535469.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 64.842606 m, nav range: 56.210060 m, bearing: 110.962899 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 333.689356 deg, new cmd heading: 110.962899 deg. 2025-10-27T03:24:29.613Z,1761535469.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.936668 target range: 64.842606 and range: 65.10 m. 2025-10-27T03:24:29.641Z,1761535469.641 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-27T03:24:29.642Z,1761535469.642 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-27T03:24:29.776Z,1761535469.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273958 2025-10-27T03:24:29.970Z,1761535469.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873023,0.452654,0.181482],[-0.453394,0.890420,-0.039831],[-0.179625,-0.047509,0.982587]] 2025-10-27T03:24:29.997Z,1761535469.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:24:29.000Z,1761535470.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 64.842606 m, nav range: 56.345879 m, bearing: 110.989593 deg, approach rate: 0.339833 m/s, LOS rate: nan deg/s, cmd heading: 110.962898 deg, new cmd heading: 110.989593 deg. 2025-10-27T03:24:30.001Z,1761535470.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.937134 target range: 64.842606 and range: 65.10 m. 2025-10-27T03:24:30.033Z,1761535470.033 [DAT](INFO): DAT read: 03:24:30.4044 LVL= 26800, 21073, 32050, 31459, AGC= 62, IDX= 446, 0.01, 2.618,-2.828, 1.628, 3.119, PHS=-0.399, 0.381,-1.535, RAW= 6.1, 18.2, CAL= 6.0, 22.4, ROT= 144.0, -22.4 2025-10-27T03:24:30.035Z,1761535470.035 [DAT](INFO): got valid direction response: 03:24:30.4044 LVL= 26800, 21073, 32050, 31459, AGC= 62, IDX= 446, 0.01, 2.618,-2.828, 1.628, 3.119, PHS=-0.399, 0.381,-1.535, RAW= 6.1, 18.2, CAL= 6.0, 22.4, ROT= 144.0, -22.4 2025-10-27T03:24:30.036Z,1761535470.036 [DAT](INFO): DAT read: Bearing 288.6, 40.8 (Local) 2025-10-27T03:24:30.036Z,1761535470.036 [DAT](INFO): Local bearing/azimuth received: Bearing 288.6, 40.8 (Local) 2025-10-27T03:24:30.037Z,1761535470.037 [DAT](INFO): DAT read: Range 11 to 50 : 65.7 m (Round-trip 87.6 ms) speed -0.1 m/s 2025-10-27T03:24:30.038Z,1761535470.038 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:30.039Z,1761535470.039 [DAT](INFO): direction in FSK: [-0.747973,0.543434,0.381070] 2025-10-27T03:24:30.039Z,1761535470.039 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:30.043Z,1761535470.043 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:30.043Z,1761535470.043 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:30.047Z,1761535470.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:30.281Z,1761535470.281 [DAT](INFO): DAT read: user:315> 2025-10-27T03:24:30.281Z,1761535470.281 [DAT](INFO): DAT read: Tx time:03:24:31.6626 2025-10-27T03:24:30.282Z,1761535470.282 [DAT](INFO): Ping request sent. 2025-10-27T03:24:30.282Z,1761535470.282 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:30.282Z,1761535470.282 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:30.283Z,1761535470.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-27T03:24:30.360Z,1761535470.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870559,0.458834,0.177761],[-0.458919,0.887431,-0.043132],[-0.177541,-0.044029,0.983128]] 2025-10-27T03:24:30.472Z,1761535470.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.780310 s, deltaX: 0.599998 m, approachRate: 0.158717 m/s, rangeRepo size: 2 2025-10-27T03:24:30.474Z,1761535470.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.440247 m, bearing: 112.435677 deg, lat: 36.779291 deg, lon: -121.859639 deg, deltaT: 3.780310 s, deltaX: 0.597641 m, approachRate: 0.158093 m/s, posRepo size: 2 2025-10-27T03:24:30.474Z,1761535470.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m. 2025-10-27T03:24:30.480Z,1761535470.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 112.435677 deg. 2025-10-27T03:24:30.480Z,1761535470.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.962373 target range: 65.440247 and range: 65.70 m. 2025-10-27T03:24:30.532Z,1761535470.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250442 2025-10-27T03:24:30.616Z,1761535470.616 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:24:30.736Z,1761535470.736 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:24:30.784Z,1761535470.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502064 2025-10-27T03:24:30.813Z,1761535470.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868425,0.463780,0.175346],[-0.463604,0.884924,-0.044510],[-0.175810,-0.042637,0.983500]] 2025-10-27T03:24:30.849Z,1761535470.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m. 2025-10-27T03:24:30.852Z,1761535470.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.440247 m, nav range: 57.090336 m, bearing: 111.688186 deg, approach rate: 0.324927 m/s, LOS rate: 0.095392 deg/s, cmd heading: 112.435678 deg, new cmd heading: 112.545192 deg. 2025-10-27T03:24:30.853Z,1761535470.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.964284 target range: 65.440247 and range: 65.70 m. 2025-10-27T03:24:31.036Z,1761535471.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754196 2025-10-27T03:24:31.206Z,1761535471.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866519,0.467592,0.174650],[-0.467716,0.882830,-0.043051],[-0.174316,-0.044382,0.983689]] 2025-10-27T03:24:31.234Z,1761535471.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:31.236Z,1761535471.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m. 2025-10-27T03:24:31.238Z,1761535471.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.440247 m, nav range: 57.210693 m, bearing: 111.722862 deg, approach rate: 0.311450 m/s, LOS rate: 0.089544 deg/s, cmd heading: 112.545193 deg, new cmd heading: 112.649004 deg. 2025-10-27T03:24:31.240Z,1761535471.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.966096 target range: 65.440247 and range: 65.70 m. 2025-10-27T03:24:31.288Z,1761535471.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006343 2025-10-27T03:24:31.540Z,1761535471.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258064 2025-10-27T03:24:31.610Z,1761535471.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864889,0.470483,0.174965],[-0.471169,0.881123,-0.040267],[-0.173111,-0.047611,0.983751]] 2025-10-27T03:24:31.782Z,1761535471.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m. 2025-10-27T03:24:31.785Z,1761535471.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.440247 m, nav range: 57.315926 m, bearing: 111.779278 deg, approach rate: 0.192755 m/s, LOS rate: 0.103146 deg/s, cmd heading: 112.649005 deg, new cmd heading: 112.817940 deg. 2025-10-27T03:24:31.786Z,1761535471.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.969044 target range: 65.440247 and range: 65.70 m. 2025-10-27T03:24:31.796Z,1761535471.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514490 2025-10-27T03:24:32.025Z,1761535472.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863675,0.472745,0.174863],[-0.473774,0.879804,-0.038525],[-0.172058,-0.049573,0.983839]] 2025-10-27T03:24:32.044Z,1761535472.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m. 2025-10-27T03:24:32.046Z,1761535472.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.440247 m, nav range: 57.397213 m, bearing: 111.822438 deg, approach rate: 0.310301 m/s, LOS rate: 0.164523 deg/s, cmd heading: 112.817936 deg, new cmd heading: 112.947233 deg. 2025-10-27T03:24:32.048Z,1761535472.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766328 2025-10-27T03:24:32.049Z,1761535472.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.971301 target range: 65.440247 and range: 65.70 m. 2025-10-27T03:24:32.300Z,1761535472.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018107 2025-10-27T03:24:32.472Z,1761535472.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862946,0.474478,0.173765],[-0.475395,0.878906,-0.039028],[-0.171241,-0.048927,0.984014]] 2025-10-27T03:24:32.528Z,1761535472.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m. 2025-10-27T03:24:32.530Z,1761535472.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.440247 m, nav range: 57.452190 m, bearing: 111.895173 deg, approach rate: 0.113586 m/s, LOS rate: 0.150130 deg/s, cmd heading: 112.947232 deg, new cmd heading: 113.165227 deg. 2025-10-27T03:24:32.536Z,1761535472.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.975106 target range: 65.440247 and range: 65.70 m. 2025-10-27T03:24:32.552Z,1761535472.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270424 2025-10-27T03:24:32.804Z,1761535472.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522179 2025-10-27T03:24:32.833Z,1761535472.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862378,0.475946,0.172570],[-0.476677,0.878172,-0.039907],[-0.170540,-0.047845,0.984188]] 2025-10-27T03:24:32.865Z,1761535472.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m. 2025-10-27T03:24:32.868Z,1761535472.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.440247 m, nav range: 57.492165 m, bearing: 111.947689 deg, approach rate: 0.118566 m/s, LOS rate: 0.155658 deg/s, cmd heading: 113.165224 deg, new cmd heading: 113.322663 deg. 2025-10-27T03:24:32.869Z,1761535472.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.977854 target range: 65.440247 and range: 65.70 m. 2025-10-27T03:24:33.056Z,1761535473.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774223 2025-10-27T03:24:33.238Z,1761535473.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862263,0.475888,0.173300],[-0.476966,0.878095,-0.038117],[-0.170313,-0.049791,0.984131]] 2025-10-27T03:24:33.255Z,1761535473.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:33.257Z,1761535473.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m. 2025-10-27T03:24:33.260Z,1761535473.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.440247 m, nav range: 57.537552 m, bearing: 112.007228 deg, approach rate: 0.115768 m/s, LOS rate: 0.151747 deg/s, cmd heading: 113.322660 deg, new cmd heading: 113.501138 deg. 2025-10-27T03:24:33.261Z,1761535473.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.980969 target range: 65.440247 and range: 65.70 m. 2025-10-27T03:24:33.309Z,1761535473.309 [DAT](INFO): DAT read: Rx Time:03:24:34.1548 2025-10-27T03:24:33.309Z,1761535473.309 [DAT](INFO): Rx dataTimestamp_ set to:1761535473.308886 2025-10-27T03:24:33.310Z,1761535473.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027975 2025-10-27T03:24:33.560Z,1761535473.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278215 2025-10-27T03:24:33.642Z,1761535473.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862445,0.473227,0.179570],[-0.476459,0.878767,-0.027491],[-0.170810,-0.061848,0.983361]] 2025-10-27T03:24:33.738Z,1761535473.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.44 m. 2025-10-27T03:24:33.742Z,1761535473.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.440247 m, nav range: 57.537624 m, bearing: 112.083608 deg, approach rate: 0.000151 m/s, LOS rate: 0.158657 deg/s, cmd heading: 113.501140 deg, new cmd heading: 113.730276 deg. 2025-10-27T03:24:33.743Z,1761535473.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.984968 target range: 65.440247 and range: 65.70 m. 2025-10-27T03:24:33.819Z,1761535473.819 [DAT](INFO): DAT read: 03:24:34.1548 LVL= 26912, 23425, 32754, 32755, AGC= 65, IDX= 434,-0.16,-1.125,-0.221,-2.005,-0.589, PHS=-0.435, 0.412,-1.460, RAW= 3.2, 17.9, CAL= 3.3, 22.1, ROT= 146.7, -22.1 2025-10-27T03:24:33.821Z,1761535473.821 [DAT](INFO): got valid direction response: 03:24:34.1548 LVL= 26912, 23425, 32754, 32755, AGC= 65, IDX= 434,-0.16,-1.125,-0.221,-2.005,-0.589, PHS=-0.435, 0.412,-1.460, RAW= 3.2, 17.9, CAL= 3.3, 22.1, ROT= 146.7, -22.1 2025-10-27T03:24:33.822Z,1761535473.822 [DAT](INFO): DAT read: Bearing 288.5, 38.5 (Local) 2025-10-27T03:24:33.822Z,1761535473.822 [DAT](INFO): Local bearing/azimuth received: Bearing 288.5, 38.5 (Local) 2025-10-27T03:24:33.824Z,1761535473.824 [DAT](INFO): DAT read: Range 11 to 50 : 66.0 m (Round-trip 88.0 ms) speed 0.0 m/s 2025-10-27T03:24:33.825Z,1761535473.825 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:33.826Z,1761535473.826 [DAT](INFO): direction in FSK: [-0.774399,0.508685,0.376224] 2025-10-27T03:24:33.826Z,1761535473.826 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:33.829Z,1761535473.829 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:33.829Z,1761535473.829 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:33.830Z,1761535473.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:34.064Z,1761535474.064 [DAT](INFO): DAT read: user:316> 2025-10-27T03:24:34.064Z,1761535474.064 [DAT](INFO): DAT read: Tx time:03:24:35.4626 2025-10-27T03:24:34.065Z,1761535474.065 [DAT](INFO): Ping request sent. 2025-10-27T03:24:34.065Z,1761535474.065 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:34.065Z,1761535474.065 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:34.066Z,1761535474.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T03:24:34.092Z,1761535474.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 3.783848 s, deltaX: 0.300003 m, approachRate: 0.079285 m/s, rangeRepo size: 3 2025-10-27T03:24:34.094Z,1761535474.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.738579 m, bearing: 114.053358 deg, lat: 36.779291 deg, lon: -121.859639 deg, deltaT: 3.783848 s, deltaX: 0.298332 m, approachRate: 0.078844 m/s, posRepo size: 3 2025-10-27T03:24:34.094Z,1761535474.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m. 2025-10-27T03:24:34.121Z,1761535474.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.738579 m, nav range: 57.537739 m, bearing: 112.138871 deg, approach rate: 0.000000 m/s, LOS rate: 0.158657 deg/s, cmd heading: 113.730279 deg, new cmd heading: 113.898093 deg. 2025-10-27T03:24:34.122Z,1761535474.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987897 target range: 65.738579 and range: 66.00 m. 2025-10-27T03:24:34.316Z,1761535474.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251039 2025-10-27T03:24:34.499Z,1761535474.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862800,0.467003,0.193607],[-0.475946,0.879475,-0.000366],[-0.170443,-0.091831,0.981079]] 2025-10-27T03:24:34.556Z,1761535474.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m. 2025-10-27T03:24:34.558Z,1761535474.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.738579 m, nav range: 57.502197 m, bearing: 112.214280 deg, approach rate: -0.076479 m/s, LOS rate: 0.162366 deg/s, cmd heading: 113.898090 deg, new cmd heading: 114.124455 deg. 2025-10-27T03:24:34.559Z,1761535474.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.991848 target range: 65.738579 and range: 66.00 m. 2025-10-27T03:24:34.568Z,1761535474.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503058 2025-10-27T03:24:34.600Z,1761535474.600 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:24:34.820Z,1761535474.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755005 2025-10-27T03:24:34.859Z,1761535474.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862685,0.467103,0.193882],[-0.476487,0.879179,0.002018],[-0.169514,-0.094123,0.981023]] 2025-10-27T03:24:34.877Z,1761535474.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m. 2025-10-27T03:24:34.885Z,1761535474.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.738579 m, nav range: 57.477844 m, bearing: 112.266137 deg, approach rate: -0.075730 m/s, LOS rate: 0.161325 deg/s, cmd heading: 114.124456 deg, new cmd heading: 114.280092 deg. 2025-10-27T03:24:34.886Z,1761535474.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.994564 target range: 65.738579 and range: 66.00 m. 2025-10-27T03:24:35.073Z,1761535475.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008027 2025-10-27T03:24:35.284Z,1761535475.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862567,0.468493,0.191029],[-0.477202,0.878794,-0.000470],[-0.168095,-0.090754,0.981584]] 2025-10-27T03:24:35.301Z,1761535475.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:35.303Z,1761535475.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m. 2025-10-27T03:24:35.320Z,1761535475.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.738579 m, nav range: 57.445885 m, bearing: 112.334643 deg, approach rate: -0.075129 m/s, LOS rate: 0.161129 deg/s, cmd heading: 114.280089 deg, new cmd heading: 114.485720 deg. 2025-10-27T03:24:35.321Z,1761535475.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.998153 target range: 65.738579 and range: 66.00 m. 2025-10-27T03:24:35.324Z,1761535475.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259126 2025-10-27T03:24:35.576Z,1761535475.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511277 2025-10-27T03:24:35.663Z,1761535475.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862507,0.469426,0.189000],[-0.477845,0.878443,-0.001160],[-0.166570,-0.089312,0.981976]] 2025-10-27T03:24:35.732Z,1761535475.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m. 2025-10-27T03:24:35.739Z,1761535475.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.738579 m, nav range: 57.419903 m, bearing: 112.392120 deg, approach rate: -0.060495 m/s, LOS rate: 0.133887 deg/s, cmd heading: 114.485718 deg, new cmd heading: 114.658226 deg. 2025-10-27T03:24:35.740Z,1761535475.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001163 target range: 65.738579 and range: 66.00 m. 2025-10-27T03:24:35.829Z,1761535475.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763747 2025-10-27T03:24:36.068Z,1761535476.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862411,0.470233,0.187422],[-0.478635,0.878014,-0.000488],[-0.164789,-0.089286,0.982279]] 2025-10-27T03:24:36.080Z,1761535476.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015101 2025-10-27T03:24:36.087Z,1761535476.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m. 2025-10-27T03:24:36.090Z,1761535476.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.738579 m, nav range: 57.395657 m, bearing: 112.446152 deg, approach rate: -0.068314 m/s, LOS rate: 0.152303 deg/s, cmd heading: 114.658222 deg, new cmd heading: 114.820388 deg. 2025-10-27T03:24:36.091Z,1761535476.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.003994 target range: 65.738579 and range: 66.00 m. 2025-10-27T03:24:36.332Z,1761535476.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266943 2025-10-27T03:24:36.527Z,1761535476.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861847,0.471780,0.186127],[-0.481103,0.876646,0.005663],[-0.160496,-0.094427,0.982509]] 2025-10-27T03:24:36.569Z,1761535476.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m. 2025-10-27T03:24:36.572Z,1761535476.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.738579 m, nav range: 57.400581 m, bearing: 112.508636 deg, approach rate: 0.010210 m/s, LOS rate: 0.129534 deg/s, cmd heading: 114.820384 deg, new cmd heading: 115.007818 deg. 2025-10-27T03:24:36.573Z,1761535476.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.007265 target range: 65.738579 and range: 66.00 m. 2025-10-27T03:24:36.584Z,1761535476.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519164 2025-10-27T03:24:36.836Z,1761535476.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770984 2025-10-27T03:24:36.944Z,1761535476.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m. 2025-10-27T03:24:36.947Z,1761535476.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.738579 m, nav range: 57.404305 m, bearing: 112.555282 deg, approach rate: 0.009940 m/s, LOS rate: 0.124526 deg/s, cmd heading: 115.007818 deg, new cmd heading: 115.147748 deg. 2025-10-27T03:24:36.948Z,1761535476.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.009707 target range: 65.738579 and range: 66.00 m. 2025-10-27T03:24:37.088Z,1761535477.088 [DAT](INFO): DAT read: Rx Time:03:24:37.9553 2025-10-27T03:24:37.089Z,1761535477.089 [DAT](INFO): Rx dataTimestamp_ set to:1761535477.088364 2025-10-27T03:24:37.089Z,1761535477.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024317 2025-10-27T03:24:37.322Z,1761535477.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:37.324Z,1761535477.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.74 m. 2025-10-27T03:24:37.327Z,1761535477.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.738579 m, nav range: 57.408401 m, bearing: 112.606057 deg, approach rate: 0.010776 m/s, LOS rate: 0.133540 deg/s, cmd heading: 115.147741 deg, new cmd heading: 115.300053 deg. 2025-10-27T03:24:37.328Z,1761535477.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.012366 target range: 65.738579 and range: 66.00 m. 2025-10-27T03:24:37.348Z,1761535477.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283110 2025-10-27T03:24:37.605Z,1761535477.605 [DAT](INFO): DAT read: 03:24:37.9553 LVL= 27744, 27185, 32754, 32755, AGC= 66, IDX= 439,-0.12, 1.261, 2.200, 0.345, 1.803, PHS=-0.440, 0.442,-1.502, RAW= 3.1, 17.5, CAL= 3.2, 21.7, ROT= 146.8, -21.7 2025-10-27T03:24:37.606Z,1761535477.606 [DAT](INFO): got valid direction response: 03:24:37.9553 LVL= 27744, 27185, 32754, 32755, AGC= 66, IDX= 439,-0.12, 1.261, 2.200, 0.345, 1.803, PHS=-0.440, 0.442,-1.502, RAW= 3.1, 17.5, CAL= 3.2, 21.7, ROT= 146.8, -21.7 2025-10-27T03:24:37.611Z,1761535477.611 [DAT](INFO): DAT read: Bearing 284.5, 35.3 (Local) 2025-10-27T03:24:37.612Z,1761535477.612 [DAT](INFO): Local bearing/azimuth received: Bearing 284.5, 35.3 (Local) 2025-10-27T03:24:37.613Z,1761535477.613 [DAT](INFO): DAT read: Range 11 to 50 : 66.3 m (Round-trip 88.5 ms) speed -0.3 m/s 2025-10-27T03:24:37.614Z,1761535477.614 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:37.615Z,1761535477.615 [DAT](INFO): direction in FSK: [-0.777465,0.508759,0.369747] 2025-10-27T03:24:37.615Z,1761535477.615 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:37.618Z,1761535477.618 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:37.618Z,1761535477.618 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:37.627Z,1761535477.627 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:37.766Z,1761535477.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.787889 s, deltaX: 0.300003 m, approachRate: 0.079201 m/s, rangeRepo size: 4 2025-10-27T03:24:37.777Z,1761535477.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.037651 m, bearing: 113.718770 deg, lat: 36.779283 deg, lon: -121.859639 deg, deltaT: 3.787889 s, deltaX: 0.299072 m, approachRate: 0.078955 m/s, posRepo size: 4 2025-10-27T03:24:37.778Z,1761535477.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T03:24:37.785Z,1761535477.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037651 m, nav range: 57.804790 m, bearing: 113.431749 deg, approach rate: 0.000000 m/s, LOS rate: 0.133540 deg/s, cmd heading: 115.300055 deg, new cmd heading: 115.476908 deg. 2025-10-27T03:24:37.785Z,1761535477.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.015452 target range: 66.037651 and range: 66.30 m. 2025-10-27T03:24:37.852Z,1761535477.852 [DAT](INFO): DAT read: user:317> 2025-10-27T03:24:37.853Z,1761535477.853 [DAT](INFO): DAT read: Tx time:03:24:39.2626 2025-10-27T03:24:37.854Z,1761535477.854 [DAT](INFO): Ping request sent. 2025-10-27T03:24:37.854Z,1761535477.854 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:37.854Z,1761535477.854 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:37.856Z,1761535477.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001722 2025-10-27T03:24:38.104Z,1761535478.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250121 2025-10-27T03:24:38.134Z,1761535478.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T03:24:38.137Z,1761535478.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037651 m, nav range: 57.861847 m, bearing: 113.476950 deg, approach rate: 0.154667 m/s, LOS rate: 0.122407 deg/s, cmd heading: 115.476902 deg, new cmd heading: 115.612368 deg. 2025-10-27T03:24:38.138Z,1761535478.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.017817 target range: 66.037651 and range: 66.30 m. 2025-10-27T03:24:38.356Z,1761535478.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502020 2025-10-27T03:24:38.556Z,1761535478.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861691,0.479241,0.166786],[-0.486148,0.873876,0.000677],[-0.145426,-0.081666,0.985993]] 2025-10-27T03:24:38.593Z,1761535478.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T03:24:38.595Z,1761535478.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037651 m, nav range: 58.004307 m, bearing: 113.540710 deg, approach rate: 0.311006 m/s, LOS rate: 0.138854 deg/s, cmd heading: 115.612372 deg, new cmd heading: 115.803182 deg. 2025-10-27T03:24:38.596Z,1761535478.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.021147 target range: 66.037651 and range: 66.30 m. 2025-10-27T03:24:38.608Z,1761535478.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753977 2025-10-27T03:24:38.861Z,1761535478.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006581 2025-10-27T03:24:38.950Z,1761535478.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863647,0.478514,0.158550],[-0.483777,0.875170,-0.006113],[-0.141683,-0.071424,0.987332]] 2025-10-27T03:24:38.973Z,1761535478.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T03:24:38.980Z,1761535478.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037651 m, nav range: 58.122429 m, bearing: 113.594514 deg, approach rate: 0.310269 m/s, LOS rate: 0.141040 deg/s, cmd heading: 115.803180 deg, new cmd heading: 115.964266 deg. 2025-10-27T03:24:38.981Z,1761535478.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.023958 target range: 66.037651 and range: 66.30 m. 2025-10-27T03:24:39.113Z,1761535479.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258455 2025-10-27T03:24:39.346Z,1761535479.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866519,0.476149,0.149755],[-0.479853,0.877257,-0.012707],[-0.137424,-0.060850,0.988642]] 2025-10-27T03:24:39.362Z,1761535479.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:39.364Z,1761535479.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510514 2025-10-27T03:24:39.366Z,1761535479.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T03:24:39.385Z,1761535479.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037651 m, nav range: 58.243179 m, bearing: 113.650794 deg, approach rate: 0.307331 m/s, LOS rate: 0.142945 deg/s, cmd heading: 115.964263 deg, new cmd heading: 116.132752 deg. 2025-10-27T03:24:39.386Z,1761535479.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.026899 target range: 66.037651 and range: 66.30 m. 2025-10-27T03:24:39.616Z,1761535479.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762041 2025-10-27T03:24:39.753Z,1761535479.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869869,0.472474,0.141762],[-0.475092,0.879773,-0.016945],[-0.132724,-0.052610,0.989756]] 2025-10-27T03:24:39.789Z,1761535479.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T03:24:39.812Z,1761535479.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037651 m, nav range: 58.429485 m, bearing: 113.720922 deg, approach rate: 0.440723 m/s, LOS rate: 0.165364 deg/s, cmd heading: 116.132750 deg, new cmd heading: 116.342461 deg. 2025-10-27T03:24:39.813Z,1761535479.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.030559 target range: 66.037651 and range: 66.30 m. 2025-10-27T03:24:39.868Z,1761535479.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014195 2025-10-27T03:24:40.121Z,1761535480.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267145 2025-10-27T03:24:40.208Z,1761535480.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T03:24:40.210Z,1761535480.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037651 m, nav range: 58.613007 m, bearing: 113.789532 deg, approach rate: 0.438208 m/s, LOS rate: 0.163314 deg/s, cmd heading: 116.342464 deg, new cmd heading: 116.547650 deg. 2025-10-27T03:24:40.211Z,1761535480.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034140 target range: 66.037651 and range: 66.30 m. 2025-10-27T03:24:40.372Z,1761535480.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518058 2025-10-27T03:24:40.590Z,1761535480.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877755,0.462330,0.125687],[-0.463112,0.885955,-0.024703],[-0.122774,-0.036524,0.991762]] 2025-10-27T03:24:40.624Z,1761535480.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770138 2025-10-27T03:24:40.644Z,1761535480.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T03:24:40.651Z,1761535480.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037651 m, nav range: 58.837757 m, bearing: 113.878828 deg, approach rate: 0.515058 m/s, LOS rate: 0.203856 deg/s, cmd heading: 116.547657 deg, new cmd heading: 116.814519 deg. 2025-10-27T03:24:40.652Z,1761535480.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.038798 target range: 66.037651 and range: 66.30 m. 2025-10-27T03:24:40.876Z,1761535480.876 [DAT](INFO): DAT read: Rx Time:03:24:41.7571 2025-10-27T03:24:40.876Z,1761535480.876 [DAT](INFO): Rx dataTimestamp_ set to:1761535480.876120 2025-10-27T03:24:40.877Z,1761535480.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023123 2025-10-27T03:24:41.016Z,1761535481.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882487,0.455494,0.117224],[-0.455460,0.889795,-0.028653],[-0.117357,-0.028105,0.992692]] 2025-10-27T03:24:41.050Z,1761535481.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T03:24:41.053Z,1761535481.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037651 m, nav range: 59.064053 m, bearing: 113.970613 deg, approach rate: 0.558101 m/s, LOS rate: 0.225498 deg/s, cmd heading: 116.814526 deg, new cmd heading: 117.088824 deg. 2025-10-27T03:24:41.054Z,1761535481.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.043586 target range: 66.037651 and range: 66.30 m. 2025-10-27T03:24:41.129Z,1761535481.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274875 2025-10-27T03:24:41.385Z,1761535481.385 [DAT](INFO): DAT read: 03:24:41.7571 LVL= 24624, 21233, 32754, 32755, AGC= 63, IDX= 442,-0.43, 1.581, 2.565, 0.737, 2.156, PHS=-0.473, 0.454,-1.463, RAW= 1.1, 17.5, CAL= 1.4, 21.8, ROT= 148.6, -21.8 2025-10-27T03:24:41.386Z,1761535481.386 [DAT](INFO): got valid direction response: 03:24:41.7571 LVL= 24624, 21233, 32754, 32755, AGC= 63, IDX= 442,-0.43, 1.581, 2.565, 0.737, 2.156, PHS=-0.473, 0.454,-1.463, RAW= 1.1, 17.5, CAL= 1.4, 21.8, ROT= 148.6, -21.8 2025-10-27T03:24:41.405Z,1761535481.405 [DAT](INFO): DAT read: Bearing 289.8, 34.2 (Local) 2025-10-27T03:24:41.405Z,1761535481.405 [DAT](INFO): Local bearing/azimuth received: Bearing 289.8, 34.2 (Local) 2025-10-27T03:24:41.408Z,1761535481.408 [DAT](INFO): DAT read: Range 11 to 50 : 67.7 m (Round-trip 90.3 ms) speed -0.3 m/s 2025-10-27T03:24:41.408Z,1761535481.408 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:41.410Z,1761535481.410 [DAT](INFO): direction in FSK: [-0.792510,0.483750,0.371368] 2025-10-27T03:24:41.435Z,1761535481.435 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:41.438Z,1761535481.438 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:41.438Z,1761535481.438 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:41.455Z,1761535481.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:41.573Z,1761535481.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887639,0.447489,0.108863],[-0.446823,0.894057,-0.031816],[-0.111567,-0.020401,0.993547]] 2025-10-27T03:24:41.632Z,1761535481.632 [DAT](INFO): DAT read: user:318> 2025-10-27T03:24:41.633Z,1761535481.633 [DAT](INFO): DAT read: Tx time:03:24:43.0626 2025-10-27T03:24:41.633Z,1761535481.633 [DAT](INFO): Ping request sent. 2025-10-27T03:24:41.633Z,1761535481.633 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:41.633Z,1761535481.633 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:41.634Z,1761535481.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T03:24:41.714Z,1761535481.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 3.779983 s, deltaX: 1.399994 m, approachRate: 0.370370 m/s, rangeRepo size: 4 2025-10-27T03:24:41.722Z,1761535481.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.432007 m, bearing: 119.957427 deg, lat: 36.779275 deg, lon: -121.859639 deg, deltaT: 3.779983 s, deltaX: 1.394356 m, approachRate: 0.368879 m/s, posRepo size: 4 2025-10-27T03:24:41.727Z,1761535481.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.43 m. 2025-10-27T03:24:41.730Z,1761535481.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.432007 m, nav range: 59.779907 m, bearing: 114.883322 deg, approach rate: 0.000000 m/s, LOS rate: 0.225498 deg/s, cmd heading: 117.088826 deg, new cmd heading: 117.530352 deg. 2025-10-27T03:24:41.731Z,1761535481.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051292 target range: 67.432007 and range: 67.70 m. 2025-10-27T03:24:41.884Z,1761535481.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250820 2025-10-27T03:24:42.068Z,1761535482.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893327,0.438048,0.100409],[-0.436913,0.898853,-0.034202],[-0.105235,-0.013316,0.994358]] 2025-10-27T03:24:42.084Z,1761535482.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:42.086Z,1761535482.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.43 m. 2025-10-27T03:24:42.089Z,1761535482.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.432007 m, nav range: 60.018776 m, bearing: 114.984521 deg, approach rate: 0.621886 m/s, LOS rate: 0.262419 deg/s, cmd heading: 117.530357 deg, new cmd heading: 117.832743 deg. 2025-10-27T03:24:42.090Z,1761535482.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056569 target range: 67.432007 and range: 67.70 m. 2025-10-27T03:24:42.136Z,1761535482.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502845 2025-10-27T03:24:42.390Z,1761535482.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756746 2025-10-27T03:24:42.465Z,1761535482.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899579,0.426961,0.091988],[-0.425435,0.904249,-0.036593],[-0.098804,-0.006217,0.995088]] 2025-10-27T03:24:42.483Z,1761535482.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.43 m. 2025-10-27T03:24:42.486Z,1761535482.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.432007 m, nav range: 60.246029 m, bearing: 115.083404 deg, approach rate: 0.572869 m/s, LOS rate: 0.248329 deg/s, cmd heading: 117.832743 deg, new cmd heading: 118.128272 deg. 2025-10-27T03:24:42.487Z,1761535482.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061727 target range: 67.432007 and range: 67.70 m. 2025-10-27T03:24:42.640Z,1761535482.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006854 2025-10-27T03:24:42.869Z,1761535482.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906188,0.414508,0.083701],[-0.412754,0.910046,-0.038092],[-0.091961,-0.000029,0.995763]] 2025-10-27T03:24:42.893Z,1761535482.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259701 2025-10-27T03:24:42.956Z,1761535482.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.43 m. 2025-10-27T03:24:42.958Z,1761535482.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.432007 m, nav range: 60.498814 m, bearing: 115.218417 deg, approach rate: 0.534581 m/s, LOS rate: 0.284328 deg/s, cmd heading: 118.128272 deg, new cmd heading: 118.531612 deg. 2025-10-27T03:24:42.964Z,1761535482.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068767 target range: 67.432007 and range: 67.70 m. 2025-10-27T03:24:43.144Z,1761535483.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511029 2025-10-27T03:24:43.303Z,1761535483.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913116,0.400486,0.076355],[-0.398632,0.916289,-0.038818],[-0.085509,0.005008,0.996325]] 2025-10-27T03:24:43.326Z,1761535483.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.43 m. 2025-10-27T03:24:43.345Z,1761535483.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.432007 m, nav range: 60.701340 m, bearing: 115.329523 deg, approach rate: 0.547526 m/s, LOS rate: 0.299369 deg/s, cmd heading: 118.531608 deg, new cmd heading: 118.863808 deg. 2025-10-27T03:24:43.345Z,1761535483.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074565 target range: 67.432007 and range: 67.70 m. 2025-10-27T03:24:43.397Z,1761535483.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763772 2025-10-27T03:24:43.648Z,1761535483.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014689 2025-10-27T03:24:43.731Z,1761535483.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927536,0.368448,0.062640],[-0.366591,0.929550,-0.039337],[-0.072721,0.013523,0.997261]] 2025-10-27T03:24:43.777Z,1761535483.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.43 m. 2025-10-27T03:24:43.780Z,1761535483.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.432007 m, nav range: 60.907356 m, bearing: 115.483109 deg, approach rate: 0.456847 m/s, LOS rate: 0.339429 deg/s, cmd heading: 118.863801 deg, new cmd heading: 119.322991 deg. 2025-10-27T03:24:43.780Z,1761535483.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082579 target range: 67.432007 and range: 67.70 m. 2025-10-27T03:24:43.901Z,1761535483.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267873 2025-10-27T03:24:44.127Z,1761535484.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934850,0.350548,0.056324],[-0.348777,0.936394,-0.039004],[-0.066414,0.016818,0.997650]] 2025-10-27T03:24:44.151Z,1761535484.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:44.152Z,1761535484.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518910 2025-10-27T03:24:44.154Z,1761535484.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.43 m. 2025-10-27T03:24:44.157Z,1761535484.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.432007 m, nav range: 61.075649 m, bearing: 115.612427 deg, approach rate: 0.445637 m/s, LOS rate: 0.341489 deg/s, cmd heading: 119.322995 deg, new cmd heading: 119.709875 deg. 2025-10-27T03:24:44.158Z,1761535484.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089331 target range: 67.432007 and range: 67.70 m. 2025-10-27T03:24:44.405Z,1761535484.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771239 2025-10-27T03:24:44.541Z,1761535484.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941958,0.331933,0.050361],[-0.330286,0.943101,-0.038355],[-0.060227,0.019495,0.997994]] 2025-10-27T03:24:44.566Z,1761535484.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.43 m. 2025-10-27T03:24:44.598Z,1761535484.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.432007 m, nav range: 61.254902 m, bearing: 115.754616 deg, approach rate: 0.435322 m/s, LOS rate: 0.344300 deg/s, cmd heading: 119.709871 deg, new cmd heading: 120.135180 deg. 2025-10-27T03:24:44.606Z,1761535484.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096755 target range: 67.432007 and range: 67.70 m. 2025-10-27T03:24:44.656Z,1761535484.656 [DAT](INFO): DAT read: Rx Time:03:24:45.5586 2025-10-27T03:24:44.657Z,1761535484.657 [DAT](INFO): Rx dataTimestamp_ set to:1761535484.656221 2025-10-27T03:24:44.657Z,1761535484.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023914 2025-10-27T03:24:44.909Z,1761535484.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276089 2025-10-27T03:24:44.986Z,1761535484.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948786,0.312776,0.044463],[-0.311233,0.949559,-0.038362],[-0.054219,0.022559,0.998274]] 2025-10-27T03:24:45.022Z,1761535485.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.43 m. 2025-10-27T03:24:45.045Z,1761535485.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.432007 m, nav range: 61.419067 m, bearing: 115.922709 deg, approach rate: 0.360127 m/s, LOS rate: 0.367756 deg/s, cmd heading: 120.135186 deg, new cmd heading: 120.638103 deg. 2025-10-27T03:24:45.046Z,1761535485.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105532 target range: 67.432007 and range: 67.70 m. 2025-10-27T03:24:45.165Z,1761535485.165 [DAT](INFO): DAT read: 03:24:45.5586 LVL= 23344, 18129, 28962, 31763, AGC= 62, IDX= 441,-0.34,-1.297,-0.676,-2.509,-0.891, PHS=-0.304, 0.260,-1.662, RAW= 13.4, 19.4, CAL= 12.6, 23.5, ROT= 137.4, -23.5 2025-10-27T03:24:45.166Z,1761535485.166 [DAT](INFO): got valid direction response: 03:24:45.5586 LVL= 23344, 18129, 28962, 31763, AGC= 62, IDX= 441,-0.34,-1.297,-0.676,-2.509,-0.891, PHS=-0.304, 0.260,-1.662, RAW= 13.4, 19.4, CAL= 12.6, 23.5, ROT= 137.4, -23.5 2025-10-27T03:24:45.168Z,1761535485.168 [DAT](INFO): DAT read: Bearing 294.9, 42.5 (Local) 2025-10-27T03:24:45.168Z,1761535485.168 [DAT](INFO): Local bearing/azimuth received: Bearing 294.9, 42.5 (Local) 2025-10-27T03:24:45.169Z,1761535485.169 [DAT](INFO): DAT read: Range 11 to 50 : 68.8 m (Round-trip 91.8 ms) speed -0.1 m/s 2025-10-27T03:24:45.170Z,1761535485.170 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:45.171Z,1761535485.171 [DAT](INFO): direction in FSK: [-0.675045,0.620736,0.398749] 2025-10-27T03:24:45.171Z,1761535485.171 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:45.174Z,1761535485.174 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:45.174Z,1761535485.174 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:45.192Z,1761535485.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:45.412Z,1761535485.412 [DAT](INFO): DAT read: user:319> 2025-10-27T03:24:45.414Z,1761535485.414 [DAT](INFO): DAT read: Tx time:03:24:46.8126 2025-10-27T03:24:45.415Z,1761535485.415 [DAT](INFO): Ping request sent. 2025-10-27T03:24:45.415Z,1761535485.415 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:45.415Z,1761535485.415 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:45.416Z,1761535485.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000791 2025-10-27T03:24:45.648Z,1761535485.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955338,0.292970,0.038688],[-0.291569,0.955793,-0.038041],[-0.048123,0.025062,0.998527]] 2025-10-27T03:24:45.666Z,1761535485.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251191 2025-10-27T03:24:45.706Z,1761535485.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.800003 m, deltaT: 3.780112 s, deltaX: 1.100006 m, approachRate: 0.290998 m/s, rangeRepo size: 4 2025-10-27T03:24:45.709Z,1761535485.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.529526 m, bearing: 120.010846 deg, lat: 36.779273 deg, lon: -121.859643 deg, deltaT: 3.780112 s, deltaX: 1.097519 m, approachRate: 0.290340 m/s, posRepo size: 4 2025-10-27T03:24:45.710Z,1761535485.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:24:45.741Z,1761535485.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.529526 m, nav range: 61.419373 m, bearing: 116.520142 deg, approach rate: 0.000000 m/s, LOS rate: 0.367756 deg/s, cmd heading: 120.638107 deg, new cmd heading: 121.391009 deg. 2025-10-27T03:24:45.742Z,1761535485.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118673 target range: 68.529526 and range: 68.80 m. 2025-10-27T03:24:45.920Z,1761535485.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504745 2025-10-27T03:24:46.173Z,1761535486.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757857 2025-10-27T03:24:46.223Z,1761535486.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967469,0.251436,0.027977],[-0.250362,0.967447,-0.036938],[-0.036354,0.028732,0.998926]] 2025-10-27T03:24:46.240Z,1761535486.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:46.242Z,1761535486.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:24:46.245Z,1761535486.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.529526 m, nav range: 61.567177 m, bearing: 116.732214 deg, approach rate: 0.275051 m/s, LOS rate: 0.393698 deg/s, cmd heading: 121.391012 deg, new cmd heading: 122.025672 deg. 2025-10-27T03:24:46.246Z,1761535486.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.129750 target range: 68.529526 and range: 68.80 m. 2025-10-27T03:24:46.425Z,1761535486.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009477 2025-10-27T03:24:46.676Z,1761535486.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260555 2025-10-27T03:24:46.753Z,1761535486.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972846,0.230350,0.022552],[-0.229436,0.972617,-0.037090],[-0.030478,0.030908,0.999057]] 2025-10-27T03:24:46.790Z,1761535486.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:24:46.793Z,1761535486.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.529526 m, nav range: 61.690063 m, bearing: 116.953355 deg, approach rate: 0.224268 m/s, LOS rate: 0.402777 deg/s, cmd heading: 122.025674 deg, new cmd heading: 122.687744 deg. 2025-10-27T03:24:46.794Z,1761535486.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.141305 target range: 68.529526 and range: 68.80 m. 2025-10-27T03:24:46.929Z,1761535486.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514084 2025-10-27T03:24:47.168Z,1761535487.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977809,0.208799,0.017107],[-0.208034,0.977369,-0.038366],[-0.024731,0.033956,0.999117]] 2025-10-27T03:24:47.180Z,1761535487.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764832 2025-10-27T03:24:47.192Z,1761535487.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:24:47.211Z,1761535487.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.529526 m, nav range: 61.777283 m, bearing: 117.117412 deg, approach rate: 0.216628 m/s, LOS rate: 0.406897 deg/s, cmd heading: 122.687737 deg, new cmd heading: 123.179202 deg. 2025-10-27T03:24:47.212Z,1761535487.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.149883 target range: 68.529526 and range: 68.80 m. 2025-10-27T03:24:47.432Z,1761535487.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016784 2025-10-27T03:24:47.557Z,1761535487.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982308,0.186881,0.012069],[-0.186297,0.981733,-0.038647],[-0.019071,0.035715,0.999180]] 2025-10-27T03:24:47.592Z,1761535487.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:24:47.599Z,1761535487.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.529526 m, nav range: 61.856689 m, bearing: 117.274146 deg, approach rate: 0.207660 m/s, LOS rate: 0.409355 deg/s, cmd heading: 123.179197 deg, new cmd heading: 123.648783 deg. 2025-10-27T03:24:47.600Z,1761535487.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158078 target range: 68.529526 and range: 68.80 m. 2025-10-27T03:24:47.684Z,1761535487.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268882 2025-10-27T03:24:47.936Z,1761535487.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520858 2025-10-27T03:24:48.008Z,1761535488.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986236,0.165197,0.006896],[-0.164802,0.985532,-0.039596],[-0.013337,0.037914,0.999192]] 2025-10-27T03:24:48.062Z,1761535488.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:24:48.065Z,1761535488.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.529526 m, nav range: 61.947777 m, bearing: 117.473389 deg, approach rate: 0.187036 m/s, LOS rate: 0.408518 deg/s, cmd heading: 123.648786 deg, new cmd heading: 124.245614 deg. 2025-10-27T03:24:48.066Z,1761535488.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168495 target range: 68.529526 and range: 68.80 m. 2025-10-27T03:24:48.188Z,1761535488.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772726 2025-10-27T03:24:48.417Z,1761535488.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989649,0.143495,0.001931],[-0.143298,0.988836,-0.040843],[-0.007770,0.040144,0.999164]] 2025-10-27T03:24:48.440Z,1761535488.440 [DAT](INFO): DAT read: Rx Time:03:24:49.3099 2025-10-27T03:24:48.441Z,1761535488.441 [DAT](INFO): Rx dataTimestamp_ set to:1761535488.440498 2025-10-27T03:24:48.441Z,1761535488.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026158 2025-10-27T03:24:48.442Z,1761535488.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:48.444Z,1761535488.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:24:48.447Z,1761535488.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.529526 m, nav range: 62.016880 m, bearing: 117.632557 deg, approach rate: 0.180644 m/s, LOS rate: 0.415618 deg/s, cmd heading: 124.245608 deg, new cmd heading: 124.722567 deg. 2025-10-27T03:24:48.448Z,1761535488.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.176820 target range: 68.529526 and range: 68.80 m. 2025-10-27T03:24:48.696Z,1761535488.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279966 2025-10-27T03:24:48.927Z,1761535488.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994873,0.100838,-0.007723],[-0.101077,0.993958,-0.042782],[0.003362,0.043343,0.999055]] 2025-10-27T03:24:48.949Z,1761535488.949 [DAT](INFO): DAT read: 03:24:49.3099 LVL= 18112, 19489, 26210, 32755, AGC= 58, IDX= 437, 0.47, 2.234, 2.613, 0.902, 2.510, PHS=-0.174, 0.148,-1.652, RAW= 20.4, 19.6, CAL= 18.9, 23.5, ROT= 131.1, -23.5 2025-10-27T03:24:48.950Z,1761535488.950 [DAT](INFO): got valid direction response: 03:24:49.3099 LVL= 18112, 19489, 26210, 32755, AGC= 58, IDX= 437, 0.47, 2.234, 2.613, 0.902, 2.510, PHS=-0.174, 0.148,-1.652, RAW= 20.4, 19.6, CAL= 18.9, 23.5, ROT= 131.1, -23.5 2025-10-27T03:24:48.952Z,1761535488.952 [DAT](INFO): DAT read: Bearing 304.1, 45.1 (Local) 2025-10-27T03:24:48.952Z,1761535488.952 [DAT](INFO): Local bearing/azimuth received: Bearing 304.1, 45.1 (Local) 2025-10-27T03:24:48.953Z,1761535488.953 [DAT](INFO): DAT read: Range 11 to 50 : 69.8 m (Round-trip 93.1 ms) speed -0.4 m/s 2025-10-27T03:24:48.954Z,1761535488.954 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:48.955Z,1761535488.955 [DAT](INFO): direction in FSK: [-0.602853,0.691063,0.398749] 2025-10-27T03:24:48.955Z,1761535488.955 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:48.958Z,1761535488.958 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:48.959Z,1761535488.959 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:48.971Z,1761535488.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:49.069Z,1761535489.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.800003 m, deltaT: 3.784006 s, deltaX: 1.000000 m, approachRate: 0.264270 m/s, rangeRepo size: 4 2025-10-27T03:24:49.076Z,1761535489.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.525879 m, bearing: 126.114042 deg, lat: 36.779244 deg, lon: -121.859661 deg, deltaT: 3.784006 s, deltaX: 0.996353 m, approachRate: 0.263306 m/s, posRepo size: 4 2025-10-27T03:24:49.076Z,1761535489.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m. 2025-10-27T03:24:49.083Z,1761535489.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.525879 m, nav range: 62.306561 m, bearing: 121.244430 deg, approach rate: 0.000000 m/s, LOS rate: 0.415618 deg/s, cmd heading: 124.722574 deg, new cmd heading: 125.501051 deg. 2025-10-27T03:24:49.084Z,1761535489.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190407 target range: 69.525879 and range: 69.80 m. 2025-10-27T03:24:49.196Z,1761535489.196 [DAT](INFO): DAT read: user:320> 2025-10-27T03:24:49.197Z,1761535489.197 [DAT](INFO): DAT read: Tx time:03:24:50.5626 2025-10-27T03:24:49.197Z,1761535489.197 [DAT](INFO): Ping request sent. 2025-10-27T03:24:49.197Z,1761535489.197 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:49.197Z,1761535489.197 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:49.198Z,1761535489.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T03:24:49.448Z,1761535489.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250994 2025-10-27T03:24:49.566Z,1761535489.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996744,0.079672,-0.012437],[-0.080142,0.995831,-0.043553],[0.008916,0.044408,0.998974]] 2025-10-27T03:24:49.587Z,1761535489.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m. 2025-10-27T03:24:49.590Z,1761535489.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.525879 m, nav range: 62.431229 m, bearing: 121.481182 deg, approach rate: 0.240674 m/s, LOS rate: 0.456140 deg/s, cmd heading: 125.501051 deg, new cmd heading: 126.209849 deg. 2025-10-27T03:24:49.590Z,1761535489.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202777 target range: 69.525879 and range: 69.80 m. 2025-10-27T03:24:49.702Z,1761535489.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504556 2025-10-27T03:24:49.952Z,1761535489.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754825 2025-10-27T03:24:50.064Z,1761535490.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998144,0.058545,-0.016782],[-0.059242,0.997248,-0.044569],[0.014126,0.045481,0.998865]] 2025-10-27T03:24:50.135Z,1761535490.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m. 2025-10-27T03:24:50.138Z,1761535490.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.525879 m, nav range: 62.572704 m, bearing: 121.705588 deg, approach rate: 0.259981 m/s, LOS rate: 0.411444 deg/s, cmd heading: 126.209847 deg, new cmd heading: 126.881511 deg. 2025-10-27T03:24:50.139Z,1761535490.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214500 target range: 69.525879 and range: 69.80 m. 2025-10-27T03:24:50.204Z,1761535490.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006923 2025-10-27T03:24:50.457Z,1761535490.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259941 2025-10-27T03:24:50.477Z,1761535490.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999076,0.037490,-0.021027],[-0.038433,0.998184,-0.046395],[0.019249,0.047161,0.998702]] 2025-10-27T03:24:50.494Z,1761535490.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:50.496Z,1761535490.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m. 2025-10-27T03:24:50.498Z,1761535490.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.525879 m, nav range: 62.677048 m, bearing: 121.877656 deg, approach rate: 0.285908 m/s, LOS rate: 0.470691 deg/s, cmd heading: 126.881515 deg, new cmd heading: 127.396844 deg. 2025-10-27T03:24:50.500Z,1761535490.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223494 target range: 69.525879 and range: 69.80 m. 2025-10-27T03:24:50.712Z,1761535490.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513549 2025-10-27T03:24:50.889Z,1761535490.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999543,0.017195,-0.024876],[-0.018355,0.998717,-0.047200],[0.024033,0.047635,0.998576]] 2025-10-27T03:24:50.953Z,1761535490.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m. 2025-10-27T03:24:50.956Z,1761535490.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.525879 m, nav range: 62.823292 m, bearing: 122.083133 deg, approach rate: 0.319940 m/s, LOS rate: 0.448479 deg/s, cmd heading: 127.396839 deg, new cmd heading: 128.011811 deg. 2025-10-27T03:24:50.957Z,1761535490.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234228 target range: 69.525879 and range: 69.80 m. 2025-10-27T03:24:50.960Z,1761535490.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762932 2025-10-27T03:24:51.212Z,1761535491.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014723 2025-10-27T03:24:51.282Z,1761535491.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999583,-0.003277,-0.028684],[0.001897,0.998845,-0.048003],[0.028808,0.047929,0.998435]] 2025-10-27T03:24:51.316Z,1761535491.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m. 2025-10-27T03:24:51.318Z,1761535491.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.525879 m, nav range: 62.933510 m, bearing: 122.243615 deg, approach rate: 0.303807 m/s, LOS rate: 0.441578 deg/s, cmd heading: 128.011815 deg, new cmd heading: 128.492404 deg. 2025-10-27T03:24:51.320Z,1761535491.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242615 target range: 69.525879 and range: 69.80 m. 2025-10-27T03:24:51.464Z,1761535491.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267174 2025-10-27T03:24:51.719Z,1761535491.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521324 2025-10-27T03:24:51.737Z,1761535491.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998368,-0.044486,-0.035801],[0.042557,0.997690,-0.052945],[0.038073,0.051335,0.997956]] 2025-10-27T03:24:51.799Z,1761535491.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m. 2025-10-27T03:24:51.802Z,1761535491.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.525879 m, nav range: 63.104794 m, bearing: 122.469365 deg, approach rate: 0.354111 m/s, LOS rate: 0.465448 deg/s, cmd heading: 128.492401 deg, new cmd heading: 129.167782 deg. 2025-10-27T03:24:51.804Z,1761535491.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.254403 target range: 69.525879 and range: 69.80 m. 2025-10-27T03:24:51.968Z,1761535491.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770702 2025-10-27T03:24:52.150Z,1761535492.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m. 2025-10-27T03:24:52.153Z,1761535492.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.525879 m, nav range: 63.225185 m, bearing: 122.626548 deg, approach rate: 0.343622 m/s, LOS rate: 0.447775 deg/s, cmd heading: 129.167784 deg, new cmd heading: 129.638422 deg. 2025-10-27T03:24:52.153Z,1761535492.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262617 target range: 69.525879 and range: 69.80 m. 2025-10-27T03:24:52.221Z,1761535492.221 [DAT](INFO): DAT read: Rx Time:03:24:53.0617 2025-10-27T03:24:52.222Z,1761535492.222 [DAT](INFO): Rx dataTimestamp_ set to:1761535492.221430 2025-10-27T03:24:52.222Z,1761535492.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025119 2025-10-27T03:24:52.472Z,1761535492.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274830 2025-10-27T03:24:52.505Z,1761535492.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997090,-0.065385,-0.039206],[0.063125,0.996413,-0.056359],[0.042750,0.053720,0.997640]] 2025-10-27T03:24:52.524Z,1761535492.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:52.529Z,1761535492.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.53 m. 2025-10-27T03:24:52.532Z,1761535492.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.525879 m, nav range: 63.361599 m, bearing: 122.811201 deg, approach rate: 0.359617 m/s, LOS rate: 0.485738 deg/s, cmd heading: 129.638425 deg, new cmd heading: 130.191173 deg. 2025-10-27T03:24:52.533Z,1761535492.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272265 target range: 69.525879 and range: 69.80 m. 2025-10-27T03:24:52.754Z,1761535492.754 [DAT](INFO): DAT read: 03:24:53.0617 LVL= 22256, 22001, 27618, 30067, AGC= 64, IDX= 455,-0.11,-0.199,-0.516,-1.810,-0.273, PHS= 0.176,-0.198,-1.581, RAW= 41.7, 19.5, CAL= 37.7, 22.7, ROT= 112.3, -22.7 2025-10-27T03:24:52.759Z,1761535492.759 [DAT](INFO): got valid direction response: 03:24:53.0617 LVL= 22256, 22001, 27618, 30067, AGC= 64, IDX= 455,-0.11,-0.199,-0.516,-1.810,-0.273, PHS= 0.176,-0.198,-1.581, RAW= 41.7, 19.5, CAL= 37.7, 22.7, ROT= 112.3, -22.7 2025-10-27T03:24:52.761Z,1761535492.761 [DAT](INFO): DAT read: Bearing 305.5, 58.9 (Local) 2025-10-27T03:24:52.761Z,1761535492.761 [DAT](INFO): Local bearing/azimuth received: Bearing 305.5, 58.9 (Local) 2025-10-27T03:24:52.762Z,1761535492.762 [DAT](INFO): DAT read: Range 11 to 50 : 71.1 m (Round-trip 94.8 ms) speed -0.1 m/s 2025-10-27T03:24:52.763Z,1761535492.763 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:52.764Z,1761535492.764 [DAT](INFO): direction in FSK: [-0.350063,0.853541,0.385906] 2025-10-27T03:24:52.765Z,1761535492.765 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:52.796Z,1761535492.796 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:52.796Z,1761535492.796 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:52.797Z,1761535492.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:52.909Z,1761535492.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995392,-0.086074,-0.042255],[0.083457,0.994689,-0.060232],[0.047215,0.056428,0.997290]] 2025-10-27T03:24:52.968Z,1761535492.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.099998 m, deltaT: 3.781989 s, deltaX: 1.299995 m, approachRate: 0.343733 m/s, rangeRepo size: 4 2025-10-27T03:24:52.970Z,1761535492.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.820778 m, bearing: 118.817523 deg, lat: 36.779244 deg, lon: -121.859661 deg, deltaT: 3.781989 s, deltaX: 1.294899 m, approachRate: 0.342386 m/s, posRepo size: 4 2025-10-27T03:24:52.971Z,1761535492.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.82 m. 2025-10-27T03:24:52.974Z,1761535492.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.820778 m, nav range: 63.525162 m, bearing: 123.020313 deg, approach rate: 0.000000 m/s, LOS rate: 0.485738 deg/s, cmd heading: 130.191178 deg, new cmd heading: 130.830144 deg. 2025-10-27T03:24:52.976Z,1761535492.976 [DAT](INFO): DAT read: user:321> 2025-10-27T03:24:52.977Z,1761535492.977 [DAT](INFO): DAT read: Tx time:03:24:54.4127 2025-10-27T03:24:52.977Z,1761535492.977 [DAT](INFO): Ping request sent. 2025-10-27T03:24:52.977Z,1761535492.977 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:52.978Z,1761535492.978 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:52.978Z,1761535492.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-27T03:24:52.991Z,1761535492.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283417 target range: 70.820778 and range: 71.10 m. 2025-10-27T03:24:53.230Z,1761535493.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252367 2025-10-27T03:24:53.445Z,1761535493.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990706,-0.127296,-0.047932],[0.124104,0.990168,-0.064548],[0.055678,0.057999,0.996763]] 2025-10-27T03:24:53.463Z,1761535493.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.82 m. 2025-10-27T03:24:53.466Z,1761535493.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.820778 m, nav range: 63.700630 m, bearing: 123.262598 deg, approach rate: 0.354125 m/s, LOS rate: 0.487625 deg/s, cmd heading: 130.830143 deg, new cmd heading: 131.554955 deg. 2025-10-27T03:24:53.467Z,1761535493.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296067 target range: 70.820778 and range: 71.10 m. 2025-10-27T03:24:53.480Z,1761535493.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502618 2025-10-27T03:24:53.735Z,1761535493.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757192 2025-10-27T03:24:53.923Z,1761535493.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.82 m. 2025-10-27T03:24:53.926Z,1761535493.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.820778 m, nav range: 63.873669 m, bearing: 123.491366 deg, approach rate: 0.376389 m/s, LOS rate: 0.496260 deg/s, cmd heading: 131.554949 deg, new cmd heading: 132.239357 deg. 2025-10-27T03:24:53.927Z,1761535493.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308012 target range: 70.820778 and range: 71.10 m. 2025-10-27T03:24:53.984Z,1761535493.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006750 2025-10-27T03:24:54.236Z,1761535494.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258492 2025-10-27T03:24:54.330Z,1761535494.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984101,-0.169782,-0.052151],[0.166057,0.983700,-0.068988],[0.063014,0.059231,0.996253]] 2025-10-27T03:24:54.348Z,1761535494.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.82 m. 2025-10-27T03:24:54.350Z,1761535494.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.820778 m, nav range: 64.024200 m, bearing: 123.707351 deg, approach rate: 0.354212 m/s, LOS rate: 0.507034 deg/s, cmd heading: 132.239361 deg, new cmd heading: 132.885765 deg. 2025-10-27T03:24:54.352Z,1761535494.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.319294 target range: 70.820778 and range: 71.10 m. 2025-10-27T03:24:54.488Z,1761535494.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510889 2025-10-27T03:24:54.743Z,1761535494.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764970 2025-10-27T03:24:54.762Z,1761535494.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979998,-0.191758,-0.053221],[0.187778,0.979584,-0.071800],[0.065902,0.060370,0.995998]] 2025-10-27T03:24:54.838Z,1761535494.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:54.840Z,1761535494.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.82 m. 2025-10-27T03:24:54.843Z,1761535494.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.820778 m, nav range: 64.192909 m, bearing: 123.952836 deg, approach rate: 0.342532 m/s, LOS rate: 0.497101 deg/s, cmd heading: 132.885770 deg, new cmd heading: 133.620247 deg. 2025-10-27T03:24:54.844Z,1761535494.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332113 target range: 70.820778 and range: 71.10 m. 2025-10-27T03:24:54.992Z,1761535494.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014629 2025-10-27T03:24:55.134Z,1761535495.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975319,-0.214071,-0.054095],[0.209826,0.974875,-0.074775],[0.068743,0.061579,0.995732]] 2025-10-27T03:24:55.152Z,1761535495.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.82 m. 2025-10-27T03:24:55.154Z,1761535495.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.820778 m, nav range: 64.296585 m, bearing: 124.110003 deg, approach rate: 0.332727 m/s, LOS rate: 0.503580 deg/s, cmd heading: 133.620247 deg, new cmd heading: 134.090975 deg. 2025-10-27T03:24:55.156Z,1761535495.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.340329 target range: 70.820778 and range: 71.10 m. 2025-10-27T03:24:55.245Z,1761535495.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267299 2025-10-27T03:24:55.496Z,1761535495.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518564 2025-10-27T03:24:55.537Z,1761535495.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970184,-0.236199,-0.054343],[0.231650,0.969609,-0.078711],[0.071283,0.063776,0.995415]] 2025-10-27T03:24:55.573Z,1761535495.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.82 m. 2025-10-27T03:24:55.576Z,1761535495.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.820778 m, nav range: 64.426399 m, bearing: 124.315333 deg, approach rate: 0.308546 m/s, LOS rate: 0.487051 deg/s, cmd heading: 134.090970 deg, new cmd heading: 134.705697 deg. 2025-10-27T03:24:55.576Z,1761535495.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.351058 target range: 70.820778 and range: 71.10 m. 2025-10-27T03:24:55.750Z,1761535495.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772453 2025-10-27T03:24:55.941Z,1761535495.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964539,-0.258223,-0.054649],[0.253369,0.963852,-0.082423],[0.073957,0.065654,0.995098]] 2025-10-27T03:24:56.000Z,1761535496.000 [DAT](INFO): DAT read: Rx Time:03:24:56.9125 2025-10-27T03:24:56.001Z,1761535496.001 [DAT](INFO): Rx dataTimestamp_ set to:1761535496.000487 2025-10-27T03:24:56.001Z,1761535496.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023932 2025-10-27T03:24:56.007Z,1761535496.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.82 m. 2025-10-27T03:24:56.029Z,1761535496.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.820778 m, nav range: 64.554131 m, bearing: 124.537616 deg, approach rate: 0.294443 m/s, LOS rate: 0.511385 deg/s, cmd heading: 134.705701 deg, new cmd heading: 135.371196 deg. 2025-10-27T03:24:56.030Z,1761535496.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362673 target range: 70.820778 and range: 71.10 m. 2025-10-27T03:24:56.252Z,1761535496.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274503 2025-10-27T03:24:56.387Z,1761535496.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958274,-0.280617,-0.054447],[0.275452,0.957417,-0.086484],[0.076397,0.067877,0.994764]] 2025-10-27T03:24:56.481Z,1761535496.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.82 m. 2025-10-27T03:24:56.489Z,1761535496.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.820778 m, nav range: 64.668655 m, bearing: 124.746295 deg, approach rate: 0.241228 m/s, LOS rate: 0.438769 deg/s, cmd heading: 135.371194 deg, new cmd heading: 135.996096 deg. 2025-10-27T03:24:56.490Z,1761535496.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373580 target range: 70.820778 and range: 71.10 m. 2025-10-27T03:24:56.509Z,1761535496.509 [DAT](INFO): DAT read: 03:24:56.9125 LVL= 14784, 18033, 28002, 28195, AGC= 60, IDX= 431,-0.13,-1.625,-2.408, 2.722,-2.152, PHS= 0.629,-0.211,-1.454, RAW= 53.6, 11.4, CAL= 50.6, 13.2, ROT= 99.4, -13.2 2025-10-27T03:24:56.511Z,1761535496.511 [DAT](INFO): got valid direction response: 03:24:56.9125 LVL= 14784, 18033, 28002, 28195, AGC= 60, IDX= 431,-0.13,-1.625,-2.408, 2.722,-2.152, PHS= 0.629,-0.211,-1.454, RAW= 53.6, 11.4, CAL= 50.6, 13.2, ROT= 99.4, -13.2 2025-10-27T03:24:56.512Z,1761535496.512 [DAT](INFO): DAT read: Bearing 323.6, 74.1 (Local) 2025-10-27T03:24:56.512Z,1761535496.512 [DAT](INFO): Local bearing/azimuth received: Bearing 323.6, 74.1 (Local) 2025-10-27T03:24:56.513Z,1761535496.513 [DAT](INFO): DAT read: Range 11 to 50 : 71.7 m (Round-trip 95.6 ms) speed -0.1 m/s 2025-10-27T03:24:56.514Z,1761535496.514 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:24:56.515Z,1761535496.515 [DAT](INFO): direction in FSK: [-0.159011,0.960506,0.228351] 2025-10-27T03:24:56.516Z,1761535496.516 [DAT](INFO): publishing direction and range info 2025-10-27T03:24:56.519Z,1761535496.519 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:24:56.519Z,1761535496.519 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:24:56.520Z,1761535496.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:24:56.758Z,1761535496.758 [DAT](INFO): DAT read: user:322> 2025-10-27T03:24:56.761Z,1761535496.761 [DAT](INFO): DAT read: Tx time:03:24:58.1627 2025-10-27T03:24:56.762Z,1761535496.762 [DAT](INFO): Ping request sent. 2025-10-27T03:24:56.763Z,1761535496.763 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:24:56.763Z,1761535496.763 [DAT](INFO): publishing transmit ping time 2025-10-27T03:24:56.766Z,1761535496.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002872 2025-10-27T03:24:56.785Z,1761535496.785 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:24:56.889Z,1761535496.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951458,-0.303012,-0.053948],[0.297543,0.950405,-0.090547],[0.078709,0.070099,0.994430]] 2025-10-27T03:24:56.972Z,1761535496.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.778038 s, deltaX: 0.599998 m, approachRate: 0.158812 m/s, rangeRepo size: 4 2025-10-27T03:24:56.974Z,1761535496.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.418327 m, bearing: 118.286066 deg, lat: 36.779244 deg, lon: -121.859661 deg, deltaT: 3.778038 s, deltaX: 0.597549 m, approachRate: 0.158164 m/s, posRepo size: 4 2025-10-27T03:24:56.974Z,1761535496.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:24:56.985Z,1761535496.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.418327 m, nav range: 64.803925 m, bearing: 125.020378 deg, approach rate: 0.000000 m/s, LOS rate: 0.438769 deg/s, cmd heading: 135.996101 deg, new cmd heading: 136.640526 deg. 2025-10-27T03:24:56.986Z,1761535496.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384827 target range: 71.418327 and range: 71.70 m. 2025-10-27T03:24:57.008Z,1761535497.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245824 2025-10-27T03:24:57.260Z,1761535497.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497710 2025-10-27T03:24:57.338Z,1761535497.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936158,-0.347526,-0.053234],[0.341543,0.934869,-0.096792],[0.083405,0.072431,0.993880]] 2025-10-27T03:24:57.354Z,1761535497.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:57.356Z,1761535497.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:24:57.376Z,1761535497.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.418327 m, nav range: 64.894745 m, bearing: 125.227599 deg, approach rate: 0.235544 m/s, LOS rate: 0.536676 deg/s, cmd heading: 136.640530 deg, new cmd heading: 137.261295 deg. 2025-10-27T03:24:57.378Z,1761535497.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395662 target range: 71.418327 and range: 71.70 m. 2025-10-27T03:24:57.512Z,1761535497.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750237 2025-10-27T03:24:57.747Z,1761535497.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927632,-0.369783,-0.052529],[0.363618,0.926255,-0.099166],[0.085325,0.072889,0.993683]] 2025-10-27T03:24:57.767Z,1761535497.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004148 2025-10-27T03:24:57.788Z,1761535497.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:24:57.827Z,1761535497.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:24:57.830Z,1761535497.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.418327 m, nav range: 64.985374 m, bearing: 125.447021 deg, approach rate: 0.194224 m/s, LOS rate: 0.469576 deg/s, cmd heading: 137.261298 deg, new cmd heading: 137.918617 deg. 2025-10-27T03:24:57.839Z,1761535497.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407134 target range: 71.418327 and range: 71.70 m. 2025-10-27T03:24:58.016Z,1761535498.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253589 2025-10-27T03:24:58.166Z,1761535498.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919007,-0.390782,-0.052114],[0.384412,0.917563,-0.101510],[0.087487,0.073255,0.993469]] 2025-10-27T03:24:58.213Z,1761535498.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:24:58.216Z,1761535498.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.418327 m, nav range: 65.057404 m, bearing: 125.668743 deg, approach rate: 0.184508 m/s, LOS rate: 0.567327 deg/s, cmd heading: 137.918622 deg, new cmd heading: 138.583020 deg. 2025-10-27T03:24:58.217Z,1761535498.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418730 target range: 71.418327 and range: 71.70 m. 2025-10-27T03:24:58.269Z,1761535498.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506879 2025-10-27T03:24:58.520Z,1761535498.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757702 2025-10-27T03:24:58.574Z,1761535498.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909614,-0.412189,-0.051977],[0.405604,0.908153,-0.103655],[0.089929,0.073204,0.993254]] 2025-10-27T03:24:58.592Z,1761535498.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:24:58.595Z,1761535498.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.418327 m, nav range: 65.116234 m, bearing: 125.864072 deg, approach rate: 0.155210 m/s, LOS rate: 0.514863 deg/s, cmd heading: 138.583022 deg, new cmd heading: 139.168457 deg. 2025-10-27T03:24:58.596Z,1761535498.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428948 target range: 71.418327 and range: 71.70 m. 2025-10-27T03:24:58.774Z,1761535498.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011593 2025-10-27T03:24:58.974Z,1761535498.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899675,-0.433464,-0.051898],[0.426698,0.898242,-0.105312],[0.092266,0.072602,0.993084]] 2025-10-27T03:24:59.024Z,1761535499.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261765 2025-10-27T03:24:59.025Z,1761535499.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:24:59.028Z,1761535499.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.418327 m, nav range: 65.169334 m, bearing: 126.086048 deg, approach rate: 0.122633 m/s, LOS rate: 0.512225 deg/s, cmd heading: 139.168451 deg, new cmd heading: 139.833806 deg. 2025-10-27T03:24:59.029Z,1761535499.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440560 target range: 71.418327 and range: 71.70 m. 2025-10-27T03:24:59.276Z,1761535499.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513793 2025-10-27T03:24:59.391Z,1761535499.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889232,-0.454503,-0.051893],[0.447552,0.887842,-0.106930],[0.094673,0.071861,0.992911]] 2025-10-27T03:24:59.409Z,1761535499.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:24:59.411Z,1761535499.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:24:59.414Z,1761535499.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.418327 m, nav range: 65.212448 m, bearing: 126.285690 deg, approach rate: 0.111796 m/s, LOS rate: 0.517337 deg/s, cmd heading: 139.833807 deg, new cmd heading: 140.432314 deg. 2025-10-27T03:24:59.415Z,1761535499.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451006 target range: 71.418327 and range: 71.70 m. 2025-10-27T03:24:59.528Z,1761535499.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765692 2025-10-27T03:24:59.780Z,1761535499.780 [DAT](INFO): DAT read: Rx Time:03:25:00.6626 2025-10-27T03:24:59.781Z,1761535499.781 [DAT](INFO): Rx dataTimestamp_ set to:1761535499.780221 2025-10-27T03:24:59.781Z,1761535499.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018817 2025-10-27T03:24:59.853Z,1761535499.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878023,-0.475878,-0.051149],[0.468700,0.876547,-0.109480],[0.096934,0.072153,0.992672]] 2025-10-27T03:24:59.927Z,1761535499.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.42 m. 2025-10-27T03:24:59.930Z,1761535499.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.418327 m, nav range: 65.257187 m, bearing: 126.551511 deg, approach rate: 0.086766 m/s, LOS rate: 0.515178 deg/s, cmd heading: 140.432309 deg, new cmd heading: 141.229173 deg. 2025-10-27T03:24:59.930Z,1761535499.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464914 target range: 71.418327 and range: 71.70 m. 2025-10-27T03:25:00.032Z,1761535500.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269821 2025-10-27T03:25:00.267Z,1761535500.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866508,-0.496608,-0.050447],[0.489226,0.864974,-0.111703],[0.099108,0.072112,0.992460]] 2025-10-27T03:25:00.290Z,1761535500.290 [DAT](INFO): DAT read: 03:25:00.6626 LVL= 14000, 20593, 22466, 25139, AGC= 57, IDX= 433, 0.01, 2.409, 1.025, 0.155, 1.494, PHS= 1.016,-0.424,-1.384, RAW= 66.6, 7.6, CAL= 65.2, 8.3, ROT= 84.8, -8.3 2025-10-27T03:25:00.295Z,1761535500.295 [DAT](INFO): got valid direction response: 03:25:00.6626 LVL= 14000, 20593, 22466, 25139, AGC= 57, IDX= 433, 0.01, 2.409, 1.025, 0.155, 1.494, PHS= 1.016,-0.424,-1.384, RAW= 66.6, 7.6, CAL= 65.2, 8.3, ROT= 84.8, -8.3 2025-10-27T03:25:00.296Z,1761535500.296 [DAT](INFO): DAT read: Bearing 281.2, 85.7 (Local) 2025-10-27T03:25:00.297Z,1761535500.297 [DAT](INFO): Local bearing/azimuth received: Bearing 281.2, 85.7 (Local) 2025-10-27T03:25:00.298Z,1761535500.298 [DAT](INFO): DAT read: Range 11 to 50 : 71.8 m (Round-trip 95.8 ms) speed 0.0 m/s 2025-10-27T03:25:00.298Z,1761535500.298 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:00.299Z,1761535500.299 [DAT](INFO): direction in FSK: [0.089683,0.985453,0.144356] 2025-10-27T03:25:00.300Z,1761535500.300 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:00.310Z,1761535500.310 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:00.310Z,1761535500.310 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:00.313Z,1761535500.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:00.350Z,1761535500.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.800003 m, deltaT: 3.780691 s, deltaX: 0.100006 m, approachRate: 0.026452 m/s, rangeRepo size: 4 2025-10-27T03:25:00.366Z,1761535500.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.517250 m, bearing: 115.454828 deg, lat: 36.779276 deg, lon: -121.859626 deg, deltaT: 3.780691 s, deltaX: 0.098923 m, approachRate: 0.026165 m/s, posRepo size: 4 2025-10-27T03:25:00.366Z,1761535500.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:00.392Z,1761535500.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.517250 m, nav range: 65.836411 m, bearing: 122.598483 deg, approach rate: 0.000000 m/s, LOS rate: 0.515178 deg/s, cmd heading: 141.229174 deg, new cmd heading: 141.882524 deg. 2025-10-27T03:25:00.393Z,1761535500.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476317 target range: 71.517250 and range: 71.80 m. 2025-10-27T03:25:00.537Z,1761535500.537 [DAT](INFO): DAT read: user:323> 2025-10-27T03:25:00.538Z,1761535500.538 [DAT](INFO): DAT read: Tx time:03:25:01.9127 2025-10-27T03:25:00.538Z,1761535500.538 [DAT](INFO): Ping request sent. 2025-10-27T03:25:00.538Z,1761535500.538 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:25:00.539Z,1761535500.539 [DAT](INFO): publishing transmit ping time 2025-10-27T03:25:00.540Z,1761535500.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001025 2025-10-27T03:25:00.788Z,1761535500.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249569 2025-10-27T03:25:00.912Z,1761535500.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854658,-0.516795,-0.049831],[0.509258,0.853120,-0.113320],[0.101075,0.071473,0.992308]] 2025-10-27T03:25:00.973Z,1761535500.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:00.980Z,1761535500.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.517250 m, nav range: 65.847122 m, bearing: 122.939477 deg, approach rate: 0.017173 m/s, LOS rate: 0.546605 deg/s, cmd heading: 141.882522 deg, new cmd heading: 142.905223 deg. 2025-10-27T03:25:00.984Z,1761535500.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494167 target range: 71.517250 and range: 71.80 m. 2025-10-27T03:25:01.040Z,1761535501.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501436 2025-10-27T03:25:01.292Z,1761535501.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753439 2025-10-27T03:25:01.472Z,1761535501.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829511,-0.556403,-0.048241],[0.548561,0.827934,-0.116649],[0.104844,0.070299,0.992001]] 2025-10-27T03:25:01.502Z,1761535501.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:01.504Z,1761535501.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:01.506Z,1761535501.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.517250 m, nav range: 65.842606 m, bearing: 123.215735 deg, approach rate: -0.008513 m/s, LOS rate: 0.520723 deg/s, cmd heading: 142.905220 deg, new cmd heading: 143.733988 deg. 2025-10-27T03:25:01.508Z,1761535501.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508631 target range: 71.517250 and range: 71.80 m. 2025-10-27T03:25:01.544Z,1761535501.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005715 2025-10-27T03:25:01.796Z,1761535501.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257348 2025-10-27T03:25:01.966Z,1761535501.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816122,-0.575978,-0.046840],[0.568115,0.814530,-0.117414],[0.105781,0.069214,0.991978]] 2025-10-27T03:25:02.023Z,1761535502.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:02.026Z,1761535502.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.517250 m, nav range: 65.834694 m, bearing: 123.488890 deg, approach rate: -0.015718 m/s, LOS rate: 0.542721 deg/s, cmd heading: 143.733982 deg, new cmd heading: 144.553486 deg. 2025-10-27T03:25:02.031Z,1761535502.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522934 target range: 71.517250 and range: 71.80 m. 2025-10-27T03:25:02.048Z,1761535502.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509468 2025-10-27T03:25:02.300Z,1761535502.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761788 2025-10-27T03:25:02.384Z,1761535502.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802094,-0.595572,-0.044038],[0.587619,0.800234,-0.119705],[0.106533,0.070138,0.991832]] 2025-10-27T03:25:02.405Z,1761535502.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:02.408Z,1761535502.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.517250 m, nav range: 65.823555 m, bearing: 123.703628 deg, approach rate: -0.027999 m/s, LOS rate: 0.539869 deg/s, cmd heading: 144.553482 deg, new cmd heading: 145.197778 deg. 2025-10-27T03:25:02.409Z,1761535502.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534179 target range: 71.517250 and range: 71.80 m. 2025-10-27T03:25:02.552Z,1761535502.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013390 2025-10-27T03:25:02.772Z,1761535502.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787840,-0.614500,-0.041216],[0.606565,0.785780,-0.120950],[0.106711,0.070289,0.991803]] 2025-10-27T03:25:02.790Z,1761535502.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:02.793Z,1761535502.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.517250 m, nav range: 65.808128 m, bearing: 123.909048 deg, approach rate: -0.040080 m/s, LOS rate: 0.533831 deg/s, cmd heading: 145.197773 deg, new cmd heading: 145.814153 deg. 2025-10-27T03:25:02.794Z,1761535502.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544937 target range: 71.517250 and range: 71.80 m. 2025-10-27T03:25:02.804Z,1761535502.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265516 2025-10-27T03:25:03.056Z,1761535503.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517747 2025-10-27T03:25:03.175Z,1761535503.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773571,-0.632527,-0.038706],[0.624644,0.771375,-0.121653],[0.106806,0.069930,0.991818]] 2025-10-27T03:25:03.228Z,1761535503.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:03.231Z,1761535503.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.517250 m, nav range: 65.790176 m, bearing: 124.143577 deg, approach rate: -0.040938 m/s, LOS rate: 0.534970 deg/s, cmd heading: 145.814157 deg, new cmd heading: 146.517897 deg. 2025-10-27T03:25:03.232Z,1761535503.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557220 target range: 71.517250 and range: 71.80 m. 2025-10-27T03:25:03.308Z,1761535503.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769555 2025-10-27T03:25:03.560Z,1761535503.560 [DAT](INFO): DAT read: Rx Time:03:25:04.4127 2025-10-27T03:25:03.561Z,1761535503.561 [DAT](INFO): Rx dataTimestamp_ set to:1761535503.560412 2025-10-27T03:25:03.561Z,1761535503.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022765 2025-10-27T03:25:03.602Z,1761535503.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758633,-0.650524,-0.035975],[0.642645,0.756241,-0.122907],[0.107160,0.070122,0.991766]] 2025-10-27T03:25:03.630Z,1761535503.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:03.637Z,1761535503.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:03.643Z,1761535503.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.517250 m, nav range: 65.769386 m, bearing: 124.353082 deg, approach rate: -0.050925 m/s, LOS rate: 0.513341 deg/s, cmd heading: 146.517899 deg, new cmd heading: 147.146586 deg. 2025-10-27T03:25:03.658Z,1761535503.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568192 target range: 71.517250 and range: 71.80 m. 2025-10-27T03:25:03.812Z,1761535503.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273448 2025-10-27T03:25:04.042Z,1761535504.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743360,-0.668065,-0.033242],[0.660269,0.740825,-0.123384],[0.107055,0.069770,0.991802]] 2025-10-27T03:25:04.069Z,1761535504.069 [DAT](INFO): DAT read: 03:25:04.4127 LVL= 17536, 25745, 21426, 26611, AGC= 63, IDX= 450,-0.39,-1.632, 3.039, 2.671,-2.393, PHS= 0.864,-0.806,-1.263, RAW= 78.2, 12.4, CAL= 77.8, 16.0, ROT= 72.2, -16.0 2025-10-27T03:25:04.070Z,1761535504.070 [DAT](INFO): got valid direction response: 03:25:04.4127 LVL= 17536, 25745, 21426, 26611, AGC= 63, IDX= 450,-0.39,-1.632, 3.039, 2.671,-2.393, PHS= 0.864,-0.806,-1.263, RAW= 78.2, 12.4, CAL= 77.8, 16.0, ROT= 72.2, -16.0 2025-10-27T03:25:04.072Z,1761535504.072 [DAT](INFO): DAT read: Bearing 252.7, 73.0 (Local) 2025-10-27T03:25:04.072Z,1761535504.072 [DAT](INFO): Local bearing/azimuth received: Bearing 252.7, 73.0 (Local) 2025-10-27T03:25:04.073Z,1761535504.073 [DAT](INFO): DAT read: Range 11 to 50 : 71.8 m (Round-trip 95.8 ms) speed 0.0 m/s 2025-10-27T03:25:04.074Z,1761535504.074 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:04.075Z,1761535504.075 [DAT](INFO): direction in FSK: [0.293853,0.915245,0.275637] 2025-10-27T03:25:04.075Z,1761535504.075 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:04.079Z,1761535504.079 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:04.079Z,1761535504.079 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:04.079Z,1761535504.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:04.182Z,1761535504.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.800003 m, deltaT: 3.779252 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:25:04.196Z,1761535504.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.515564 m, bearing: 115.635668 deg, lat: 36.779286 deg, lon: -121.859580 deg, deltaT: 3.779252 s, deltaX: -0.001686 m, approachRate: -0.000446 m/s, posRepo size: 4 2025-10-27T03:25:04.197Z,1761535504.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:04.204Z,1761535504.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.515564 m, nav range: 68.563736 m, bearing: 121.907427 deg, approach rate: 0.000000 m/s, LOS rate: 0.513341 deg/s, cmd heading: 147.146590 deg, new cmd heading: 147.985323 deg. 2025-10-27T03:25:04.205Z,1761535504.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582831 target range: 71.515564 and range: 71.80 m. 2025-10-27T03:25:04.316Z,1761535504.316 [DAT](INFO): DAT read: user:324> 2025-10-27T03:25:04.317Z,1761535504.317 [DAT](INFO): DAT read: Tx time:03:25:05.7127 2025-10-27T03:25:04.317Z,1761535504.317 [DAT](INFO): Ping request sent. 2025-10-27T03:25:04.317Z,1761535504.317 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:25:04.317Z,1761535504.317 [DAT](INFO): publishing transmit ping time 2025-10-27T03:25:04.318Z,1761535504.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T03:25:04.544Z,1761535504.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727903,-0.685024,-0.029982],[0.677264,0.725112,-0.124602],[0.107096,0.070392,0.991754]] 2025-10-27T03:25:04.563Z,1761535504.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:04.566Z,1761535504.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.515564 m, nav range: 68.525513 m, bearing: 122.118665 deg, approach rate: -0.100206 m/s, LOS rate: 0.554088 deg/s, cmd heading: 147.985324 deg, new cmd heading: 148.619365 deg. 2025-10-27T03:25:04.566Z,1761535504.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593897 target range: 71.515564 and range: 71.80 m. 2025-10-27T03:25:04.568Z,1761535504.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250973 2025-10-27T03:25:04.820Z,1761535504.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502732 2025-10-27T03:25:05.005Z,1761535505.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:05.008Z,1761535505.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.515564 m, nav range: 68.489891 m, bearing: 122.353691 deg, approach rate: -0.080515 m/s, LOS rate: 0.531503 deg/s, cmd heading: 148.619370 deg, new cmd heading: 149.324778 deg. 2025-10-27T03:25:05.009Z,1761535505.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606209 target range: 71.515564 and range: 71.80 m. 2025-10-27T03:25:05.072Z,1761535505.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755034 2025-10-27T03:25:05.324Z,1761535505.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006897 2025-10-27T03:25:05.401Z,1761535505.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679930,-0.733024,-0.019241],[0.725481,0.676286,-0.127729],[0.106641,0.072888,0.991622]] 2025-10-27T03:25:05.420Z,1761535505.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:05.422Z,1761535505.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.515564 m, nav range: 68.439629 m, bearing: 122.571811 deg, approach rate: -0.121281 m/s, LOS rate: 0.526698 deg/s, cmd heading: 149.324779 deg, new cmd heading: 149.979587 deg. 2025-10-27T03:25:05.423Z,1761535505.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617638 target range: 71.515564 and range: 71.80 m. 2025-10-27T03:25:05.576Z,1761535505.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258770 2025-10-27T03:25:05.802Z,1761535505.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663137,-0.748330,-0.015838],[0.740875,0.659249,-0.128431],[0.106550,0.073433,0.991592]] 2025-10-27T03:25:05.828Z,1761535505.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511150 2025-10-27T03:25:05.833Z,1761535505.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:05.835Z,1761535505.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:05.838Z,1761535505.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.515564 m, nav range: 68.384560 m, bearing: 122.788572 deg, approach rate: -0.132601 m/s, LOS rate: 0.522360 deg/s, cmd heading: 149.979589 deg, new cmd heading: 150.630368 deg. 2025-10-27T03:25:05.839Z,1761535505.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628996 target range: 71.515564 and range: 71.80 m. 2025-10-27T03:25:06.080Z,1761535506.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763200 2025-10-27T03:25:06.210Z,1761535506.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646432,-0.762889,-0.011200],[0.755554,0.642121,-0.129691],[0.106131,0.075374,0.991491]] 2025-10-27T03:25:06.270Z,1761535506.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:06.273Z,1761535506.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.515564 m, nav range: 68.326439 m, bearing: 123.015122 deg, approach rate: -0.133447 m/s, LOS rate: 0.520608 deg/s, cmd heading: 150.630369 deg, new cmd heading: 151.310565 deg. 2025-10-27T03:25:06.274Z,1761535506.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640867 target range: 71.515564 and range: 71.80 m. 2025-10-27T03:25:06.332Z,1761535506.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014939 2025-10-27T03:25:06.584Z,1761535506.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267255 2025-10-27T03:25:06.617Z,1761535506.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628679,-0.777638,-0.006495],[0.770387,0.623914,-0.131284],[0.106144,0.077532,0.991323]] 2025-10-27T03:25:06.635Z,1761535506.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:06.637Z,1761535506.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.515564 m, nav range: 68.272514 m, bearing: 123.207104 deg, approach rate: -0.148072 m/s, LOS rate: 0.527579 deg/s, cmd heading: 151.310560 deg, new cmd heading: 151.886940 deg. 2025-10-27T03:25:06.638Z,1761535506.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.650927 target range: 71.515564 and range: 71.80 m. 2025-10-27T03:25:06.836Z,1761535506.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519295 2025-10-27T03:25:07.088Z,1761535507.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770898 2025-10-27T03:25:07.102Z,1761535507.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610677,-0.791875,-0.002785],[0.784719,0.605624,-0.132043],[0.106249,0.078450,0.991240]] 2025-10-27T03:25:07.155Z,1761535507.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:07.158Z,1761535507.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.515564 m, nav range: 68.194633 m, bearing: 123.464996 deg, approach rate: -0.154478 m/s, LOS rate: 0.512117 deg/s, cmd heading: 151.886946 deg, new cmd heading: 152.661457 deg. 2025-10-27T03:25:07.159Z,1761535507.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664445 target range: 71.515564 and range: 71.80 m. 2025-10-27T03:25:07.343Z,1761535507.343 [DAT](INFO): DAT read: Rx Time:03:25:08.2119 2025-10-27T03:25:07.344Z,1761535507.344 [DAT](INFO): Rx dataTimestamp_ set to:1761535507.343672 2025-10-27T03:25:07.345Z,1761535507.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028222 2025-10-27T03:25:07.499Z,1761535507.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592058,-0.805895,0.000733],[0.798812,0.586733,-0.132829],[0.106616,0.079228,0.991139]] 2025-10-27T03:25:07.533Z,1761535507.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.52 m. 2025-10-27T03:25:07.536Z,1761535507.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.515564 m, nav range: 68.131462 m, bearing: 123.658469 deg, approach rate: -0.160139 m/s, LOS rate: 0.490906 deg/s, cmd heading: 152.661463 deg, new cmd heading: 153.242398 deg. 2025-10-27T03:25:07.537Z,1761535507.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674584 target range: 71.515564 and range: 71.80 m. 2025-10-27T03:25:07.593Z,1761535507.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275422 2025-10-27T03:25:07.854Z,1761535507.854 [DAT](INFO): DAT read: 03:25:08.2119 LVL= 17520, 27745, 27298, 29763, AGC= 65, IDX= 425,-0.04, 1.394,-0.344,-0.247, 0.835, PHS= 0.661,-1.134,-1.126, RAW= 90.2, 17.5, CAL= 90.2, 21.9, ROT= 59.8, -21.9 2025-10-27T03:25:07.860Z,1761535507.860 [DAT](INFO): got valid direction response: 03:25:08.2119 LVL= 17520, 27745, 27298, 29763, AGC= 65, IDX= 425,-0.04, 1.394,-0.344,-0.247, 0.835, PHS= 0.661,-1.134,-1.126, RAW= 90.2, 17.5, CAL= 90.2, 21.9, ROT= 59.8, -21.9 2025-10-27T03:25:07.862Z,1761535507.862 [DAT](INFO): DAT read: Bearing 256.2, 60.7 (Local) 2025-10-27T03:25:07.863Z,1761535507.863 [DAT](INFO): Local bearing/azimuth received: Bearing 256.2, 60.7 (Local) 2025-10-27T03:25:07.866Z,1761535507.866 [DAT](INFO): DAT read: Range 11 to 50 : 71.2 m (Round-trip 95.0 ms) speed 0.2 m/s 2025-10-27T03:25:07.877Z,1761535507.877 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:07.878Z,1761535507.878 [DAT](INFO): direction in FSK: [0.466720,0.801905,0.372988] 2025-10-27T03:25:07.895Z,1761535507.895 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:07.898Z,1761535507.898 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:07.898Z,1761535507.898 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:07.904Z,1761535507.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:07.977Z,1761535507.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573201,-0.819403,0.004367],[0.812391,0.567583,-0.133680],[0.107059,0.080173,0.991015]] 2025-10-27T03:25:08.080Z,1761535508.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.199997 m, deltaT: 3.780448 s, deltaX: -0.600006 m, approachRate: -0.158713 m/s, rangeRepo size: 4 2025-10-27T03:25:08.082Z,1761535508.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.919151 m, bearing: 116.313666 deg, lat: 36.779326 deg, lon: -121.859580 deg, deltaT: 3.780448 s, deltaX: -0.596413 m, approachRate: -0.157762 m/s, posRepo size: 4 2025-10-27T03:25:08.083Z,1761535508.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m. 2025-10-27T03:25:08.089Z,1761535508.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.919151 m, nav range: 65.692459 m, bearing: 120.773659 deg, approach rate: 0.000000 m/s, LOS rate: 0.490906 deg/s, cmd heading: 153.242397 deg, new cmd heading: 154.040000 deg. 2025-10-27T03:25:08.090Z,1761535508.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688505 target range: 70.919151 and range: 71.20 m. 2025-10-27T03:25:08.096Z,1761535508.096 [DAT](INFO): DAT read: user:325> 2025-10-27T03:25:08.097Z,1761535508.097 [DAT](INFO): DAT read: Tx time:03:25:09.5127 2025-10-27T03:25:08.097Z,1761535508.097 [DAT](INFO): Ping request sent. 2025-10-27T03:25:08.097Z,1761535508.097 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:25:08.097Z,1761535508.097 [DAT](INFO): publishing transmit ping time 2025-10-27T03:25:08.098Z,1761535508.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T03:25:08.350Z,1761535508.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252805 2025-10-27T03:25:08.430Z,1761535508.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554279,-0.832291,0.008106],[0.825383,0.548371,-0.134283],[0.107317,0.081121,0.990910]] 2025-10-27T03:25:08.464Z,1761535508.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:08.466Z,1761535508.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m. 2025-10-27T03:25:08.472Z,1761535508.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.919151 m, nav range: 65.603142 m, bearing: 120.978330 deg, approach rate: -0.228542 m/s, LOS rate: 0.524417 deg/s, cmd heading: 154.040000 deg, new cmd heading: 154.654823 deg. 2025-10-27T03:25:08.473Z,1761535508.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.699236 target range: 70.919151 and range: 71.20 m. 2025-10-27T03:25:08.600Z,1761535508.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503316 2025-10-27T03:25:08.833Z,1761535508.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534749,-0.844938,0.011144],[0.838085,0.528634,-0.134759],[0.107972,0.081402,0.990816]] 2025-10-27T03:25:08.853Z,1761535508.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755321 2025-10-27T03:25:08.888Z,1761535508.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m. 2025-10-27T03:25:08.890Z,1761535508.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.919151 m, nav range: 65.497948 m, bearing: 121.206164 deg, approach rate: -0.249191 m/s, LOS rate: 0.540572 deg/s, cmd heading: 154.654826 deg, new cmd heading: 155.339390 deg. 2025-10-27T03:25:08.900Z,1761535508.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711184 target range: 70.919151 and range: 71.20 m. 2025-10-27T03:25:09.104Z,1761535509.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006929 2025-10-27T03:25:09.270Z,1761535509.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515329,-0.856885,0.013542],[0.850088,0.509112,-0.134744],[0.108566,0.080949,0.990788]] 2025-10-27T03:25:09.316Z,1761535509.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m. 2025-10-27T03:25:09.318Z,1761535509.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.919151 m, nav range: 65.390991 m, bearing: 121.422702 deg, approach rate: -0.249942 m/s, LOS rate: 0.506846 deg/s, cmd heading: 155.339388 deg, new cmd heading: 155.990038 deg. 2025-10-27T03:25:09.320Z,1761535509.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.722540 target range: 70.919151 and range: 71.20 m. 2025-10-27T03:25:09.357Z,1761535509.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259930 2025-10-27T03:25:09.609Z,1761535509.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511856 2025-10-27T03:25:09.673Z,1761535509.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495492,-0.868466,0.015966],[0.861706,0.489156,-0.134870],[0.109320,0.080585,0.990735]] 2025-10-27T03:25:09.696Z,1761535509.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m. 2025-10-27T03:25:09.716Z,1761535509.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.919151 m, nav range: 65.292274 m, bearing: 121.612572 deg, approach rate: -0.259762 m/s, LOS rate: 0.500374 deg/s, cmd heading: 155.990032 deg, new cmd heading: 156.560482 deg. 2025-10-27T03:25:09.718Z,1761535509.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732496 target range: 70.919151 and range: 71.20 m. 2025-10-27T03:25:09.861Z,1761535509.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763724 2025-10-27T03:25:10.107Z,1761535510.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475489,-0.879542,0.017798],[0.872812,0.469127,-0.134604],[0.110040,0.079537,0.990740]] 2025-10-27T03:25:10.112Z,1761535510.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014913 2025-10-27T03:25:10.206Z,1761535510.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m. 2025-10-27T03:25:10.210Z,1761535510.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.919151 m, nav range: 65.152420 m, bearing: 121.864265 deg, approach rate: -0.274062 m/s, LOS rate: 0.494279 deg/s, cmd heading: 156.560476 deg, new cmd heading: 157.317128 deg. 2025-10-27T03:25:10.212Z,1761535510.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.745702 target range: 70.919151 and range: 71.20 m. 2025-10-27T03:25:10.365Z,1761535510.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267866 2025-10-27T03:25:10.539Z,1761535510.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454909,-0.890305,0.020360],[0.883590,0.448391,-0.134964],[0.111030,0.079386,0.990641]] 2025-10-27T03:25:10.593Z,1761535510.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:10.603Z,1761535510.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m. 2025-10-27T03:25:10.606Z,1761535510.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.919151 m, nav range: 65.047745 m, bearing: 122.043993 deg, approach rate: -0.269047 m/s, LOS rate: 0.462701 deg/s, cmd heading: 157.317124 deg, new cmd heading: 157.857162 deg. 2025-10-27T03:25:10.611Z,1761535510.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755127 target range: 70.919151 and range: 71.20 m. 2025-10-27T03:25:10.616Z,1761535510.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519049 2025-10-27T03:25:10.869Z,1761535510.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771535 2025-10-27T03:25:11.046Z,1761535511.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m. 2025-10-27T03:25:11.049Z,1761535511.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.919151 m, nav range: 64.915314 m, bearing: 122.273793 deg, approach rate: -0.301182 m/s, LOS rate: 0.523686 deg/s, cmd heading: 157.857160 deg, new cmd heading: 158.547929 deg. 2025-10-27T03:25:11.050Z,1761535511.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.767183 target range: 70.919151 and range: 71.20 m. 2025-10-27T03:25:11.120Z,1761535511.120 [DAT](INFO): DAT read: Rx Time:03:25:12.0104 2025-10-27T03:25:11.121Z,1761535511.121 [DAT](INFO): Rx dataTimestamp_ set to:1761535511.120297 2025-10-27T03:25:11.121Z,1761535511.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024122 2025-10-27T03:25:11.372Z,1761535511.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275086 2025-10-27T03:25:11.379Z,1761535511.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392582,-0.919301,0.027660],[0.912661,0.385676,-0.135294],[0.113708,0.078358,0.990419]] 2025-10-27T03:25:11.428Z,1761535511.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.92 m. 2025-10-27T03:25:11.430Z,1761535511.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.919151 m, nav range: 64.789879 m, bearing: 122.458556 deg, approach rate: -0.319299 m/s, LOS rate: 0.471232 deg/s, cmd heading: 158.547924 deg, new cmd heading: 159.103269 deg. 2025-10-27T03:25:11.431Z,1761535511.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776876 target range: 70.919151 and range: 71.20 m. 2025-10-27T03:25:11.629Z,1761535511.629 [DAT](INFO): DAT read: 03:25:12.0104 LVL= 19376, 29105, 30626, 31923, AGC= 64, IDX= 426,-0.20, 0.382,-1.704,-1.122,-0.391, PHS= 0.875,-1.268,-0.775, RAW= 102.7, 12.0, CAL= 103.8, 13.8, ROT= 46.2, -13.8 2025-10-27T03:25:11.630Z,1761535511.630 [DAT](INFO): got valid direction response: 03:25:12.0104 LVL= 19376, 29105, 30626, 31923, AGC= 64, IDX= 426,-0.20, 0.382,-1.704,-1.122,-0.391, PHS= 0.875,-1.268,-0.775, RAW= 102.7, 12.0, CAL= 103.8, 13.8, ROT= 46.2, -13.8 2025-10-27T03:25:11.631Z,1761535511.631 [DAT](INFO): DAT read: Bearing 246.5, 51.6 (Local) 2025-10-27T03:25:11.632Z,1761535511.632 [DAT](INFO): Local bearing/azimuth received: Bearing 246.5, 51.6 (Local) 2025-10-27T03:25:11.633Z,1761535511.633 [DAT](INFO): DAT read: Range 11 to 50 : 70.1 m (Round-trip 93.5 ms) speed 0.1 m/s 2025-10-27T03:25:11.633Z,1761535511.633 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:11.634Z,1761535511.634 [DAT](INFO): direction in FSK: [0.672164,0.700926,0.238533] 2025-10-27T03:25:11.635Z,1761535511.635 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:11.638Z,1761535511.638 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:11.638Z,1761535511.638 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:11.638Z,1761535511.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:11.765Z,1761535511.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370988,-0.928110,0.031293],[0.921539,0.363784,-0.135749],[0.114606,0.079199,0.990249]] 2025-10-27T03:25:11.816Z,1761535511.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.099998 m, deltaT: 3.779393 s, deltaX: -1.099998 m, approachRate: -0.291052 m/s, rangeRepo size: 4 2025-10-27T03:25:11.818Z,1761535511.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.823036 m, bearing: 115.059363 deg, lat: 36.779354 deg, lon: -121.859560 deg, deltaT: 3.779393 s, deltaX: -1.096115 m, approachRate: -0.290024 m/s, posRepo size: 4 2025-10-27T03:25:11.823Z,1761535511.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.82 m. 2025-10-27T03:25:11.826Z,1761535511.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.823036 m, nav range: 64.550385 m, bearing: 119.473302 deg, approach rate: 0.000000 m/s, LOS rate: 0.471232 deg/s, cmd heading: 159.103273 deg, new cmd heading: 159.651610 deg. 2025-10-27T03:25:11.827Z,1761535511.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786446 target range: 69.823036 and range: 70.10 m. 2025-10-27T03:25:11.876Z,1761535511.876 [DAT](INFO): DAT read: user:326> 2025-10-27T03:25:11.877Z,1761535511.877 [DAT](INFO): DAT read: Tx time:03:25:13.2627 2025-10-27T03:25:11.877Z,1761535511.877 [DAT](INFO): Ping request sent. 2025-10-27T03:25:11.877Z,1761535511.877 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:25:11.877Z,1761535511.877 [DAT](INFO): publishing transmit ping time 2025-10-27T03:25:11.878Z,1761535511.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T03:25:12.128Z,1761535512.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772 2025-10-27T03:25:12.233Z,1761535512.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.82 m. 2025-10-27T03:25:12.236Z,1761535512.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.823036 m, nav range: 64.397285 m, bearing: 119.667378 deg, approach rate: -0.366923 m/s, LOS rate: 0.466236 deg/s, cmd heading: 159.651615 deg, new cmd heading: 160.235207 deg. 2025-10-27T03:25:12.237Z,1761535512.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796632 target range: 69.823036 and range: 70.10 m. 2025-10-27T03:25:12.380Z,1761535512.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502660 2025-10-27T03:25:12.569Z,1761535512.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327463,-0.944136,0.037092],[0.937702,0.319907,-0.135552],[0.116113,0.079169,0.990076]] 2025-10-27T03:25:12.596Z,1761535512.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:12.598Z,1761535512.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.82 m. 2025-10-27T03:25:12.601Z,1761535512.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.823036 m, nav range: 64.261940 m, bearing: 119.824288 deg, approach rate: -0.370942 m/s, LOS rate: 0.430949 deg/s, cmd heading: 160.235213 deg, new cmd heading: 160.706923 deg. 2025-10-27T03:25:12.602Z,1761535512.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804865 target range: 69.823036 and range: 70.10 m. 2025-10-27T03:25:12.633Z,1761535512.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755378 2025-10-27T03:25:12.884Z,1761535512.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006771 2025-10-27T03:25:12.973Z,1761535512.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305020,-0.951488,0.040424],[0.945122,0.297216,-0.135673],[0.117077,0.079588,0.989929]] 2025-10-27T03:25:13.050Z,1761535513.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.82 m. 2025-10-27T03:25:13.068Z,1761535513.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.823036 m, nav range: 64.109253 m, bearing: 119.994216 deg, approach rate: -0.338780 m/s, LOS rate: 0.377931 deg/s, cmd heading: 160.706920 deg, new cmd heading: 161.217904 deg. 2025-10-27T03:25:13.069Z,1761535513.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.813783 target range: 69.823036 and range: 70.10 m. 2025-10-27T03:25:13.136Z,1761535513.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258884 2025-10-27T03:25:13.388Z,1761535513.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511090 2025-10-27T03:25:13.543Z,1761535513.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282998,-0.958116,0.043876],[0.951869,0.274949,-0.135456],[0.117718,0.080098,0.989811]] 2025-10-27T03:25:13.589Z,1761535513.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.82 m. 2025-10-27T03:25:13.592Z,1761535513.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.823036 m, nav range: 63.883190 m, bearing: 120.242767 deg, approach rate: -0.418054 m/s, LOS rate: 0.461266 deg/s, cmd heading: 161.217900 deg, new cmd heading: 161.966146 deg. 2025-10-27T03:25:13.593Z,1761535513.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.826843 target range: 69.823036 and range: 70.10 m. 2025-10-27T03:25:13.641Z,1761535513.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763760 2025-10-27T03:25:13.893Z,1761535513.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015250 2025-10-27T03:25:13.950Z,1761535513.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260973,-0.964298,0.044975],[0.958072,0.253017,-0.134463],[0.118283,0.078180,0.989897]] 2025-10-27T03:25:13.969Z,1761535513.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.82 m. 2025-10-27T03:25:13.971Z,1761535513.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.823036 m, nav range: 63.734638 m, bearing: 120.400212 deg, approach rate: -0.391582 m/s, LOS rate: 0.415992 deg/s, cmd heading: 161.966147 deg, new cmd heading: 162.439573 deg. 2025-10-27T03:25:13.972Z,1761535513.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835105 target range: 69.823036 and range: 70.10 m. 2025-10-27T03:25:14.144Z,1761535514.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266713 2025-10-27T03:25:14.397Z,1761535514.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519773 2025-10-27T03:25:14.470Z,1761535514.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238849,-0.969967,0.045996],[0.963782,0.231006,-0.133272],[0.118644,0.076162,0.990012]] 2025-10-27T03:25:14.506Z,1761535514.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.82 m. 2025-10-27T03:25:14.509Z,1761535514.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.823036 m, nav range: 63.526146 m, bearing: 120.622787 deg, approach rate: -0.387562 m/s, LOS rate: 0.415097 deg/s, cmd heading: 162.439575 deg, new cmd heading: 163.109459 deg. 2025-10-27T03:25:14.510Z,1761535514.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846797 target range: 69.823036 and range: 70.10 m. 2025-10-27T03:25:14.648Z,1761535514.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771319 2025-10-27T03:25:14.874Z,1761535514.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216910,-0.975018,0.047849],[0.968981,0.209103,-0.131723],[0.118427,0.074937,0.990131]] 2025-10-27T03:25:14.900Z,1761535514.900 [DAT](INFO): DAT read: Rx Time:03:25:15.7587 2025-10-27T03:25:14.901Z,1761535514.901 [DAT](INFO): Rx dataTimestamp_ set to:1761535514.900383 2025-10-27T03:25:14.901Z,1761535514.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024055 2025-10-27T03:25:14.907Z,1761535514.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:14.909Z,1761535514.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.82 m. 2025-10-27T03:25:14.912Z,1761535514.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.823036 m, nav range: 63.367607 m, bearing: 120.786003 deg, approach rate: -0.393561 m/s, LOS rate: 0.406183 deg/s, cmd heading: 163.109453 deg, new cmd heading: 163.600311 deg. 2025-10-27T03:25:14.913Z,1761535514.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.855364 target range: 69.823036 and range: 70.10 m. 2025-10-27T03:25:15.152Z,1761535515.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274876 2025-10-27T03:25:15.370Z,1761535515.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173331,-0.983400,0.053671],[0.977852,0.165350,-0.128315],[0.117311,0.074724,0.990280]] 2025-10-27T03:25:15.409Z,1761535515.409 [DAT](INFO): DAT read: 03:25:15.7587 LVL= 20912, 30529, 32690, 32755, AGC= 66, IDX= 425, 0.38, 1.578,-0.546, 0.461, 0.907, PHS= 0.774,-1.408,-0.489, RAW= 114.8, 11.8, CAL= 116.0, 13.2, ROT= 34.0, -13.2 2025-10-27T03:25:15.410Z,1761535515.410 [DAT](INFO): got valid direction response: 03:25:15.7587 LVL= 20912, 30529, 32690, 32755, AGC= 66, IDX= 425, 0.38, 1.578,-0.546, 0.461, 0.907, PHS= 0.774,-1.408,-0.489, RAW= 114.8, 11.8, CAL= 116.0, 13.2, ROT= 34.0, -13.2 2025-10-27T03:25:15.412Z,1761535515.412 [DAT](INFO): DAT read: Bearing 256.8, 40.3 (Local) 2025-10-27T03:25:15.412Z,1761535515.412 [DAT](INFO): Local bearing/azimuth received: Bearing 256.8, 40.3 (Local) 2025-10-27T03:25:15.413Z,1761535515.413 [DAT](INFO): DAT read: Range 11 to 50 : 68.8 m (Round-trip 91.8 ms) speed 0.4 m/s 2025-10-27T03:25:15.414Z,1761535515.414 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:15.415Z,1761535515.415 [DAT](INFO): direction in FSK: [0.807134,0.544418,0.228351] 2025-10-27T03:25:15.415Z,1761535515.415 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:15.418Z,1761535515.418 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:15.419Z,1761535515.419 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:15.420Z,1761535515.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:15.500Z,1761535515.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.800003 m, deltaT: 3.780299 s, deltaX: -1.299995 m, approachRate: -0.343887 m/s, rangeRepo size: 4 2025-10-27T03:25:15.502Z,1761535515.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.527344 m, bearing: 114.268939 deg, lat: 36.779380 deg, lon: -121.859542 deg, deltaT: 3.780299 s, deltaX: -1.295692 m, approachRate: -0.342749 m/s, posRepo size: 4 2025-10-27T03:25:15.503Z,1761535515.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:25:15.516Z,1761535515.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.527344 m, nav range: 63.092979 m, bearing: 117.901688 deg, approach rate: 0.000000 m/s, LOS rate: 0.406183 deg/s, cmd heading: 163.600311 deg, new cmd heading: 164.314100 deg. 2025-10-27T03:25:15.517Z,1761535515.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867822 target range: 68.527344 and range: 68.80 m. 2025-10-27T03:25:15.656Z,1761535515.656 [DAT](INFO): DAT read: user:327> 2025-10-27T03:25:15.657Z,1761535515.657 [DAT](INFO): DAT read: Tx time:03:25:17.0627 2025-10-27T03:25:15.657Z,1761535515.657 [DAT](INFO): Ping request sent. 2025-10-27T03:25:15.657Z,1761535515.657 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:25:15.658Z,1761535515.658 [DAT](INFO): publishing transmit ping time 2025-10-27T03:25:15.658Z,1761535515.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T03:25:15.793Z,1761535515.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151241,-0.986926,0.055697],[0.981610,0.143310,-0.126113],[0.116483,0.073746,0.990451]] 2025-10-27T03:25:15.872Z,1761535515.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:25:15.874Z,1761535515.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.527344 m, nav range: 62.904243 m, bearing: 118.055095 deg, approach rate: -0.501021 m/s, LOS rate: 0.408456 deg/s, cmd heading: 164.314107 deg, new cmd heading: 164.775697 deg. 2025-10-27T03:25:15.880Z,1761535515.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.875878 target range: 68.527344 and range: 68.80 m. 2025-10-27T03:25:15.908Z,1761535515.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250637 2025-10-27T03:25:16.161Z,1761535516.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503391 2025-10-27T03:25:16.216Z,1761535516.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129096,-0.989943,0.057853],[0.984874,0.121199,-0.123831],[0.115574,0.072964,0.990615]] 2025-10-27T03:25:16.322Z,1761535516.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:25:16.329Z,1761535516.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.527344 m, nav range: 62.704163 m, bearing: 118.212526 deg, approach rate: -0.444521 m/s, LOS rate: 0.350880 deg/s, cmd heading: 164.775691 deg, new cmd heading: 165.249478 deg. 2025-10-27T03:25:16.336Z,1761535516.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.884147 target range: 68.527344 and range: 68.80 m. 2025-10-27T03:25:16.412Z,1761535516.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754570 2025-10-27T03:25:16.664Z,1761535516.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006594 2025-10-27T03:25:16.683Z,1761535516.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106157,-0.992514,0.060389],[0.987713,0.098249,-0.121535],[0.114692,0.072549,0.990748]] 2025-10-27T03:25:16.711Z,1761535516.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:25:16.715Z,1761535516.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.527344 m, nav range: 62.509369 m, bearing: 118.359972 deg, approach rate: -0.501589 m/s, LOS rate: 0.380854 deg/s, cmd heading: 165.249474 deg, new cmd heading: 165.693182 deg. 2025-10-27T03:25:16.717Z,1761535516.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.891891 target range: 68.527344 and range: 68.80 m. 2025-10-27T03:25:16.916Z,1761535516.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258523 2025-10-27T03:25:17.138Z,1761535517.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083289,-0.994487,0.063707],[0.990044,0.075299,-0.118927],[0.113474,0.072978,0.990857]] 2025-10-27T03:25:17.168Z,1761535517.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510575 2025-10-27T03:25:17.182Z,1761535517.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:17.184Z,1761535517.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:25:17.187Z,1761535517.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.527344 m, nav range: 62.274075 m, bearing: 118.534355 deg, approach rate: -0.496235 m/s, LOS rate: 0.369162 deg/s, cmd heading: 165.693177 deg, new cmd heading: 166.218286 deg. 2025-10-27T03:25:17.188Z,1761535517.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.901056 target range: 68.527344 and range: 68.80 m. 2025-10-27T03:25:17.421Z,1761535517.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762937 2025-10-27T03:25:17.530Z,1761535517.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061138,-0.995862,0.067244],[0.991775,0.053021,-0.116494],[0.112446,0.073813,0.990912]] 2025-10-27T03:25:17.548Z,1761535517.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:25:17.551Z,1761535517.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.527344 m, nav range: 62.092102 m, bearing: 118.664304 deg, approach rate: -0.500241 m/s, LOS rate: 0.358276 deg/s, cmd heading: 166.218282 deg, new cmd heading: 166.609265 deg. 2025-10-27T03:25:17.552Z,1761535517.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.907880 target range: 68.527344 and range: 68.80 m. 2025-10-27T03:25:17.673Z,1761535517.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015300 2025-10-27T03:25:17.924Z,1761535517.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266687 2025-10-27T03:25:17.937Z,1761535517.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038267,-0.996723,0.071263],[0.993013,0.029963,-0.114141],[0.111631,0.075133,0.990905]] 2025-10-27T03:25:17.956Z,1761535517.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:25:17.958Z,1761535517.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.527344 m, nav range: 61.885323 m, bearing: 118.806215 deg, approach rate: -0.507436 m/s, LOS rate: 0.349412 deg/s, cmd heading: 166.609269 deg, new cmd heading: 167.036416 deg. 2025-10-27T03:25:17.960Z,1761535517.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.915335 target range: 68.527344 and range: 68.80 m. 2025-10-27T03:25:18.176Z,1761535518.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518503 2025-10-27T03:25:18.349Z,1761535518.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014930,-0.997087,0.074800],[0.993716,0.006497,-0.111743],[0.110932,0.075998,0.990918]] 2025-10-27T03:25:18.405Z,1761535518.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:25:18.408Z,1761535518.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.527344 m, nav range: 61.650574 m, bearing: 118.956932 deg, approach rate: -0.522861 m/s, LOS rate: 0.336973 deg/s, cmd heading: 167.036415 deg, new cmd heading: 167.490278 deg. 2025-10-27T03:25:18.408Z,1761535518.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.923257 target range: 68.527344 and range: 68.80 m. 2025-10-27T03:25:18.428Z,1761535518.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770341 2025-10-27T03:25:18.680Z,1761535518.680 [DAT](INFO): DAT read: Rx Time:03:25:19.5565 2025-10-27T03:25:18.680Z,1761535518.680 [DAT](INFO): Rx dataTimestamp_ set to:1761535518.680185 2025-10-27T03:25:18.681Z,1761535518.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023595 2025-10-27T03:25:18.754Z,1761535518.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008597,-0.996827,0.079127],[0.993863,-0.017245,-0.109266],[0.110284,0.077702,0.990858]] 2025-10-27T03:25:18.793Z,1761535518.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.53 m. 2025-10-27T03:25:18.800Z,1761535518.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.527344 m, nav range: 61.448898 m, bearing: 119.081061 deg, approach rate: -0.519674 m/s, LOS rate: 0.320904 deg/s, cmd heading: 167.490281 deg, new cmd heading: 167.863886 deg. 2025-10-27T03:25:18.801Z,1761535518.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.929778 target range: 68.527344 and range: 68.80 m. 2025-10-27T03:25:18.932Z,1761535518.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274509 2025-10-27T03:25:19.168Z,1761535519.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031933,-0.996108,0.082151],[0.993469,-0.040641,-0.106615],[0.109539,0.078210,0.990901]] 2025-10-27T03:25:19.189Z,1761535519.189 [DAT](INFO): DAT read: 03:25:19.5565 LVL= 30352, 32753, 32754, 32755, AGC= 70, IDX= 419,-0.04,-1.859, 2.238,-2.938,-2.539, PHS= 0.782,-1.461,-0.443, RAW= 116.9, 11.5, CAL= 118.0, 12.8, ROT= 32.0, -12.8 2025-10-27T03:25:19.190Z,1761535519.190 [DAT](INFO): got valid direction response: 03:25:19.5565 LVL= 30352, 32753, 32754, 32755, AGC= 70, IDX= 419,-0.04,-1.859, 2.238,-2.938,-2.539, PHS= 0.782,-1.461,-0.443, RAW= 116.9, 11.5, CAL= 118.0, 12.8, ROT= 32.0, -12.8 2025-10-27T03:25:19.191Z,1761535519.191 [DAT](INFO): DAT read: Bearing 269.1, 38.0 (Local) 2025-10-27T03:25:19.192Z,1761535519.192 [DAT](INFO): Local bearing/azimuth received: Bearing 269.1, 38.0 (Local) 2025-10-27T03:25:19.193Z,1761535519.193 [DAT](INFO): DAT read: Range 11 to 50 : 67.2 m (Round-trip 89.6 ms) speed 0.9 m/s 2025-10-27T03:25:19.194Z,1761535519.194 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:19.195Z,1761535519.195 [DAT](INFO): direction in FSK: [0.826974,0.516750,0.221548] 2025-10-27T03:25:19.195Z,1761535519.195 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:19.198Z,1761535519.198 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:19.198Z,1761535519.198 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:19.199Z,1761535519.199 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:19.270Z,1761535519.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 3.779864 s, deltaX: -1.600006 m, approachRate: -0.423297 m/s, rangeRepo size: 4 2025-10-27T03:25:19.289Z,1761535519.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.932625 m, bearing: 123.943515 deg, lat: 36.779380 deg, lon: -121.859558 deg, deltaT: 3.779864 s, deltaX: -1.594719 m, approachRate: -0.421898 m/s, posRepo size: 4 2025-10-27T03:25:19.289Z,1761535519.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:19.296Z,1761535519.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 59.977901 m, bearing: 119.882911 deg, approach rate: 0.000000 m/s, LOS rate: 0.320904 deg/s, cmd heading: 167.863893 deg, new cmd heading: 168.323079 deg. 2025-10-27T03:25:19.297Z,1761535519.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.937792 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:19.436Z,1761535519.436 [DAT](INFO): DAT read: user:328> 2025-10-27T03:25:19.437Z,1761535519.437 [DAT](INFO): DAT read: Tx time:03:25:20.8127 2025-10-27T03:25:19.437Z,1761535519.437 [DAT](INFO): Ping request sent. 2025-10-27T03:25:19.437Z,1761535519.437 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:25:19.437Z,1761535519.437 [DAT](INFO): publishing transmit ping time 2025-10-27T03:25:19.438Z,1761535519.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-27T03:25:19.594Z,1761535519.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:19.596Z,1761535519.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:19.598Z,1761535519.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 59.782330 m, bearing: 120.005032 deg, approach rate: -0.599759 m/s, LOS rate: 0.375733 deg/s, cmd heading: 168.323073 deg, new cmd heading: 168.690629 deg. 2025-10-27T03:25:19.600Z,1761535519.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.944207 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:19.689Z,1761535519.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251614 2025-10-27T03:25:19.940Z,1761535519.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502574 2025-10-27T03:25:20.012Z,1761535520.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:20.014Z,1761535520.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 59.566669 m, bearing: 120.140825 deg, approach rate: -0.518505 m/s, LOS rate: 0.327664 deg/s, cmd heading: 168.690632 deg, new cmd heading: 169.099478 deg. 2025-10-27T03:25:20.016Z,1761535520.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.951343 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:20.192Z,1761535520.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754649 2025-10-27T03:25:20.422Z,1761535520.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:20.425Z,1761535520.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 59.342621 m, bearing: 120.281374 deg, approach rate: -0.545646 m/s, LOS rate: 0.343585 deg/s, cmd heading: 169.099474 deg, new cmd heading: 169.522707 deg. 2025-10-27T03:25:20.426Z,1761535520.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.958730 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:20.444Z,1761535520.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006562 2025-10-27T03:25:20.700Z,1761535520.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262467 2025-10-27T03:25:20.772Z,1761535520.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124429,-0.988117,0.090235],[0.986375,-0.133046,-0.096768],[0.107623,0.076965,0.991208]] 2025-10-27T03:25:20.791Z,1761535520.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:20.794Z,1761535520.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 59.136181 m, bearing: 120.386807 deg, approach rate: -0.559930 m/s, LOS rate: 0.286964 deg/s, cmd heading: 169.522713 deg, new cmd heading: 169.840111 deg. 2025-10-27T03:25:20.795Z,1761535520.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.964269 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:20.948Z,1761535520.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510838 2025-10-27T03:25:21.188Z,1761535521.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146936,-0.984936,0.091161],[0.983296,-0.155454,-0.094674],[0.107419,0.075727,0.991326]] 2025-10-27T03:25:21.200Z,1761535521.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762738 2025-10-27T03:25:21.237Z,1761535521.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:21.240Z,1761535521.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 58.887642 m, bearing: 120.502974 deg, approach rate: -0.556910 m/s, LOS rate: 0.261399 deg/s, cmd heading: 169.840112 deg, new cmd heading: 170.190082 deg. 2025-10-27T03:25:21.241Z,1761535521.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.970377 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:21.453Z,1761535521.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015220 2025-10-27T03:25:21.579Z,1761535521.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169517,-0.981159,0.092683],[0.979642,-0.178020,-0.092789],[0.107540,0.075066,0.991363]] 2025-10-27T03:25:21.596Z,1761535521.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:21.598Z,1761535521.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:21.601Z,1761535521.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 58.685162 m, bearing: 120.592874 deg, approach rate: -0.561570 m/s, LOS rate: 0.250192 deg/s, cmd heading: 170.190078 deg, new cmd heading: 170.460704 deg. 2025-10-27T03:25:21.602Z,1761535521.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.975101 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:21.706Z,1761535521.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268342 2025-10-27T03:25:21.956Z,1761535521.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518596 2025-10-27T03:25:21.987Z,1761535521.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191464,-0.976968,0.094201],[0.975604,-0.199939,-0.090669],[0.107415,0.074543,0.991416]] 2025-10-27T03:25:22.006Z,1761535522.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:22.009Z,1761535522.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 58.453556 m, bearing: 120.690448 deg, approach rate: -0.567855 m/s, LOS rate: 0.240182 deg/s, cmd heading: 170.460703 deg, new cmd heading: 170.754582 deg. 2025-10-27T03:25:22.010Z,1761535522.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.980230 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:22.208Z,1761535522.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771201 2025-10-27T03:25:22.386Z,1761535522.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213774,-0.972213,0.095405],[0.970966,-0.222196,-0.088619],[0.107355,0.073690,0.991486]] 2025-10-27T03:25:22.437Z,1761535522.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:22.440Z,1761535522.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 58.212318 m, bearing: 120.787041 deg, approach rate: -0.558809 m/s, LOS rate: 0.224677 deg/s, cmd heading: 170.754579 deg, new cmd heading: 171.045556 deg. 2025-10-27T03:25:22.441Z,1761535522.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.985308 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:22.460Z,1761535522.460 [DAT](INFO): DAT read: Rx Time:03:25:23.3038 2025-10-27T03:25:22.461Z,1761535522.461 [DAT](INFO): Rx dataTimestamp_ set to:1761535522.460361 2025-10-27T03:25:22.461Z,1761535522.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023931 2025-10-27T03:25:22.713Z,1761535522.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275440 2025-10-27T03:25:22.791Z,1761535522.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236011,-0.966868,0.097285],[0.965809,-0.244443,-0.086372],[0.107291,0.073574,0.991502]] 2025-10-27T03:25:22.871Z,1761535522.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.93 m. 2025-10-27T03:25:22.874Z,1761535522.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.932625 m, nav range: 58.002296 m, bearing: 120.866331 deg, approach rate: -0.489289 m/s, LOS rate: 0.185391 deg/s, cmd heading: 171.045559 deg, new cmd heading: 171.284289 deg. 2025-10-27T03:25:22.874Z,1761535522.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989475 target range: 66.932625 and range: 67.20 m. 2025-10-27T03:25:22.970Z,1761535522.970 [DAT](INFO): DAT read: 03:25:23.3038 LVL= 29680, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.13, 0.307,-1.677,-0.461,-0.200, PHS= 0.610,-1.432,-0.304, RAW= 123.5, 12.7, CAL= 123.7, 13.9, ROT= 26.3, -13.9 2025-10-27T03:25:22.971Z,1761535522.971 [DAT](INFO): got valid direction response: 03:25:23.3038 LVL= 29680, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.13, 0.307,-1.677,-0.461,-0.200, PHS= 0.610,-1.432,-0.304, RAW= 123.5, 12.7, CAL= 123.7, 13.9, ROT= 26.3, -13.9 2025-10-27T03:25:22.972Z,1761535522.972 [DAT](INFO): DAT read: Bearing 281.7, 32.1 (Local) 2025-10-27T03:25:22.973Z,1761535522.973 [DAT](INFO): Local bearing/azimuth received: Bearing 281.7, 32.1 (Local) 2025-10-27T03:25:22.976Z,1761535522.976 [DAT](INFO): DAT read: Range 11 to 50 : 65.1 m (Round-trip 86.9 ms) speed 0.4 m/s 2025-10-27T03:25:22.977Z,1761535522.977 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:22.978Z,1761535522.978 [DAT](INFO): direction in FSK: [0.870234,0.430096,0.240228] 2025-10-27T03:25:22.979Z,1761535522.979 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:22.988Z,1761535522.988 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:22.988Z,1761535522.988 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:22.989Z,1761535522.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:23.216Z,1761535523.216 [DAT](INFO): DAT read: user:329> 2025-10-27T03:25:23.217Z,1761535523.217 [DAT](INFO): DAT read: Tx time:03:25:24.6127 2025-10-27T03:25:23.217Z,1761535523.217 [DAT](INFO): Ping request sent. 2025-10-27T03:25:23.217Z,1761535523.217 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:25:23.217Z,1761535523.217 [DAT](INFO): publishing transmit ping time 2025-10-27T03:25:23.218Z,1761535523.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-27T03:25:23.224Z,1761535523.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258277,-0.960945,0.099384],[0.960100,-0.266739,-0.084015],[0.107244,0.073720,0.991496]] 2025-10-27T03:25:23.286Z,1761535523.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.099998 m, deltaT: 3.780804 s, deltaX: -2.099998 m, approachRate: -0.555437 m/s, rangeRepo size: 4 2025-10-27T03:25:23.297Z,1761535523.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.840630 m, bearing: 131.239430 deg, lat: 36.779380 deg, lon: -121.859558 deg, deltaT: 3.780804 s, deltaX: -2.091995 m, approachRate: -0.553320 m/s, posRepo size: 4 2025-10-27T03:25:23.297Z,1761535523.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:23.304Z,1761535523.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 57.749538 m, bearing: 120.952991 deg, approach rate: 0.000000 m/s, LOS rate: 0.185391 deg/s, cmd heading: 171.284287 deg, new cmd heading: 171.517398 deg. 2025-10-27T03:25:23.305Z,1761535523.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.993543 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:23.468Z,1761535523.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250987 2025-10-27T03:25:23.646Z,1761535523.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280608,-0.954335,0.102491],[0.953814,-0.289186,-0.081299],[0.107225,0.074945,0.991406]] 2025-10-27T03:25:23.662Z,1761535523.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:23.665Z,1761535523.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:23.668Z,1761535523.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 57.521374 m, bearing: 121.026017 deg, approach rate: -0.602270 m/s, LOS rate: 0.193528 deg/s, cmd heading: 171.517402 deg, new cmd heading: 171.737350 deg. 2025-10-27T03:25:23.668Z,1761535523.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.997382 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:23.721Z,1761535523.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503405 2025-10-27T03:25:23.972Z,1761535523.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754824 2025-10-27T03:25:24.052Z,1761535524.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303032,-0.946988,0.106700],[0.946933,-0.311809,-0.078061],[0.107193,0.077383,0.991222]] 2025-10-27T03:25:24.070Z,1761535524.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:24.073Z,1761535524.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 57.290253 m, bearing: 121.094641 deg, approach rate: -0.569626 m/s, LOS rate: 0.169814 deg/s, cmd heading: 171.737348 deg, new cmd heading: 171.944049 deg. 2025-10-27T03:25:24.074Z,1761535524.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.000990 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:24.224Z,1761535524.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916 2025-10-27T03:25:24.454Z,1761535524.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324188,-0.939599,0.109801],[0.939941,-0.333045,-0.074781],[0.106833,0.078963,0.991136]] 2025-10-27T03:25:24.476Z,1761535524.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258897 2025-10-27T03:25:24.505Z,1761535524.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:24.507Z,1761535524.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 57.038223 m, bearing: 121.164655 deg, approach rate: -0.580602 m/s, LOS rate: 0.162004 deg/s, cmd heading: 171.944043 deg, new cmd heading: 172.155012 deg. 2025-10-27T03:25:24.508Z,1761535524.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.004672 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:24.729Z,1761535524.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511221 2025-10-27T03:25:24.867Z,1761535524.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345362,-0.931832,0.111420],[0.932455,-0.354142,-0.071498],[0.106083,0.079202,0.991198]] 2025-10-27T03:25:24.886Z,1761535524.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:24.889Z,1761535524.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 56.815292 m, bearing: 121.221686 deg, approach rate: -0.584217 m/s, LOS rate: 0.150043 deg/s, cmd heading: 172.155014 deg, new cmd heading: 172.326777 deg. 2025-10-27T03:25:24.890Z,1761535524.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.007670 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:24.980Z,1761535524.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762990 2025-10-27T03:25:25.234Z,1761535525.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016864 2025-10-27T03:25:25.262Z,1761535525.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366633,-0.923690,0.111249],[0.924404,-0.375185,-0.068659],[0.105159,0.077666,0.991418]] 2025-10-27T03:25:25.355Z,1761535525.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:25.364Z,1761535525.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 56.570507 m, bearing: 121.279587 deg, approach rate: -0.526686 m/s, LOS rate: 0.125120 deg/s, cmd heading: 172.326779 deg, new cmd heading: 172.501233 deg. 2025-10-27T03:25:25.365Z,1761535525.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.010715 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:25.484Z,1761535525.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266806 2025-10-27T03:25:25.668Z,1761535525.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388234,-0.914850,0.111013],[0.915629,-0.396572,-0.065991],[0.104397,0.076026,0.991626]] 2025-10-27T03:25:25.685Z,1761535525.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:25.688Z,1761535525.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:25.692Z,1761535525.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 56.339661 m, bearing: 121.328863 deg, approach rate: -0.686342 m/s, LOS rate: 0.147104 deg/s, cmd heading: 172.501236 deg, new cmd heading: 172.649668 deg. 2025-10-27T03:25:25.693Z,1761535525.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.013305 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:25.738Z,1761535525.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521182 2025-10-27T03:25:25.988Z,1761535525.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770756 2025-10-27T03:25:26.070Z,1761535526.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410066,-0.905376,0.110185],[0.906159,-0.418146,-0.063482],[0.103548,0.073813,0.991882]] 2025-10-27T03:25:26.089Z,1761535526.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:26.092Z,1761535526.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 56.098434 m, bearing: 121.374633 deg, approach rate: -0.600207 m/s, LOS rate: 0.114374 deg/s, cmd heading: 172.649670 deg, new cmd heading: 172.787572 deg. 2025-10-27T03:25:26.093Z,1761535526.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.015712 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:26.240Z,1761535526.240 [DAT](INFO): DAT read: Rx Time:03:25:27.1011 2025-10-27T03:25:26.241Z,1761535526.241 [DAT](INFO): Rx dataTimestamp_ set to:1761535526.240634 2025-10-27T03:25:26.241Z,1761535526.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024377 2025-10-27T03:25:26.473Z,1761535526.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431695,-0.895067,0.111781],[0.896145,-0.439698,-0.059917],[0.102779,0.074306,0.991925]] 2025-10-27T03:25:26.492Z,1761535526.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274938 2025-10-27T03:25:26.519Z,1761535526.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:26.522Z,1761535526.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 55.835289 m, bearing: 121.418682 deg, approach rate: -0.612006 m/s, LOS rate: 0.102928 deg/s, cmd heading: 172.787571 deg, new cmd heading: 172.920340 deg. 2025-10-27T03:25:26.523Z,1761535526.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.018029 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:26.751Z,1761535526.751 [DAT](INFO): DAT read: 03:25:27.1011 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.36, 2.137, 0.234, 1.806, 1.868, PHS= 0.371,-1.589,-0.106, RAW= 136.5, 14.8, CAL= 135.6, 15.9, ROT= 14.4, -15.9 2025-10-27T03:25:26.752Z,1761535526.752 [DAT](INFO): got valid direction response: 03:25:27.1011 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.36, 2.137, 0.234, 1.806, 1.868, PHS= 0.371,-1.589,-0.106, RAW= 136.5, 14.8, CAL= 135.6, 15.9, ROT= 14.4, -15.9 2025-10-27T03:25:26.753Z,1761535526.753 [DAT](INFO): DAT read: $Error in header 2025-10-27T03:25:26.753Z,1761535526.753 [DAT](INFO): Received a bad header 2025-10-27T03:25:26.767Z,1761535526.767 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T03:25:26.768Z,1761535526.768 [DAT](INFO): direction in FSK: [0.931526,0.239175,0.273959] 2025-10-27T03:25:26.777Z,1761535526.777 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:26.777Z,1761535526.777 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:26.777Z,1761535526.777 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:26.918Z,1761535526.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:26.921Z,1761535526.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 55.591156 m, bearing: 121.459926 deg, approach rate: -0.612088 m/s, LOS rate: 0.103861 deg/s, cmd heading: 172.920336 deg, new cmd heading: 173.044612 deg. 2025-10-27T03:25:26.922Z,1761535526.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.020198 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:26.996Z,1761535526.996 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:26.996Z,1761535526.996 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:26.996Z,1761535526.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:27.250Z,1761535527.250 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:27.250Z,1761535527.250 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:27.250Z,1761535527.250 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:27.297Z,1761535527.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475732,-0.871945,0.115723],[0.873726,-0.483620,-0.052110],[0.101402,0.076320,0.991914]] 2025-10-27T03:25:27.361Z,1761535527.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:27.366Z,1761535527.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 55.310951 m, bearing: 121.493412 deg, approach rate: -0.635882 m/s, LOS rate: 0.076377 deg/s, cmd heading: 173.044605 deg, new cmd heading: 173.145572 deg. 2025-10-27T03:25:27.367Z,1761535527.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.021960 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:27.500Z,1761535527.500 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:27.500Z,1761535527.500 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:27.500Z,1761535527.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:27.699Z,1761535527.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497011,-0.859587,0.118702],[0.861891,-0.504879,-0.047330],[0.100614,0.078785,0.991801]] 2025-10-27T03:25:27.724Z,1761535527.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:27.726Z,1761535527.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:27.730Z,1761535527.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 55.079334 m, bearing: 121.515414 deg, approach rate: -0.629442 m/s, LOS rate: 0.060043 deg/s, cmd heading: 173.145569 deg, new cmd heading: 173.211851 deg. 2025-10-27T03:25:27.730Z,1761535527.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.023117 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:27.752Z,1761535527.752 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:27.752Z,1761535527.752 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:27.752Z,1761535527.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:27.958Z,1761535527.958 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:25:28.005Z,1761535528.005 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:28.005Z,1761535528.005 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:28.005Z,1761535528.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:28.095Z,1761535528.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518306,-0.846450,0.121987],[0.849316,-0.526177,-0.042441],[0.100111,0.081608,0.991624]] 2025-10-27T03:25:28.114Z,1761535528.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:28.117Z,1761535528.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 54.828648 m, bearing: 121.532913 deg, approach rate: -0.646960 m/s, LOS rate: 0.045368 deg/s, cmd heading: 173.211849 deg, new cmd heading: 173.264587 deg. 2025-10-27T03:25:28.118Z,1761535528.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024038 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:28.258Z,1761535528.258 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:28.258Z,1761535528.258 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:28.258Z,1761535528.258 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:28.499Z,1761535528.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539345,-0.832848,0.124385],[0.836147,-0.547178,-0.038145],[0.099829,0.083431,0.991501]] 2025-10-27T03:25:28.508Z,1761535528.508 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:28.508Z,1761535528.508 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:28.508Z,1761535528.508 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:28.538Z,1761535528.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:28.541Z,1761535528.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 54.558357 m, bearing: 121.543962 deg, approach rate: -0.637201 m/s, LOS rate: 0.026176 deg/s, cmd heading: 173.264592 deg, new cmd heading: 173.297902 deg. 2025-10-27T03:25:28.542Z,1761535528.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024619 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:28.760Z,1761535528.760 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:28.760Z,1761535528.760 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:28.760Z,1761535528.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:28.904Z,1761535528.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559708,-0.819118,0.125587],[0.822722,-0.567414,-0.034196],[0.099271,0.084184,0.991493]] 2025-10-27T03:25:28.936Z,1761535528.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:28.938Z,1761535528.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 54.304543 m, bearing: 121.547871 deg, approach rate: -0.639725 m/s, LOS rate: 0.009898 deg/s, cmd heading: 173.297896 deg, new cmd heading: 173.309676 deg. 2025-10-27T03:25:28.940Z,1761535528.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024824 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:28.959Z,1761535528.959 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:25:29.012Z,1761535529.012 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:29.012Z,1761535529.012 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:29.012Z,1761535529.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:29.267Z,1761535529.267 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:29.268Z,1761535529.268 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:29.268Z,1761535529.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:29.343Z,1761535529.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579628,-0.805103,0.125859],[0.808864,-0.587179,-0.030984],[0.098847,0.083844,0.991564]] 2025-10-27T03:25:29.385Z,1761535529.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:29.408Z,1761535529.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 54.017834 m, bearing: 121.540066 deg, approach rate: -0.636593 m/s, LOS rate: -0.017422 deg/s, cmd heading: 173.309671 deg, new cmd heading: 173.286132 deg. 2025-10-27T03:25:29.409Z,1761535529.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.024414 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:29.516Z,1761535529.516 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:29.516Z,1761535529.516 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:29.516Z,1761535529.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:29.721Z,1761535529.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599231,-0.790558,0.126257],[0.794445,-0.606681,-0.028194],[0.098887,0.083410,0.991597]] 2025-10-27T03:25:29.738Z,1761535529.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:29.741Z,1761535529.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:29.744Z,1761535529.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 53.792076 m, bearing: 121.527975 deg, approach rate: -0.635505 m/s, LOS rate: -0.034180 deg/s, cmd heading: 173.286134 deg, new cmd heading: 173.249708 deg. 2025-10-27T03:25:29.745Z,1761535529.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.023778 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:29.768Z,1761535529.768 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:29.768Z,1761535529.768 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:29.768Z,1761535529.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:30.020Z,1761535530.020 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:30.020Z,1761535530.020 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:30.020Z,1761535530.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:30.113Z,1761535530.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618658,-0.775612,0.125253],[0.779364,-0.625994,-0.026895],[0.099268,0.080978,0.991760]] 2025-10-27T03:25:30.169Z,1761535530.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:30.172Z,1761535530.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 53.536301 m, bearing: 121.507374 deg, approach rate: -0.597142 m/s, LOS rate: -0.048325 deg/s, cmd heading: 173.249702 deg, new cmd heading: 173.187605 deg. 2025-10-27T03:25:30.173Z,1761535530.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.022694 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:30.275Z,1761535530.275 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:30.276Z,1761535530.276 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:30.276Z,1761535530.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:30.517Z,1761535530.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636933,-0.760700,0.125107],[0.764483,-0.644169,-0.024742],[0.099412,0.079883,0.991835]] 2025-10-27T03:25:30.524Z,1761535530.524 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:30.524Z,1761535530.524 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:30.524Z,1761535530.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:30.594Z,1761535530.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:30.597Z,1761535530.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 53.264553 m, bearing: 121.470338 deg, approach rate: -0.638964 m/s, LOS rate: -0.087528 deg/s, cmd heading: 173.187602 deg, new cmd heading: 173.075927 deg. 2025-10-27T03:25:30.598Z,1761535530.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.020745 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:30.788Z,1761535530.788 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:30.788Z,1761535530.788 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:30.789Z,1761535530.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:30.925Z,1761535530.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654711,-0.745238,0.126392],[0.749270,-0.661913,-0.021576],[0.099739,0.080576,0.991746]] 2025-10-27T03:25:30.959Z,1761535530.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:30.962Z,1761535530.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 53.055061 m, bearing: 121.436096 deg, approach rate: -0.600580 m/s, LOS rate: -0.098553 deg/s, cmd heading: 173.075928 deg, new cmd heading: 172.972797 deg. 2025-10-27T03:25:30.969Z,1761535530.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.018945 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:31.029Z,1761535531.029 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:31.029Z,1761535531.029 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:31.029Z,1761535531.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:31.281Z,1761535531.281 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:31.282Z,1761535531.282 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:31.282Z,1761535531.282 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:31.356Z,1761535531.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671766,-0.729639,0.127896],[0.734006,-0.678909,-0.017813],[0.099827,0.081910,0.991628]] 2025-10-27T03:25:31.421Z,1761535531.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:31.428Z,1761535531.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 52.795811 m, bearing: 121.385057 deg, approach rate: -0.542542 m/s, LOS rate: -0.107336 deg/s, cmd heading: 172.972792 deg, new cmd heading: 172.818924 deg. 2025-10-27T03:25:31.429Z,1761535531.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.016259 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:31.532Z,1761535531.532 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:31.532Z,1761535531.532 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:31.532Z,1761535531.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:31.736Z,1761535531.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688017,-0.714013,0.129687],[0.718811,-0.695076,-0.013409],[0.099716,0.083995,0.991464]] 2025-10-27T03:25:31.754Z,1761535531.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:31.756Z,1761535531.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:31.759Z,1761535531.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 52.591881 m, bearing: 121.339369 deg, approach rate: -0.608058 m/s, LOS rate: -0.136757 deg/s, cmd heading: 172.818922 deg, new cmd heading: 172.681326 deg. 2025-10-27T03:25:31.760Z,1761535531.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.013858 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:31.784Z,1761535531.784 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:31.784Z,1761535531.784 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:31.784Z,1761535531.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:32.039Z,1761535532.039 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:32.040Z,1761535532.040 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:32.040Z,1761535532.040 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:32.142Z,1761535532.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703729,-0.698161,0.131670],[0.703417,-0.710720,-0.008977],[0.099848,0.086302,0.991253]] 2025-10-27T03:25:32.161Z,1761535532.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:32.169Z,1761535532.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 52.362049 m, bearing: 121.281585 deg, approach rate: -0.568124 m/s, LOS rate: -0.143465 deg/s, cmd heading: 172.681321 deg, new cmd heading: 172.507207 deg. 2025-10-27T03:25:32.170Z,1761535532.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.010819 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:32.290Z,1761535532.290 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:32.290Z,1761535532.290 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:32.291Z,1761535532.291 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:32.540Z,1761535532.540 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:32.540Z,1761535532.540 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:32.540Z,1761535532.540 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:32.543Z,1761535532.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719066,-0.682579,0.130501],[0.687709,-0.725945,-0.007719],[0.100005,0.084196,0.991418]] 2025-10-27T03:25:32.610Z,1761535532.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:32.613Z,1761535532.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 52.122219 m, bearing: 121.204998 deg, approach rate: -0.534028 m/s, LOS rate: -0.171319 deg/s, cmd heading: 172.507206 deg, new cmd heading: 172.276391 deg. 2025-10-27T03:25:32.614Z,1761535532.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.006790 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:32.792Z,1761535532.792 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:32.792Z,1761535532.792 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:32.792Z,1761535532.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:32.945Z,1761535532.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734323,-0.666700,0.127597],[0.671350,-0.741090,-0.008602],[0.100296,0.079346,0.991789]] 2025-10-27T03:25:32.981Z,1761535532.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:32.984Z,1761535532.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 51.925964 m, bearing: 121.136495 deg, approach rate: -0.529254 m/s, LOS rate: -0.185436 deg/s, cmd heading: 172.276386 deg, new cmd heading: 172.070100 deg. 2025-10-27T03:25:32.984Z,1761535532.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.003190 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:33.044Z,1761535533.044 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:25:33.044Z,1761535533.044 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:25:33.044Z,1761535533.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:25:33.297Z,1761535533.297 [DAT](INFO): Reached modem response timeout 2025-10-27T03:25:33.298Z,1761535533.298 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:33.299Z,1761535533.299 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:33.381Z,1761535533.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763259,-0.633728,0.125799],[0.638162,-0.769876,-0.006432],[0.100926,0.075371,0.992035]] 2025-10-27T03:25:33.419Z,1761535533.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:33.422Z,1761535533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 51.704556 m, bearing: 121.046452 deg, approach rate: -0.505516 m/s, LOS rate: -0.206465 deg/s, cmd heading: 172.070101 deg, new cmd heading: 171.798817 deg. 2025-10-27T03:25:33.422Z,1761535533.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998455 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:33.548Z,1761535533.548 [DAT](INFO): DAT read: 2025-10-27T03:25:33.548Z,1761535533.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:33.790Z,1761535533.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:33.793Z,1761535533.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:33.796Z,1761535533.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 51.515457 m, bearing: 120.968894 deg, approach rate: -0.505532 m/s, LOS rate: -0.208102 deg/s, cmd heading: 171.798819 deg, new cmd heading: 171.565294 deg. 2025-10-27T03:25:33.797Z,1761535533.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.994379 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:33.801Z,1761535533.801 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:34.052Z,1761535534.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:34.179Z,1761535534.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790111,-0.599678,0.126931],[0.604583,-0.796542,0.000149],[0.101017,0.076859,0.991911]] 2025-10-27T03:25:34.197Z,1761535534.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:34.208Z,1761535534.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 51.314728 m, bearing: 120.874687 deg, approach rate: -0.496758 m/s, LOS rate: -0.234052 deg/s, cmd heading: 171.565295 deg, new cmd heading: 171.281571 deg. 2025-10-27T03:25:34.209Z,1761535534.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989427 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:34.308Z,1761535534.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:34.556Z,1761535534.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:34.576Z,1761535534.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802989,-0.582255,0.127231],[0.587432,-0.809264,0.003949],[0.100664,0.077911,0.991865]] 2025-10-27T03:25:34.621Z,1761535534.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:34.624Z,1761535534.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 51.107700 m, bearing: 120.771732 deg, approach rate: -0.487662 m/s, LOS rate: -0.243497 deg/s, cmd heading: 171.281569 deg, new cmd heading: 170.971456 deg. 2025-10-27T03:25:34.625Z,1761535534.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.984015 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:34.808Z,1761535534.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:34.979Z,1761535534.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816167,-0.563779,0.126589],[0.568985,-0.822325,0.006137],[0.100638,0.077036,0.991936]] 2025-10-27T03:25:35.014Z,1761535535.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:35.021Z,1761535535.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 50.925797 m, bearing: 120.674850 deg, approach rate: -0.462807 m/s, LOS rate: -0.247373 deg/s, cmd heading: 170.971451 deg, new cmd heading: 170.679768 deg. 2025-10-27T03:25:35.022Z,1761535535.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.978924 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:35.060Z,1761535535.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:35.313Z,1761535535.313 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:35.467Z,1761535535.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:35.470Z,1761535535.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 50.702541 m, bearing: 120.554883 deg, approach rate: -0.493255 m/s, LOS rate: -0.266218 deg/s, cmd heading: 170.679775 deg, new cmd heading: 170.318295 deg. 2025-10-27T03:25:35.471Z,1761535535.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.972615 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:35.564Z,1761535535.564 [DAT](INFO): DAT read: Response Not Received 2025-10-27T03:25:35.565Z,1761535535.565 [DAT](INFO): response not received 2025-10-27T03:25:35.565Z,1761535535.565 [DAT](INFO): DAT read: user:331>Tx time:03:25:37.0643 2025-10-27T03:25:35.566Z,1761535535.566 [DAT](ERROR): No response from remote modem. 2025-10-27T03:25:35.566Z,1761535535.566 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:35.566Z,1761535535.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:35.801Z,1761535535.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841184,-0.525505,0.127495],[0.531327,-0.847047,0.014245],[0.100508,0.079725,0.991737]] 2025-10-27T03:25:35.816Z,1761535535.816 [DAT](INFO): DAT read: 2025-10-27T03:25:35.817Z,1761535535.817 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:35.852Z,1761535535.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:35.854Z,1761535535.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:35.857Z,1761535535.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 50.517982 m, bearing: 120.442884 deg, approach rate: -0.476350 m/s, LOS rate: -0.290128 deg/s, cmd heading: 170.318294 deg, new cmd heading: 169.981073 deg. 2025-10-27T03:25:35.858Z,1761535535.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.966729 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:36.068Z,1761535536.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:36.206Z,1761535536.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853664,-0.505557,0.125176],[0.511017,-0.859460,0.013826],[0.100594,0.075770,0.992038]] 2025-10-27T03:25:36.225Z,1761535536.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:36.228Z,1761535536.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 50.346252 m, bearing: 120.331652 deg, approach rate: -0.463583 m/s, LOS rate: -0.301293 deg/s, cmd heading: 169.981074 deg, new cmd heading: 169.646244 deg. 2025-10-27T03:25:36.229Z,1761535536.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.960886 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:36.321Z,1761535536.321 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:36.574Z,1761535536.574 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:36.606Z,1761535536.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866020,-0.484363,0.124104],[0.489812,-0.871683,0.015926],[0.100466,0.074580,0.992141]] 2025-10-27T03:25:36.747Z,1761535536.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:36.750Z,1761535536.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 50.073662 m, bearing: 120.176261 deg, approach rate: -0.522008 m/s, LOS rate: -0.299193 deg/s, cmd heading: 169.646244 deg, new cmd heading: 169.177543 deg. 2025-10-27T03:25:36.751Z,1761535536.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.952705 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:36.824Z,1761535536.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:37.062Z,1761535537.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877857,-0.462490,0.124378],[0.468286,-0.883338,0.020533],[0.100372,0.076270,0.992022]] 2025-10-27T03:25:37.076Z,1761535537.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:37.082Z,1761535537.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:37.084Z,1761535537.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 49.891422 m, bearing: 120.064794 deg, approach rate: -0.544805 m/s, LOS rate: -0.334447 deg/s, cmd heading: 169.177543 deg, new cmd heading: 168.841925 deg. 2025-10-27T03:25:37.085Z,1761535537.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.946847 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:37.328Z,1761535537.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:37.461Z,1761535537.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889234,-0.440039,0.125014],[0.446348,-0.894468,0.026453],[0.100181,0.079322,0.991802]] 2025-10-27T03:25:37.526Z,1761535537.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:37.533Z,1761535537.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 49.642467 m, bearing: 119.918405 deg, approach rate: -0.559886 m/s, LOS rate: -0.330870 deg/s, cmd heading: 168.841921 deg, new cmd heading: 168.400562 deg. 2025-10-27T03:25:37.534Z,1761535537.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939144 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:37.580Z,1761535537.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:37.832Z,1761535537.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:37.870Z,1761535537.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899891,-0.417626,0.125632],[0.424432,-0.904889,0.032137],[0.100262,0.082242,0.991556]] 2025-10-27T03:25:37.886Z,1761535537.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:37.889Z,1761535537.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:37.892Z,1761535537.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 49.434891 m, bearing: 119.787609 deg, approach rate: -0.571690 m/s, LOS rate: -0.361740 deg/s, cmd heading: 168.400568 deg, new cmd heading: 168.006538 deg. 2025-10-27T03:25:37.893Z,1761535537.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.932267 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:38.084Z,1761535538.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:38.269Z,1761535538.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909779,-0.395845,0.124932],[0.402789,-0.914614,0.035248],[0.100312,0.082389,0.991539]] 2025-10-27T03:25:38.288Z,1761535538.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:38.290Z,1761535538.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 49.214176 m, bearing: 119.639045 deg, approach rate: -0.554022 m/s, LOS rate: -0.374587 deg/s, cmd heading: 168.006534 deg, new cmd heading: 167.558853 deg. 2025-10-27T03:25:38.312Z,1761535538.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924454 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:38.336Z,1761535538.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:38.588Z,1761535538.588 [DAT](INFO): DAT read: Rx Time:03:25:39.5430 2025-10-27T03:25:38.588Z,1761535538.588 [DAT](INFO): Rx dataTimestamp_ set to:1761535538.588171 2025-10-27T03:25:38.589Z,1761535538.589 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:38.673Z,1761535538.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918760,-0.375361,0.122411],[0.381876,-0.923584,0.034104],[0.100255,0.078079,0.991893]] 2025-10-27T03:25:38.748Z,1761535538.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.84 m. 2025-10-27T03:25:38.750Z,1761535538.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.840630 m, nav range: 48.957169 m, bearing: 119.467484 deg, approach rate: -0.558648 m/s, LOS rate: -0.374872 deg/s, cmd heading: 167.558856 deg, new cmd heading: 167.041488 deg. 2025-10-27T03:25:38.756Z,1761535538.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.915424 target range: 64.840630 and range: 65.10 m. 2025-10-27T03:25:38.840Z,1761535538.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:39.106Z,1761535539.106 [DAT](INFO): DAT read: 03:25:39.5430 LVL= 32720, 30705, 25810, 32755, AGC= 68, IDX= 345,-0.43, 1.287, 0.210, 2.705, 1.870, PHS=-0.481,-1.615, 0.791, RAW= 181.9, 12.5, CAL= 181.8, 15.6, ROT= 328.2, -15.6 2025-10-27T03:25:39.111Z,1761535539.111 [DAT](INFO): got valid direction response: 03:25:39.5430 LVL= 32720, 30705, 25810, 32755, AGC= 68, IDX= 345,-0.43, 1.287, 0.210, 2.705, 1.870, PHS=-0.481,-1.615, 0.791, RAW= 181.9, 12.5, CAL= 181.8, 15.6, ROT= 328.2, -15.6 2025-10-27T03:25:39.112Z,1761535539.112 [DAT](INFO): DAT read: Bearing 342.1, -23.6 (Local) 2025-10-27T03:25:39.112Z,1761535539.112 [DAT](INFO): Local bearing/azimuth received: Bearing 342.1, -23.6 (Local) 2025-10-27T03:25:39.114Z,1761535539.114 [DAT](INFO): DAT read: Range 11 to 50 : 55.9 m (Round-trip 74.6 ms) speed 0.4 m/s 2025-10-27T03:25:39.119Z,1761535539.119 [DAT](INFO): DAT read: user:332>Tx time:03:25:40.6127 2025-10-27T03:25:39.120Z,1761535539.120 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:39.121Z,1761535539.121 [DAT](INFO): direction in FSK: [0.818585,-0.507544,0.268920] 2025-10-27T03:25:39.121Z,1761535539.121 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:39.124Z,1761535539.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926895,-0.356364,0.117768],[0.361701,-0.931908,0.026836],[0.100186,0.067471,0.992678]] 2025-10-27T03:25:39.126Z,1761535539.126 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:39.126Z,1761535539.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:39.233Z,1761535539.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.900002 m, deltaT: 16.129043 s, deltaX: -9.199997 m, approachRate: -0.570399 m/s, rangeRepo size: 4 2025-10-27T03:25:39.240Z,1761535539.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.676361 m, bearing: 125.130627 deg, lat: 36.779334 deg, lon: -121.859549 deg, deltaT: 16.129043 s, deltaX: -9.164268 m, approachRate: -0.568184 m/s, posRepo size: 4 2025-10-27T03:25:39.241Z,1761535539.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.68 m. 2025-10-27T03:25:39.241Z,1761535539.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m. 2025-10-27T03:25:39.248Z,1761535539.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.676361 m, nav range: 52.004116 m, bearing: 123.787706 deg, approach rate: 0.000000 m/s, LOS rate: -0.374872 deg/s, cmd heading: 167.041483 deg, new cmd heading: 166.496329 deg. 2025-10-27T03:25:39.249Z,1761535539.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.905909 target range: 55.676361 and range: 55.90 m. 2025-10-27T03:25:39.316Z,1761535539.316 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T03:25:39.344Z,1761535539.344 [DAT](INFO): DAT read: 2025-10-27T03:25:39.345Z,1761535539.345 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:39.491Z,1761535539.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934410,-0.337740,0.113181],[0.341841,-0.939577,0.018439],[0.100114,0.055919,0.993403]] 2025-10-27T03:25:39.592Z,1761535539.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.68 m. 2025-10-27T03:25:39.593Z,1761535539.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m. 2025-10-27T03:25:39.596Z,1761535539.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:39.600Z,1761535539.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.676361 m, nav range: 51.781063 m, bearing: 123.662247 deg, approach rate: -0.620158 m/s, LOS rate: -0.350318 deg/s, cmd heading: 166.496325 deg, new cmd heading: 166.118333 deg. 2025-10-27T03:25:39.601Z,1761535539.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.899312 target range: 55.676361 and range: 55.90 m. 2025-10-27T03:25:39.848Z,1761535539.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:39.888Z,1761535539.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940331,-0.322235,0.109280],[0.325097,-0.945638,0.008977],[0.100446,0.043968,0.993971]] 2025-10-27T03:25:39.905Z,1761535539.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:39.907Z,1761535539.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.68 m. 2025-10-27T03:25:39.908Z,1761535539.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m. 2025-10-27T03:25:39.910Z,1761535539.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.676361 m, nav range: 51.587769 m, bearing: 123.547628 deg, approach rate: -0.614308 m/s, LOS rate: -0.365635 deg/s, cmd heading: 166.118329 deg, new cmd heading: 165.773187 deg. 2025-10-27T03:25:39.911Z,1761535539.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.893288 target range: 55.676361 and range: 55.90 m. 2025-10-27T03:25:40.100Z,1761535540.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:40.295Z,1761535540.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945482,-0.308154,0.105383],[0.309792,-0.950804,-0.000870],[0.100467,0.031824,0.994431]] 2025-10-27T03:25:40.352Z,1761535540.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:40.359Z,1761535540.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.68 m. 2025-10-27T03:25:40.359Z,1761535540.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m. 2025-10-27T03:25:40.362Z,1761535540.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.676361 m, nav range: 51.320309 m, bearing: 123.381046 deg, approach rate: -0.591876 m/s, LOS rate: -0.370559 deg/s, cmd heading: 165.773185 deg, new cmd heading: 165.270848 deg. 2025-10-27T03:25:40.363Z,1761535540.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.884521 target range: 55.676361 and range: 55.90 m. 2025-10-27T03:25:40.604Z,1761535540.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:40.706Z,1761535540.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949847,-0.295710,0.101713],[0.296169,-0.955073,-0.010916],[0.100372,0.019756,0.994754]] 2025-10-27T03:25:40.756Z,1761535540.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.68 m. 2025-10-27T03:25:40.757Z,1761535540.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m. 2025-10-27T03:25:40.760Z,1761535540.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.676361 m, nav range: 51.086090 m, bearing: 123.220565 deg, approach rate: -0.588983 m/s, LOS rate: -0.405408 deg/s, cmd heading: 165.270852 deg, new cmd heading: 164.787213 deg. 2025-10-27T03:25:40.761Z,1761535540.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876079 target range: 55.676361 and range: 55.90 m. 2025-10-27T03:25:40.857Z,1761535540.857 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:41.101Z,1761535541.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953983,-0.283215,0.098513],[0.282622,-0.959018,-0.020217],[0.100201,0.008555,0.994930]] 2025-10-27T03:25:41.108Z,1761535541.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:41.122Z,1761535541.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.68 m. 2025-10-27T03:25:41.122Z,1761535541.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m. 2025-10-27T03:25:41.125Z,1761535541.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.676361 m, nav range: 50.874096 m, bearing: 123.069157 deg, approach rate: -0.580512 m/s, LOS rate: -0.416333 deg/s, cmd heading: 164.787207 deg, new cmd heading: 164.331101 deg. 2025-10-27T03:25:41.126Z,1761535541.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868119 target range: 55.676361 and range: 55.90 m. 2025-10-27T03:25:41.360Z,1761535541.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:41.510Z,1761535541.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957089,-0.273143,0.096818],[0.271958,-0.961972,-0.025492],[0.100099,0.001932,0.994976]] 2025-10-27T03:25:41.560Z,1761535541.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.68 m. 2025-10-27T03:25:41.561Z,1761535541.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m. 2025-10-27T03:25:41.564Z,1761535541.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.676361 m, nav range: 50.635918 m, bearing: 122.876829 deg, approach rate: -0.542875 m/s, LOS rate: -0.440429 deg/s, cmd heading: 164.331100 deg, new cmd heading: 163.751425 deg. 2025-10-27T03:25:41.565Z,1761535541.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858001 target range: 55.676361 and range: 55.90 m. 2025-10-27T03:25:41.613Z,1761535541.613 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:41.864Z,1761535541.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:41.912Z,1761535541.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959486,-0.265286,0.094919],[0.263306,-0.964147,-0.033033],[0.100279,-0.006702,0.994937]] 2025-10-27T03:25:41.934Z,1761535541.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:41.937Z,1761535541.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.68 m. 2025-10-27T03:25:41.937Z,1761535541.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m. 2025-10-27T03:25:41.940Z,1761535541.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.676361 m, nav range: 50.433666 m, bearing: 122.708728 deg, approach rate: -0.537273 m/s, LOS rate: -0.448344 deg/s, cmd heading: 163.751422 deg, new cmd heading: 163.245110 deg. 2025-10-27T03:25:41.941Z,1761535541.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849165 target range: 55.676361 and range: 55.90 m. 2025-10-27T03:25:42.116Z,1761535542.116 [DAT](INFO): DAT read: Rx Time:03:25:43.0890 2025-10-27T03:25:42.117Z,1761535542.117 [DAT](INFO): Rx dataTimestamp_ set to:1761535542.116237 2025-10-27T03:25:42.117Z,1761535542.117 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:42.322Z,1761535542.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960967,-0.260778,0.092401],[0.257800,-0.965240,-0.043030],[0.100411,-0.017529,0.994792]] 2025-10-27T03:25:42.356Z,1761535542.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.68 m. 2025-10-27T03:25:42.357Z,1761535542.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.90 m. 2025-10-27T03:25:42.365Z,1761535542.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.676361 m, nav range: 50.217815 m, bearing: 122.525473 deg, approach rate: -0.514607 m/s, LOS rate: -0.438774 deg/s, cmd heading: 163.245114 deg, new cmd heading: 162.693003 deg. 2025-10-27T03:25:42.366Z,1761535542.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839529 target range: 55.676361 and range: 55.90 m. 2025-10-27T03:25:42.368Z,1761535542.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:42.647Z,1761535542.647 [DAT](INFO): DAT read: 03:25:43.0890 LVL= 32752, 32753, 29106, 32755, AGC= 66, IDX= 415, 0.01, 1.898, 1.128,-2.857, 2.696, PHS=-0.695,-1.523, 0.687, RAW= 188.2, 15.6, CAL= 188.1, 20.8, ROT= 321.9, -20.8 2025-10-27T03:25:42.648Z,1761535542.648 [DAT](INFO): got valid direction response: 03:25:43.0890 LVL= 32752, 32753, 29106, 32755, AGC= 66, IDX= 415, 0.01, 1.898, 1.128,-2.857, 2.696, PHS=-0.695,-1.523, 0.687, RAW= 188.2, 15.6, CAL= 188.1, 20.8, ROT= 321.9, -20.8 2025-10-27T03:25:42.649Z,1761535542.649 [DAT](INFO): DAT read: Bearing 354.7, -30.5 (Local) 2025-10-27T03:25:42.649Z,1761535542.649 [DAT](INFO): Local bearing/azimuth received: Bearing 354.7, -30.5 (Local) 2025-10-27T03:25:42.651Z,1761535542.651 [DAT](INFO): DAT read: Range 11 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.4 m/s 2025-10-27T03:25:42.652Z,1761535542.652 [DAT](INFO): DAT read: user:333>Tx time:03:25:44.1627 2025-10-27T03:25:42.652Z,1761535542.652 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:42.653Z,1761535542.653 [DAT](INFO): direction in FSK: [0.735647,-0.576821,0.355107] 2025-10-27T03:25:42.654Z,1761535542.654 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:42.657Z,1761535542.657 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:42.657Z,1761535542.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:42.736Z,1761535542.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961894,-0.258344,0.089549],[0.254239,-0.965590,-0.054756],[0.100614,-0.029903,0.994476]] 2025-10-27T03:25:42.855Z,1761535542.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.528043 s, deltaX: -1.900002 m, approachRate: -0.538543 m/s, rangeRepo size: 4 2025-10-27T03:25:42.857Z,1761535542.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.783924 m, bearing: 126.019322 deg, lat: 36.779321 deg, lon: -121.859558 deg, deltaT: 3.528043 s, deltaX: -1.892437 m, approachRate: -0.536399 m/s, posRepo size: 4 2025-10-27T03:25:42.858Z,1761535542.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.78 m. 2025-10-27T03:25:42.858Z,1761535542.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-27T03:25:42.865Z,1761535542.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.783924 m, nav range: 50.175323 m, bearing: 124.192459 deg, approach rate: 0.000000 m/s, LOS rate: -0.438774 deg/s, cmd heading: 162.693002 deg, new cmd heading: 162.042998 deg. 2025-10-27T03:25:42.866Z,1761535542.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.828184 target range: 53.783924 and range: 54.00 m. 2025-10-27T03:25:42.872Z,1761535542.872 [DAT](INFO): DAT read: 2025-10-27T03:25:42.872Z,1761535542.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:43.122Z,1761535543.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962055,-0.258933,0.086047],[0.253436,-0.964830,-0.069806],[0.101096,-0.045350,0.993843]] 2025-10-27T03:25:43.124Z,1761535543.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:43.148Z,1761535543.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.78 m. 2025-10-27T03:25:43.149Z,1761535543.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-27T03:25:43.152Z,1761535543.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.783924 m, nav range: 50.023335 m, bearing: 124.045792 deg, approach rate: -0.509391 m/s, LOS rate: -0.493047 deg/s, cmd heading: 162.043001 deg, new cmd heading: 161.601672 deg. 2025-10-27T03:25:43.153Z,1761535543.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820481 target range: 53.783924 and range: 54.00 m. 2025-10-27T03:25:43.379Z,1761535543.379 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:43.530Z,1761535543.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961624,-0.261887,0.081823],[0.254779,-0.962994,-0.087920],[0.101820,-0.063699,0.992761]] 2025-10-27T03:25:43.580Z,1761535543.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.78 m. 2025-10-27T03:25:43.580Z,1761535543.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-27T03:25:43.583Z,1761535543.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.783924 m, nav range: 49.838940 m, bearing: 123.835149 deg, approach rate: -0.427461 m/s, LOS rate: -0.490116 deg/s, cmd heading: 161.601675 deg, new cmd heading: 160.967433 deg. 2025-10-27T03:25:43.584Z,1761535543.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.809412 target range: 53.783924 and range: 54.00 m. 2025-10-27T03:25:43.628Z,1761535543.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:43.880Z,1761535543.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:43.930Z,1761535543.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960546,-0.267306,0.076809],[0.258429,-0.959891,-0.108732],[0.102793,-0.084593,0.991099]] 2025-10-27T03:25:43.961Z,1761535543.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:43.964Z,1761535543.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.78 m. 2025-10-27T03:25:43.964Z,1761535543.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-27T03:25:43.967Z,1761535543.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.783924 m, nav range: 49.674744 m, bearing: 123.647607 deg, approach rate: -0.427775 m/s, LOS rate: -0.490210 deg/s, cmd heading: 160.967437 deg, new cmd heading: 160.402973 deg. 2025-10-27T03:25:43.968Z,1761535543.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799560 target range: 53.783924 and range: 54.00 m. 2025-10-27T03:25:44.132Z,1761535544.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:44.333Z,1761535544.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959097,-0.274075,0.070820],[0.263353,-0.955647,-0.131847],[0.103815,-0.107803,0.988737]] 2025-10-27T03:25:44.360Z,1761535544.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.78 m. 2025-10-27T03:25:44.360Z,1761535544.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-27T03:25:44.363Z,1761535544.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.783924 m, nav range: 49.504482 m, bearing: 123.453841 deg, approach rate: -0.429635 m/s, LOS rate: -0.490629 deg/s, cmd heading: 160.402977 deg, new cmd heading: 159.819698 deg. 2025-10-27T03:25:44.364Z,1761535544.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.789380 target range: 53.783924 and range: 54.00 m. 2025-10-27T03:25:44.384Z,1761535544.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:44.636Z,1761535544.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:44.817Z,1761535544.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957186,-0.282131,0.064787],[0.269754,-0.950545,-0.153937],[0.105014,-0.129869,0.985954]] 2025-10-27T03:25:44.854Z,1761535544.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.78 m. 2025-10-27T03:25:44.854Z,1761535544.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-27T03:25:44.874Z,1761535544.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.783924 m, nav range: 49.310455 m, bearing: 123.200226 deg, approach rate: -0.393118 m/s, LOS rate: -0.515869 deg/s, cmd heading: 159.819692 deg, new cmd heading: 159.055902 deg. 2025-10-27T03:25:44.879Z,1761535544.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776049 target range: 53.783924 and range: 54.00 m. 2025-10-27T03:25:44.888Z,1761535544.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:45.140Z,1761535545.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:45.230Z,1761535545.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955178,-0.289954,0.059678],[0.276273,-0.945539,-0.172135],[0.106339,-0.147932,0.983264]] 2025-10-27T03:25:45.249Z,1761535545.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.78 m. 2025-10-27T03:25:45.249Z,1761535545.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-27T03:25:45.249Z,1761535545.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 54.00 m. 2025-10-27T03:25:45.250Z,1761535545.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T03:25:45.253Z,1761535545.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.783924 m, nav range: 49.154568 m, bearing: 122.997281 deg, approach rate: -0.394493 m/s, LOS rate: -0.515207 deg/s, cmd heading: 159.055899 deg, new cmd heading: 158.445157 deg. 2025-10-27T03:25:45.253Z,1761535545.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.765390 target range: 53.783924 and range: 54.00 m. 2025-10-27T03:25:45.392Z,1761535545.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:45.642Z,1761535545.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953130,-0.297378,0.055756],[0.282753,-0.941059,-0.185631],[0.107672,-0.161166,0.981036]] 2025-10-27T03:25:45.644Z,1761535545.644 [DAT](INFO): DAT read: Rx Time:03:25:46.6368 2025-10-27T03:25:45.645Z,1761535545.645 [DAT](INFO): Rx dataTimestamp_ set to:1761535545.644248 2025-10-27T03:25:45.645Z,1761535545.645 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:45.740Z,1761535545.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.78 m. 2025-10-27T03:25:45.743Z,1761535545.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.783924 m, nav range: 48.990955 m, bearing: 122.758658 deg, approach rate: -0.333139 m/s, LOS rate: -0.487494 deg/s, cmd heading: 158.445157 deg, new cmd heading: 157.726937 deg. 2025-10-27T03:25:45.748Z,1761535545.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.752854 target range: 53.783924 and range: 54.00 m. 2025-10-27T03:25:45.896Z,1761535545.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:46.048Z,1761535546.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950657,-0.305845,0.052063],[0.290357,-0.936216,-0.197971],[0.109290,-0.173086,0.978824]] 2025-10-27T03:25:46.065Z,1761535546.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:46.067Z,1761535546.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.78 m. 2025-10-27T03:25:46.070Z,1761535546.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.783924 m, nav range: 48.862019 m, bearing: 122.571729 deg, approach rate: -0.394012 m/s, LOS rate: -0.572732 deg/s, cmd heading: 157.726936 deg, new cmd heading: 157.164690 deg. 2025-10-27T03:25:46.071Z,1761535546.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743041 target range: 53.783924 and range: 54.00 m. 2025-10-27T03:25:46.150Z,1761535546.150 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:46.406Z,1761535546.406 [DAT](INFO): DAT read: 03:25:46.6368 LVL= 32752, 32753, 25394, 32755, AGC= 62, IDX= 424, 0.48, 1.308, 0.413, 2.843, 1.934, PHS=-0.524,-1.476, 0.866, RAW= 186.2, 11.1, CAL= 186.1, 13.3, ROT= 323.9, -13.3 2025-10-27T03:25:46.407Z,1761535546.407 [DAT](INFO): got valid direction response: 03:25:46.6368 LVL= 32752, 32753, 25394, 32755, AGC= 62, IDX= 424, 0.48, 1.308, 0.413, 2.843, 1.934, PHS=-0.524,-1.476, 0.866, RAW= 186.2, 11.1, CAL= 186.1, 13.3, ROT= 323.9, -13.3 2025-10-27T03:25:46.408Z,1761535546.408 [DAT](INFO): DAT read: Bearing 338.6, -31.0 (Local) 2025-10-27T03:25:46.408Z,1761535546.408 [DAT](INFO): Local bearing/azimuth received: Bearing 338.6, -31.0 (Local) 2025-10-27T03:25:46.410Z,1761535546.410 [DAT](INFO): DAT read: Range 11 to 50 : 52.4 m (Round-trip 69.9 ms) speed 0.4 m/s 2025-10-27T03:25:46.411Z,1761535546.411 [DAT](INFO): DAT read: user:334>Tx time:03:25:47.7127 2025-10-27T03:25:46.411Z,1761535546.411 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:46.412Z,1761535546.412 [DAT](INFO): direction in FSK: [0.786319,-0.573393,0.230050] 2025-10-27T03:25:46.413Z,1761535546.413 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:46.420Z,1761535546.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:46.420Z,1761535546.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:46.454Z,1761535546.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948043,-0.314382,0.048773],[0.298103,-0.931375,-0.208985],[0.111127,-0.183588,0.976702]] 2025-10-27T03:25:46.572Z,1761535546.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.400002 m, deltaT: 3.778169 s, deltaX: -1.599998 m, approachRate: -0.423485 m/s, rangeRepo size: 4 2025-10-27T03:25:46.574Z,1761535546.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.189262 m, bearing: 127.560963 deg, lat: 36.779320 deg, lon: -121.859586 deg, deltaT: 3.778169 s, deltaX: -1.594662 m, approachRate: -0.422073 m/s, posRepo size: 4 2025-10-27T03:25:46.574Z,1761535546.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.19 m. 2025-10-27T03:25:46.592Z,1761535546.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.189262 m, nav range: 46.648964 m, bearing: 124.134017 deg, approach rate: 0.000000 m/s, LOS rate: -0.572732 deg/s, cmd heading: 157.164688 deg, new cmd heading: 156.306270 deg. 2025-10-27T03:25:46.593Z,1761535546.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.728059 target range: 52.189262 and range: 52.40 m. 2025-10-27T03:25:46.652Z,1761535546.652 [DAT](INFO): DAT read: 2025-10-27T03:25:46.653Z,1761535546.653 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:46.902Z,1761535546.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945235,-0.323099,0.046240],[0.306111,-0.926722,-0.217903],[0.113256,-0.191815,0.974874]] 2025-10-27T03:25:46.904Z,1761535546.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:46.944Z,1761535546.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.19 m. 2025-10-27T03:25:46.946Z,1761535546.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.189262 m, nav range: 46.489773 m, bearing: 123.926529 deg, approach rate: -0.422203 m/s, LOS rate: -0.552177 deg/s, cmd heading: 156.306270 deg, new cmd heading: 155.681701 deg. 2025-10-27T03:25:46.968Z,1761535546.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.717158 target range: 52.189262 and range: 52.40 m. 2025-10-27T03:25:47.157Z,1761535547.157 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:47.315Z,1761535547.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942259,-0.332008,0.043810],[0.314335,-0.921957,-0.226251],[0.115508,-0.199416,0.973083]] 2025-10-27T03:25:47.333Z,1761535547.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.19 m. 2025-10-27T03:25:47.336Z,1761535547.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.189262 m, nav range: 46.334988 m, bearing: 123.726059 deg, approach rate: -0.397649 m/s, LOS rate: -0.516733 deg/s, cmd heading: 155.681704 deg, new cmd heading: 155.078310 deg. 2025-10-27T03:25:47.337Z,1761535547.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706627 target range: 52.189262 and range: 52.40 m. 2025-10-27T03:25:47.408Z,1761535547.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:47.660Z,1761535547.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:47.718Z,1761535547.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939090,-0.341105,0.041911],[0.322877,-0.917462,-0.232408],[0.117727,-0.204720,0.971715]] 2025-10-27T03:25:47.799Z,1761535547.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.19 m. 2025-10-27T03:25:47.812Z,1761535547.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.189262 m, nav range: 46.155834 m, bearing: 123.516617 deg, approach rate: -0.388160 m/s, LOS rate: -0.455545 deg/s, cmd heading: 155.078311 deg, new cmd heading: 154.447573 deg. 2025-10-27T03:25:47.813Z,1761535547.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695619 target range: 52.189262 and range: 52.40 m. 2025-10-27T03:25:47.912Z,1761535547.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:48.111Z,1761535548.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935945,-0.349834,0.040290],[0.331142,-0.913264,-0.237264],[0.119799,-0.208725,0.970609]] 2025-10-27T03:25:48.143Z,1761535548.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:48.145Z,1761535548.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.19 m. 2025-10-27T03:25:48.156Z,1761535548.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.189262 m, nav range: 45.996189 m, bearing: 123.331185 deg, approach rate: -0.455042 m/s, LOS rate: -0.530378 deg/s, cmd heading: 154.447571 deg, new cmd heading: 153.889361 deg. 2025-10-27T03:25:48.157Z,1761535548.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685876 target range: 52.189262 and range: 52.40 m. 2025-10-27T03:25:48.164Z,1761535548.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:48.416Z,1761535548.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:48.551Z,1761535548.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932877,-0.358170,0.038129],[0.338942,-0.908727,-0.243587],[0.121894,-0.214313,0.969129]] 2025-10-27T03:25:48.623Z,1761535548.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.19 m. 2025-10-27T03:25:48.626Z,1761535548.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.189262 m, nav range: 45.778431 m, bearing: 123.107378 deg, approach rate: -0.455719 m/s, LOS rate: -0.470604 deg/s, cmd heading: 153.889367 deg, new cmd heading: 153.214786 deg. 2025-10-27T03:25:48.635Z,1761535548.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674103 target range: 52.189262 and range: 52.40 m. 2025-10-27T03:25:48.668Z,1761535548.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:48.920Z,1761535548.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:48.921Z,1761535548.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929820,-0.366237,0.036123],[0.346458,-0.904231,-0.249666],[0.124100,-0.219629,0.967658]] 2025-10-27T03:25:48.940Z,1761535548.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.19 m. 2025-10-27T03:25:48.943Z,1761535548.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.189262 m, nav range: 45.635536 m, bearing: 122.961192 deg, approach rate: -0.450761 m/s, LOS rate: -0.462587 deg/s, cmd heading: 153.214790 deg, new cmd heading: 152.774867 deg. 2025-10-27T03:25:48.944Z,1761535548.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666425 target range: 52.189262 and range: 52.40 m. 2025-10-27T03:25:49.172Z,1761535549.172 [DAT](INFO): DAT read: Rx Time:03:25:50.1845 2025-10-27T03:25:49.172Z,1761535549.172 [DAT](INFO): Rx dataTimestamp_ set to:1761535549.172190 2025-10-27T03:25:49.173Z,1761535549.173 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:49.322Z,1761535549.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927161,-0.373004,0.035234],[0.352722,-0.900704,-0.253613],[0.126334,-0.222712,0.966664]] 2025-10-27T03:25:49.367Z,1761535549.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.19 m. 2025-10-27T03:25:49.375Z,1761535549.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.189262 m, nav range: 45.451511 m, bearing: 122.773601 deg, approach rate: -0.431631 m/s, LOS rate: -0.441775 deg/s, cmd heading: 152.774871 deg, new cmd heading: 152.209840 deg. 2025-10-27T03:25:49.376Z,1761535549.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.656563 target range: 52.189262 and range: 52.40 m. 2025-10-27T03:25:49.425Z,1761535549.425 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:49.676Z,1761535549.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:49.757Z,1761535549.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924263,-0.380179,0.034670],[0.359454,-0.897257,-0.256364],[0.128572,-0.224485,0.965958]] 2025-10-27T03:25:49.836Z,1761535549.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.19 m. 2025-10-27T03:25:49.839Z,1761535549.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.189262 m, nav range: 45.215912 m, bearing: 122.566873 deg, approach rate: -0.502753 m/s, LOS rate: -0.443440 deg/s, cmd heading: 152.209837 deg, new cmd heading: 151.586448 deg. 2025-10-27T03:25:49.840Z,1761535549.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.645683 target range: 52.189262 and range: 52.40 m. 2025-10-27T03:25:49.935Z,1761535549.935 [DAT](INFO): DAT read: 03:25:50.1845 LVL= 32752, 32753, 23346, 32755, AGC= 62, IDX= 417, 0.04,-1.729,-2.680,-0.278,-1.232, PHS=-0.395,-1.403, 0.910, RAW= 184.2, 8.9, CAL= 184.2, 9.7, ROT= 325.8, -9.7 2025-10-27T03:25:49.936Z,1761535549.936 [DAT](INFO): got valid direction response: 03:25:50.1845 LVL= 32752, 32753, 23346, 32755, AGC= 62, IDX= 417, 0.04,-1.729,-2.680,-0.278,-1.232, PHS=-0.395,-1.403, 0.910, RAW= 184.2, 8.9, CAL= 184.2, 9.7, ROT= 325.8, -9.7 2025-10-27T03:25:49.937Z,1761535549.937 [DAT](INFO): DAT read: Bearing 328.0, -27.7 (Local) 2025-10-27T03:25:49.938Z,1761535549.938 [DAT](INFO): Local bearing/azimuth received: Bearing 328.0, -27.7 (Local) 2025-10-27T03:25:49.939Z,1761535549.939 [DAT](INFO): DAT read: Range 11 to 50 : 50.7 m (Round-trip 67.6 ms) speed 0.4 m/s 2025-10-27T03:25:49.940Z,1761535549.940 [DAT](INFO): DAT read: user:335>Tx time:03:25:51.2627 2025-10-27T03:25:49.941Z,1761535549.941 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:49.942Z,1761535549.942 [DAT](INFO): direction in FSK: [0.815256,-0.554048,0.168489] 2025-10-27T03:25:49.942Z,1761535549.942 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:49.953Z,1761535549.953 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:49.954Z,1761535549.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:50.143Z,1761535550.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921490,-0.386866,0.034515],[0.365688,-0.894111,-0.258531],[0.130877,-0.225612,0.965386]] 2025-10-27T03:25:50.166Z,1761535550.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 3.528603 s, deltaX: -1.700001 m, approachRate: -0.481777 m/s, rangeRepo size: 4 2025-10-27T03:25:50.168Z,1761535550.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.494675 m, bearing: 125.305015 deg, lat: 36.779296 deg, lon: -121.859588 deg, deltaT: 3.528603 s, deltaX: -1.694588 m, approachRate: -0.480243 m/s, posRepo size: 4 2025-10-27T03:25:50.169Z,1761535550.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m. 2025-10-27T03:25:50.174Z,1761535550.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.494675 m, nav range: 46.402538 m, bearing: 125.304846 deg, approach rate: 0.000000 m/s, LOS rate: -0.443440 deg/s, cmd heading: 151.586445 deg, new cmd heading: 151.147106 deg. 2025-10-27T03:25:50.175Z,1761535550.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638015 target range: 50.494675 and range: 50.70 m. 2025-10-27T03:25:50.180Z,1761535550.180 [DAT](INFO): DAT read: 2025-10-27T03:25:50.180Z,1761535550.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:50.432Z,1761535550.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:50.573Z,1761535550.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918682,-0.393513,0.034237],[0.371867,-0.890852,-0.260955],[0.133189,-0.227003,0.964744]] 2025-10-27T03:25:50.645Z,1761535550.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:50.647Z,1761535550.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m. 2025-10-27T03:25:50.650Z,1761535550.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.494675 m, nav range: 46.137398 m, bearing: 125.124402 deg, approach rate: -0.550453 m/s, LOS rate: -0.376769 deg/s, cmd heading: 151.147100 deg, new cmd heading: 150.602674 deg. 2025-10-27T03:25:50.651Z,1761535550.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628513 target range: 50.494675 and range: 50.70 m. 2025-10-27T03:25:50.684Z,1761535550.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:50.936Z,1761535550.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:50.969Z,1761535550.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915883,-0.399992,0.034132],[0.378017,-0.887929,-0.262079],[0.135137,-0.227131,0.964443]] 2025-10-27T03:25:50.995Z,1761535550.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m. 2025-10-27T03:25:50.998Z,1761535550.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.494675 m, nav range: 45.949085 m, bearing: 124.996874 deg, approach rate: -0.541793 m/s, LOS rate: -0.368414 deg/s, cmd heading: 150.602680 deg, new cmd heading: 150.218533 deg. 2025-10-27T03:25:50.998Z,1761535550.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621808 target range: 50.494675 and range: 50.70 m. 2025-10-27T03:25:51.188Z,1761535551.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:51.374Z,1761535551.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913047,-0.406418,0.034209],[0.384035,-0.884937,-0.263447],[0.137343,-0.227402,0.964067]] 2025-10-27T03:25:51.405Z,1761535551.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m. 2025-10-27T03:25:51.408Z,1761535551.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.494675 m, nav range: 45.720825 m, bearing: 124.843158 deg, approach rate: -0.555612 m/s, LOS rate: -0.376031 deg/s, cmd heading: 150.218536 deg, new cmd heading: 149.755096 deg. 2025-10-27T03:25:51.409Z,1761535551.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.613719 target range: 50.494675 and range: 50.70 m. 2025-10-27T03:25:51.440Z,1761535551.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:51.692Z,1761535551.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:51.793Z,1761535551.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910225,-0.412674,0.034501],[0.389965,-0.882201,-0.263910],[0.139346,-0.226763,0.963930]] 2025-10-27T03:25:51.841Z,1761535551.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m. 2025-10-27T03:25:51.844Z,1761535551.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.494675 m, nav range: 45.470032 m, bearing: 124.686863 deg, approach rate: -0.575954 m/s, LOS rate: -0.360914 deg/s, cmd heading: 149.755094 deg, new cmd heading: 149.283636 deg. 2025-10-27T03:25:51.845Z,1761535551.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605491 target range: 50.494675 and range: 50.70 m. 2025-10-27T03:25:51.944Z,1761535551.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:52.181Z,1761535552.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907145,-0.419356,0.035038],[0.396259,-0.879266,-0.264328],[0.141655,-0.225900,0.963796]] 2025-10-27T03:25:52.196Z,1761535552.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:52.224Z,1761535552.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m. 2025-10-27T03:25:52.227Z,1761535552.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.494675 m, nav range: 45.250275 m, bearing: 124.550810 deg, approach rate: -0.573228 m/s, LOS rate: -0.356613 deg/s, cmd heading: 149.283633 deg, new cmd heading: 148.873498 deg. 2025-10-27T03:25:52.228Z,1761535552.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598333 target range: 50.494675 and range: 50.70 m. 2025-10-27T03:25:52.448Z,1761535552.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:52.701Z,1761535552.701 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:52.717Z,1761535552.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:52.721Z,1761535552.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m. 2025-10-27T03:25:52.725Z,1761535552.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.494675 m, nav range: 44.959515 m, bearing: 124.373976 deg, approach rate: -0.585974 m/s, LOS rate: -0.358680 deg/s, cmd heading: 148.873494 deg, new cmd heading: 148.339579 deg. 2025-10-27T03:25:52.726Z,1761535552.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589014 target range: 50.494675 and range: 50.70 m. 2025-10-27T03:25:52.954Z,1761535552.954 [DAT](INFO): DAT read: Rx Time:03:25:53.7325 2025-10-27T03:25:52.954Z,1761535552.954 [DAT](INFO): Rx dataTimestamp_ set to:1761535552.953709 2025-10-27T03:25:52.956Z,1761535552.956 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:53.043Z,1761535553.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896448,-0.441910,0.033118],[0.417557,-0.867345,-0.270847],[0.148415,-0.228972,0.962052]] 2025-10-27T03:25:53.061Z,1761535553.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.49 m. 2025-10-27T03:25:53.064Z,1761535553.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.494675 m, nav range: 44.751530 m, bearing: 124.253691 deg, approach rate: -0.609923 m/s, LOS rate: -0.354378 deg/s, cmd heading: 148.339578 deg, new cmd heading: 147.977052 deg. 2025-10-27T03:25:53.065Z,1761535553.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582687 target range: 50.494675 and range: 50.70 m. 2025-10-27T03:25:53.204Z,1761535553.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:53.453Z,1761535553.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892474,-0.449978,0.031784],[0.425195,-0.862666,-0.273892],[0.150664,-0.230927,0.961235]] 2025-10-27T03:25:53.462Z,1761535553.462 [DAT](INFO): DAT read: 03:25:53.7325 LVL= 32064, 28257, 22834, 32531, AGC= 64, IDX= 429,-0.24,-2.313, 2.996,-0.829,-1.891, PHS=-0.320,-1.351, 1.018, RAW= 184.3, 6.4, CAL= 184.2, 5.7, ROT= 325.8, -5.7 2025-10-27T03:25:53.463Z,1761535553.463 [DAT](INFO): got valid direction response: 03:25:53.7325 LVL= 32064, 28257, 22834, 32531, AGC= 64, IDX= 429,-0.24,-2.313, 2.996,-0.829,-1.891, PHS=-0.320,-1.351, 1.018, RAW= 184.3, 6.4, CAL= 184.2, 5.7, ROT= 325.8, -5.7 2025-10-27T03:25:53.464Z,1761535553.464 [DAT](INFO): DAT read: Bearing 319.0, -25.9 (Local) 2025-10-27T03:25:53.464Z,1761535553.464 [DAT](INFO): Local bearing/azimuth received: Bearing 319.0, -25.9 (Local) 2025-10-27T03:25:53.466Z,1761535553.466 [DAT](INFO): DAT read: Range 11 to 50 : 49.2 m (Round-trip 65.6 ms) speed 0.4 m/s 2025-10-27T03:25:53.467Z,1761535553.467 [DAT](INFO): DAT read: user:336>Tx time:03:25:54.8127 2025-10-27T03:25:53.467Z,1761535553.467 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:53.468Z,1761535553.468 [DAT](INFO): direction in FSK: [0.822991,-0.559304,0.099320] 2025-10-27T03:25:53.469Z,1761535553.469 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:53.472Z,1761535553.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:53.473Z,1761535553.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:53.692Z,1761535553.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 3.527341 s, deltaX: -1.500000 m, approachRate: -0.425249 m/s, rangeRepo size: 4 2025-10-27T03:25:53.700Z,1761535553.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.000683 m, bearing: 120.782072 deg, lat: 36.779308 deg, lon: -121.859586 deg, deltaT: 3.527341 s, deltaX: -1.493992 m, approachRate: -0.423546 m/s, posRepo size: 4 2025-10-27T03:25:53.701Z,1761535553.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T03:25:53.708Z,1761535553.708 [DAT](INFO): DAT read: 2025-10-27T03:25:53.709Z,1761535553.709 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:53.717Z,1761535553.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000683 m, nav range: 43.810539 m, bearing: 122.445028 deg, approach rate: 0.000000 m/s, LOS rate: -0.354378 deg/s, cmd heading: 147.977046 deg, new cmd heading: 147.312141 deg. 2025-10-27T03:25:53.719Z,1761535553.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571082 target range: 49.000683 and range: 49.20 m. 2025-10-27T03:25:53.960Z,1761535553.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:54.033Z,1761535554.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888141,-0.458550,0.030618],[0.433396,-0.857858,-0.276128],[0.152885,-0.231971,0.960633]] 2025-10-27T03:25:54.086Z,1761535554.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T03:25:54.093Z,1761535554.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000683 m, nav range: 43.514824 m, bearing: 122.256531 deg, approach rate: -0.740468 m/s, LOS rate: -0.475201 deg/s, cmd heading: 147.312140 deg, new cmd heading: 146.742826 deg. 2025-10-27T03:25:54.094Z,1761535554.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561146 target range: 49.000683 and range: 49.20 m. 2025-10-27T03:25:54.212Z,1761535554.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:54.434Z,1761535554.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883500,-0.467487,0.029718],[0.442003,-0.852983,-0.277585],[0.155116,-0.232111,0.960241]] 2025-10-27T03:25:54.464Z,1761535554.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:54.473Z,1761535554.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T03:25:54.476Z,1761535554.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000683 m, nav range: 43.290478 m, bearing: 122.115239 deg, approach rate: -0.580768 m/s, LOS rate: -0.367660 deg/s, cmd heading: 146.742830 deg, new cmd heading: 146.316766 deg. 2025-10-27T03:25:54.477Z,1761535554.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553709 target range: 49.000683 and range: 49.20 m. 2025-10-27T03:25:54.717Z,1761535554.717 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:54.838Z,1761535554.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878755,-0.476387,0.029083],[0.450564,-0.848135,-0.278674],[0.157423,-0.231782,0.959945]] 2025-10-27T03:25:54.893Z,1761535554.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:54.899Z,1761535554.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T03:25:54.902Z,1761535554.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000683 m, nav range: 43.045341 m, bearing: 121.956050 deg, approach rate: -0.580677 m/s, LOS rate: -0.379233 deg/s, cmd heading: 146.316763 deg, new cmd heading: 145.836488 deg. 2025-10-27T03:25:54.907Z,1761535554.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545327 target range: 49.000683 and range: 49.20 m. 2025-10-27T03:25:54.968Z,1761535554.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:55.220Z,1761535555.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:55.394Z,1761535555.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873540,-0.485991,0.027198],[0.459865,-0.842312,-0.281131],[0.159537,-0.233072,0.959284]] 2025-10-27T03:25:55.412Z,1761535555.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T03:25:55.437Z,1761535555.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000683 m, nav range: 42.731972 m, bearing: 121.755177 deg, approach rate: -0.605685 m/s, LOS rate: -0.391095 deg/s, cmd heading: 145.836492 deg, new cmd heading: 145.229479 deg. 2025-10-27T03:25:55.438Z,1761535555.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534733 target range: 49.000683 and range: 49.20 m. 2025-10-27T03:25:55.472Z,1761535555.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:55.725Z,1761535555.725 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:55.804Z,1761535555.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862537,-0.505557,0.021020],[0.478891,-0.829045,-0.288700],[0.163381,-0.238948,0.957189]] 2025-10-27T03:25:55.858Z,1761535555.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T03:25:55.861Z,1761535555.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000683 m, nav range: 42.481396 m, bearing: 121.586331 deg, approach rate: -0.561961 m/s, LOS rate: -0.380901 deg/s, cmd heading: 145.229479 deg, new cmd heading: 144.719966 deg. 2025-10-27T03:25:55.862Z,1761535555.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.525840 target range: 49.000683 and range: 49.20 m. 2025-10-27T03:25:55.976Z,1761535555.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:56.216Z,1761535556.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857252,-0.514590,0.017793],[0.487777,-0.822680,-0.292014],[0.164905,-0.241651,0.956249]] 2025-10-27T03:25:56.228Z,1761535556.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:56.240Z,1761535556.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T03:25:56.242Z,1761535556.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000683 m, nav range: 42.269028 m, bearing: 121.445235 deg, approach rate: -0.556360 m/s, LOS rate: -0.371498 deg/s, cmd heading: 144.719961 deg, new cmd heading: 144.294555 deg. 2025-10-27T03:25:56.269Z,1761535556.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518415 target range: 49.000683 and range: 49.20 m. 2025-10-27T03:25:56.480Z,1761535556.480 [DAT](INFO): DAT read: Rx Time:03:25:57.2799 2025-10-27T03:25:56.480Z,1761535556.480 [DAT](INFO): Rx dataTimestamp_ set to:1761535556.480124 2025-10-27T03:25:56.481Z,1761535556.481 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:56.624Z,1761535556.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852108,-0.523135,0.015513],[0.496341,-0.817156,-0.293091],[0.166003,-0.242046,0.955959]] 2025-10-27T03:25:56.732Z,1761535556.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:56.767Z,1761535556.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.00 m. 2025-10-27T03:25:56.774Z,1761535556.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.000683 m, nav range: 41.985619 m, bearing: 121.242662 deg, approach rate: -0.538761 m/s, LOS rate: -0.387689 deg/s, cmd heading: 144.294549 deg, new cmd heading: 143.682754 deg. 2025-10-27T03:25:56.793Z,1761535556.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507737 target range: 49.000683 and range: 49.20 m. 2025-10-27T03:25:56.990Z,1761535556.990 [DAT](INFO): DAT read: 03:25:57.2799 LVL= 32752, 32673, 19154, 32755, AGC= 60, IDX= 419,-0.14,-1.729,-2.724,-0.293,-1.371, PHS=-0.256,-1.308, 1.034, RAW= 183.4, 5.3, CAL= 183.2, 3.8, ROT= 326.8, -3.8 2025-10-27T03:25:56.996Z,1761535556.996 [DAT](INFO): got valid direction response: 03:25:57.2799 LVL= 32752, 32673, 19154, 32755, AGC= 60, IDX= 419,-0.14,-1.729,-2.724,-0.293,-1.371, PHS=-0.256,-1.308, 1.034, RAW= 183.4, 5.3, CAL= 183.2, 3.8, ROT= 326.8, -3.8 2025-10-27T03:25:56.997Z,1761535556.997 [DAT](INFO): DAT read: Bearing 311.0, -23.5 (Local) 2025-10-27T03:25:56.997Z,1761535556.997 [DAT](INFO): Local bearing/azimuth received: Bearing 311.0, -23.5 (Local) 2025-10-27T03:25:56.999Z,1761535556.999 [DAT](INFO): DAT read: Range 11 to 50 : 47.2 m (Round-trip 63.0 ms) speed 0.5 m/s 2025-10-27T03:25:56.000Z,1761535557.000 [DAT](INFO): DAT read: user:337>Tx time:03:25:58.3627 2025-10-27T03:25:57.000Z,1761535557.000 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:25:57.001Z,1761535557.001 [DAT](INFO): direction in FSK: [0.834925,-0.546360,0.066274] 2025-10-27T03:25:57.002Z,1761535557.002 [DAT](INFO): publishing direction and range info 2025-10-27T03:25:57.006Z,1761535557.006 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:57.006Z,1761535557.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:25:57.088Z,1761535557.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846911,-0.531570,0.013235],[0.504937,-0.811783,-0.293338],[0.166674,-0.241749,0.955917]] 2025-10-27T03:25:57.140Z,1761535557.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.200001 m, deltaT: 3.527861 s, deltaX: -2.000000 m, approachRate: -0.566916 m/s, rangeRepo size: 4 2025-10-27T03:25:57.142Z,1761535557.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.008274 m, bearing: 116.182586 deg, lat: 36.779308 deg, lon: -121.859586 deg, deltaT: 3.527861 s, deltaX: -1.992409 m, approachRate: -0.564764 m/s, posRepo size: 4 2025-10-27T03:25:57.142Z,1761535557.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:25:57.149Z,1761535557.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 41.795898 m, bearing: 121.108681 deg, approach rate: 0.000000 m/s, LOS rate: -0.387689 deg/s, cmd heading: 143.682755 deg, new cmd heading: 143.258359 deg. 2025-10-27T03:25:57.150Z,1761535557.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500330 target range: 47.008274 and range: 47.20 m. 2025-10-27T03:25:57.236Z,1761535557.236 [DAT](INFO): DAT read: 2025-10-27T03:25:57.237Z,1761535557.237 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:57.488Z,1761535557.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:57.494Z,1761535557.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841690,-0.539830,0.011907],[0.513356,-0.806861,-0.292303],[0.167402,-0.239916,0.956252]] 2025-10-27T03:25:57.522Z,1761535557.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:57.550Z,1761535557.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:25:57.557Z,1761535557.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 41.576454 m, bearing: 120.955813 deg, approach rate: -0.522895 m/s, LOS rate: -0.366177 deg/s, cmd heading: 143.258355 deg, new cmd heading: 142.797342 deg. 2025-10-27T03:25:57.558Z,1761535557.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492284 target range: 47.008274 and range: 47.20 m. 2025-10-27T03:25:57.740Z,1761535557.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:57.920Z,1761535557.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836342,-0.548128,0.009390],[0.522008,-0.801486,-0.291766],[0.167451,-0.239114,0.956444]] 2025-10-27T03:25:57.965Z,1761535557.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:25:57.968Z,1761535557.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 41.339771 m, bearing: 120.786166 deg, approach rate: -0.570595 m/s, LOS rate: -0.411328 deg/s, cmd heading: 142.797344 deg, new cmd heading: 142.285502 deg. 2025-10-27T03:25:57.969Z,1761535557.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.483351 target range: 47.008274 and range: 47.20 m. 2025-10-27T03:25:58.005Z,1761535558.005 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:58.256Z,1761535558.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:58.321Z,1761535558.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831277,-0.555808,0.007464],[0.530012,-0.796600,-0.290715],[0.167528,-0.237709,0.956780]] 2025-10-27T03:25:58.354Z,1761535558.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:25:58.356Z,1761535558.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 41.132324 m, bearing: 120.639160 deg, approach rate: -0.534144 m/s, LOS rate: -0.380427 deg/s, cmd heading: 142.285504 deg, new cmd heading: 141.842270 deg. 2025-10-27T03:25:58.357Z,1761535558.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475615 target range: 47.008274 and range: 47.20 m. 2025-10-27T03:25:58.508Z,1761535558.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:58.734Z,1761535558.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826267,-0.563248,0.005856],[0.537807,-0.791952,-0.289094],[0.167469,-0.235720,0.957283]] 2025-10-27T03:25:58.760Z,1761535558.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:58.794Z,1761535558.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:25:58.797Z,1761535558.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 40.910603 m, bearing: 120.481957 deg, approach rate: -0.503184 m/s, LOS rate: -0.358696 deg/s, cmd heading: 141.842265 deg, new cmd heading: 141.368113 deg. 2025-10-27T03:25:58.798Z,1761535558.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467339 target range: 47.008274 and range: 47.20 m. 2025-10-27T03:25:59.012Z,1761535559.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:59.080Z,1761535559.080 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:25:59.130Z,1761535559.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821352,-0.570406,0.004252],[0.545345,-0.787407,-0.287382],[0.167273,-0.233723,0.957806]] 2025-10-27T03:25:59.162Z,1761535559.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:25:59.166Z,1761535559.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 40.719807 m, bearing: 120.348215 deg, approach rate: -0.518131 m/s, LOS rate: -0.364893 deg/s, cmd heading: 141.368114 deg, new cmd heading: 140.965016 deg. 2025-10-27T03:25:59.167Z,1761535559.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460304 target range: 47.008274 and range: 47.20 m. 2025-10-27T03:25:59.266Z,1761535559.266 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:59.516Z,1761535559.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:59.534Z,1761535559.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816402,-0.577476,0.003053],[0.552748,-0.782953,-0.285403],[0.167204,-0.231316,0.958403]] 2025-10-27T03:25:59.552Z,1761535559.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:25:59.554Z,1761535559.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:25:59.573Z,1761535559.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 40.519138 m, bearing: 120.209230 deg, approach rate: -0.511982 m/s, LOS rate: -0.356362 deg/s, cmd heading: 140.965023 deg, new cmd heading: 140.546009 deg. 2025-10-27T03:25:59.574Z,1761535559.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452991 target range: 47.008274 and range: 47.20 m. 2025-10-27T03:25:59.768Z,1761535559.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:25:59.937Z,1761535559.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811736,-0.584022,0.001735],[0.559581,-0.778608,-0.283970],[0.167195,-0.229538,0.958832]] 2025-10-27T03:25:59.981Z,1761535559.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:25:59.984Z,1761535559.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 40.304760 m, bearing: 120.053909 deg, approach rate: -0.502879 m/s, LOS rate: -0.366282 deg/s, cmd heading: 140.546005 deg, new cmd heading: 140.077575 deg. 2025-10-27T03:25:59.985Z,1761535559.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444815 target range: 47.008274 and range: 47.20 m. 2025-10-27T03:26:00.020Z,1761535560.020 [DAT](INFO): DAT read: Rx Time:03:26:00.8273 2025-10-27T03:26:00.021Z,1761535560.021 [DAT](INFO): Rx dataTimestamp_ set to:1761535560.020236 2025-10-27T03:26:00.021Z,1761535560.021 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:00.084Z,1761535560.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:26:00.272Z,1761535560.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:00.401Z,1761535560.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807020,-0.590524,0.000803],[0.566343,-0.774357,-0.282182],[0.167257,-0.227272,0.959360]] 2025-10-27T03:26:00.436Z,1761535560.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:26:00.445Z,1761535560.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 40.083248 m, bearing: 119.894810 deg, approach rate: -0.486247 m/s, LOS rate: -0.351174 deg/s, cmd heading: 140.077577 deg, new cmd heading: 139.597652 deg. 2025-10-27T03:26:00.446Z,1761535560.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436439 target range: 47.008274 and range: 47.20 m. 2025-10-27T03:26:00.532Z,1761535560.532 [DAT](INFO): DAT read: 03:26:00.8273 LVL= 32752, 32753, 20706, 327 63, IDX= 40-2.793, 2.395,-1.508,-2.513, PHS=-0.178,-1.331, 0.961, RAW= 179.8, 5.6, CAL= 179.5, 4.4, ROT= 330.5, -4.4 2025-10-27T03:26:00.532Z,1761535560.532 [DAT](INFO): unknown deviceResponse_: 03:26:00.8273 LVL= 32752, 32753, 20706, 327 63, IDX= 40-2.793, 2.395,-1.508,-2.513, PHS=-0.178,-1.331, 0.961, RAW= 179.8, 5.6, CAL= 179.5, 4.4, ROT= 330.5, -4.4 2025-10-27T03:26:00.533Z,1761535560.533 [DAT](INFO): DAT read: Bearing 308.1, -19.8 (Local) 2025-10-27T03:26:00.534Z,1761535560.534 [DAT](INFO): Local bearing/azimuth received: Bearing 308.1, -19.8 (Local) 2025-10-27T03:26:00.535Z,1761535560.535 [DAT](INFO): DAT read: Range 11 to 50 : 45.3 m (Round-trip 60.4 ms) speed 0.4 m/s 2025-10-27T03:26:00.536Z,1761535560.536 [DAT](INFO): DAT read: user:338>Tx time:03:26:01.9127 2025-10-27T03:26:00.537Z,1761535560.537 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T03:26:00.537Z,1761535560.537 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:00.538Z,1761535560.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:26:00.777Z,1761535560.777 [DAT](INFO): DAT read: 2025-10-27T03:26:00.777Z,1761535560.777 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:00.788Z,1761535560.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802264,-0.596969,0.000234],[0.573044,-0.770221,-0.279965],[0.167311,-0.224471,0.960010]] 2025-10-27T03:26:00.838Z,1761535560.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.540522 s, deltaX: -1.900002 m, approachRate: -0.536644 m/s, rangeRepo size: 4 2025-10-27T03:26:00.839Z,1761535560.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:26:00.842Z,1761535560.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 39.872631 m, bearing: 119.754180 deg, approach rate: -0.524841 m/s, LOS rate: -0.352289 deg/s, cmd heading: 139.597647 deg, new cmd heading: 139.173536 deg. 2025-10-27T03:26:00.843Z,1761535560.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429036 target range: 47.008274 and range: 45.30 m. 2025-10-27T03:26:01.028Z,1761535561.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:01.157Z,1761535561.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797461,-0.603370,-0.000747],[0.579676,-0.765801,-0.278432],[0.167426,-0.222472,0.960456]] 2025-10-27T03:26:01.194Z,1761535561.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:26:01.197Z,1761535561.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 39.699944 m, bearing: 119.640197 deg, approach rate: -0.483767 m/s, LOS rate: -0.320699 deg/s, cmd heading: 139.173533 deg, new cmd heading: 138.830103 deg. 2025-10-27T03:26:01.198Z,1761535561.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423042 target range: 47.008274 and range: 45.30 m. 2025-10-27T03:26:01.281Z,1761535561.281 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:01.532Z,1761535561.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:01.562Z,1761535561.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792846,-0.609421,-0.001251],[0.585957,-0.761753,-0.276379],[0.167478,-0.219859,0.961048]] 2025-10-27T03:26:01.595Z,1761535561.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:01.597Z,1761535561.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:26:01.604Z,1761535561.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 39.495853 m, bearing: 119.506958 deg, approach rate: -0.507041 m/s, LOS rate: -0.332730 deg/s, cmd heading: 138.830097 deg, new cmd heading: 138.428320 deg. 2025-10-27T03:26:01.605Z,1761535561.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416030 target range: 47.008274 and range: 45.30 m. 2025-10-27T03:26:01.785Z,1761535561.785 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:01.967Z,1761535561.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788337,-0.615235,-0.003250],[0.591980,-0.757078,-0.276391],[0.167585,-0.219813,0.961040]] 2025-10-27T03:26:02.004Z,1761535562.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:26:02.007Z,1761535562.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 39.275948 m, bearing: 119.370556 deg, approach rate: -0.540446 m/s, LOS rate: -0.337101 deg/s, cmd heading: 138.428318 deg, new cmd heading: 138.016829 deg. 2025-10-27T03:26:02.008Z,1761535562.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.408848 target range: 47.008274 and range: 45.30 m. 2025-10-27T03:26:02.036Z,1761535562.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:02.293Z,1761535562.293 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:02.369Z,1761535562.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783946,-0.620803,-0.005686],[0.597755,-0.752303,-0.277000],[0.167685,-0.220552,0.960853]] 2025-10-27T03:26:02.414Z,1761535562.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:26:02.417Z,1761535562.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 39.072197 m, bearing: 119.245249 deg, approach rate: -0.496677 m/s, LOS rate: -0.307049 deg/s, cmd heading: 138.016827 deg, new cmd heading: 137.638952 deg. 2025-10-27T03:26:02.418Z,1761535562.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402253 target range: 47.008274 and range: 45.30 m. 2025-10-27T03:26:02.540Z,1761535562.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:02.792Z,1761535562.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:02.869Z,1761535562.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779342,-0.626552,-0.007686],[0.603732,-0.747560,-0.276878],[0.167732,-0.220423,0.960874]] 2025-10-27T03:26:02.906Z,1761535562.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:26:02.909Z,1761535562.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 38.791668 m, bearing: 119.087954 deg, approach rate: -0.570759 m/s, LOS rate: -0.322343 deg/s, cmd heading: 137.638953 deg, new cmd heading: 137.163667 deg. 2025-10-27T03:26:02.910Z,1761535562.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393958 target range: 47.008274 and range: 45.30 m. 2025-10-27T03:26:03.044Z,1761535563.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:03.296Z,1761535563.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:03.373Z,1761535563.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774816,-0.632111,-0.009809],[0.609467,-0.742759,-0.277235],[0.167957,-0.220784,0.960752]] 2025-10-27T03:26:03.392Z,1761535563.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:26:03.394Z,1761535563.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 38.524216 m, bearing: 118.939060 deg, approach rate: -0.550831 m/s, LOS rate: -0.308784 deg/s, cmd heading: 137.163668 deg, new cmd heading: 136.713893 deg. 2025-10-27T03:26:03.396Z,1761535563.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386108 target range: 47.008274 and range: 45.30 m. 2025-10-27T03:26:03.548Z,1761535563.548 [DAT](INFO): DAT read: Rx Time:03:26:04.3748 2025-10-27T03:26:03.548Z,1761535563.548 [DAT](INFO): Rx dataTimestamp_ set to:1761535563.548180 2025-10-27T03:26:03.549Z,1761535563.549 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:03.803Z,1761535563.803 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:03.958Z,1761535563.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:03.961Z,1761535563.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.01 m. 2025-10-27T03:26:03.963Z,1761535563.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.008274 m, nav range: 38.197899 m, bearing: 118.760694 deg, approach rate: -0.573096 m/s, LOS rate: -0.315932 deg/s, cmd heading: 136.713900 deg, new cmd heading: 136.174247 deg. 2025-10-27T03:26:03.964Z,1761535563.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376689 target range: 47.008274 and range: 45.30 m. 2025-10-27T03:26:04.060Z,1761535564.060 [DAT](INFO): DAT read: 03:26:04.3748 LVL= 32752, 32753, 25634, 32755, AGC= 61, IDX= 413, 0.37, 1.373, 0.203, 2.511, 1.639, PHS=-0.164,-1.390, 0.829, RAW= 176.5, 7.6, CAL= 176.2, 7.6, ROT= 333.8, -7.6 2025-10-27T03:26:04.061Z,1761535564.061 [DAT](INFO): got valid direction response: 03:26:04.3748 LVL= 32752, 32753, 25634, 32755, AGC= 61, IDX= 413, 0.37, 1.373, 0.203, 2.511, 1.639, PHS=-0.164,-1.390, 0.829, RAW= 176.5, 7.6, CAL= 176.2, 7.6, ROT= 333.8, -7.6 2025-10-27T03:26:04.062Z,1761535564.062 [DAT](INFO): DAT read: Bearing 308.8, -17.2 (Local) 2025-10-27T03:26:04.062Z,1761535564.062 [DAT](INFO): Local bearing/azimuth received: Bearing 308.8, -17.2 (Local) 2025-10-27T03:26:04.064Z,1761535564.064 [DAT](INFO): DAT read: Range 11 to 50 : 43.4 m (Round-trip 57.9 ms) speed 0.4 m/s 2025-10-27T03:26:04.065Z,1761535564.065 [DAT](INFO): DAT read: user:339>Tx time:03:26:05.4627 2025-10-27T03:26:04.065Z,1761535564.065 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:26:04.066Z,1761535564.066 [DAT](INFO): direction in FSK: [0.889376,-0.437628,0.132256] 2025-10-27T03:26:04.067Z,1761535564.067 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:04.071Z,1761535564.071 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:04.072Z,1761535564.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:26:04.298Z,1761535564.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761351,-0.648087,-0.018101],[0.625995,-0.727559,-0.280693],[0.168744,-0.225037,0.959627]] 2025-10-27T03:26:04.304Z,1761535564.304 [DAT](INFO): DAT read: 2025-10-27T03:26:04.304Z,1761535564.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:04.323Z,1761535564.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.400002 m, deltaT: 3.528727 s, deltaX: -1.899998 m, approachRate: -0.538437 m/s, rangeRepo size: 4 2025-10-27T03:26:04.327Z,1761535564.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.222900 m, bearing: 115.287127 deg, lat: 36.779308 deg, lon: -121.859558 deg, deltaT: 7.069249 s, deltaX: -3.785374 m, approachRate: -0.535470 m/s, posRepo size: 4 2025-10-27T03:26:04.327Z,1761535564.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T03:26:04.330Z,1761535564.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.222900 m, nav range: 40.189289 m, bearing: 116.954867 deg, approach rate: 0.000000 m/s, LOS rate: -0.315932 deg/s, cmd heading: 136.174246 deg, new cmd heading: 135.831672 deg. 2025-10-27T03:26:04.331Z,1761535564.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370710 target range: 43.222900 and range: 43.40 m. 2025-10-27T03:26:04.556Z,1761535564.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:04.674Z,1761535564.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756815,-0.653334,-0.019627],[0.631306,-0.722858,-0.280943],[0.169362,-0.225012,0.959524]] 2025-10-27T03:26:04.733Z,1761535564.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T03:26:04.740Z,1761535564.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.222900 m, nav range: 39.963192 m, bearing: 116.834431 deg, approach rate: -0.549692 m/s, LOS rate: -0.294463 deg/s, cmd heading: 135.831671 deg, new cmd heading: 135.468325 deg. 2025-10-27T03:26:04.742Z,1761535564.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.364368 target range: 43.222900 and range: 43.40 m. 2025-10-27T03:26:04.809Z,1761535564.809 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:05.060Z,1761535565.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:05.121Z,1761535565.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752041,-0.658780,-0.021061],[0.636851,-0.718031,-0.280805],[0.169866,-0.224590,0.959534]] 2025-10-27T03:26:05.159Z,1761535565.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T03:26:05.162Z,1761535565.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.222900 m, nav range: 39.698044 m, bearing: 116.700043 deg, approach rate: -0.622791 m/s, LOS rate: -0.317765 deg/s, cmd heading: 135.468319 deg, new cmd heading: 135.062468 deg. 2025-10-27T03:26:05.163Z,1761535565.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.357285 target range: 43.222900 and range: 43.40 m. 2025-10-27T03:26:05.312Z,1761535565.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:05.494Z,1761535565.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746965,-0.664496,-0.022126],[0.642679,-0.713116,-0.280052],[0.170315,-0.223408,0.959730]] 2025-10-27T03:26:05.517Z,1761535565.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T03:26:05.520Z,1761535565.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.222900 m, nav range: 39.484535 m, bearing: 116.593200 deg, approach rate: -0.595716 m/s, LOS rate: -0.299716 deg/s, cmd heading: 135.062469 deg, new cmd heading: 134.740212 deg. 2025-10-27T03:26:05.521Z,1761535565.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.351660 target range: 43.222900 and range: 43.40 m. 2025-10-27T03:26:05.565Z,1761535565.565 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:05.818Z,1761535565.818 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:05.898Z,1761535565.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742268,-0.669714,-0.022826],[0.647880,-0.708536,-0.279693],[0.171141,-0.222396,0.959818]] 2025-10-27T03:26:05.950Z,1761535565.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T03:26:05.953Z,1761535565.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.222900 m, nav range: 39.221001 m, bearing: 116.470026 deg, approach rate: -0.609105 m/s, LOS rate: -0.286603 deg/s, cmd heading: 134.740207 deg, new cmd heading: 134.368208 deg. 2025-10-27T03:26:05.954Z,1761535565.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345168 target range: 43.222900 and range: 43.40 m. 2025-10-27T03:26:06.068Z,1761535566.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:06.302Z,1761535566.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737295,-0.675148,-0.023904],[0.653353,-0.703602,-0.279417],[0.171829,-0.221631,0.959872]] 2025-10-27T03:26:06.320Z,1761535566.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:06.332Z,1761535566.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:06.334Z,1761535566.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T03:26:06.337Z,1761535566.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.222900 m, nav range: 38.983768 m, bearing: 116.360561 deg, approach rate: -0.617881 m/s, LOS rate: -0.286840 deg/s, cmd heading: 134.368208 deg, new cmd heading: 134.037819 deg. 2025-10-27T03:26:06.338Z,1761535566.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339401 target range: 43.222900 and range: 43.40 m. 2025-10-27T03:26:06.572Z,1761535566.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:06.720Z,1761535566.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732409,-0.680411,-0.024876],[0.658625,-0.698750,-0.279215],[0.172599,-0.220884,0.959906]] 2025-10-27T03:26:06.763Z,1761535566.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T03:26:06.781Z,1761535566.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.222900 m, nav range: 38.733845 m, bearing: 116.246710 deg, approach rate: -0.590461 m/s, LOS rate: -0.270718 deg/s, cmd heading: 134.037818 deg, new cmd heading: 133.694063 deg. 2025-10-27T03:26:06.788Z,1761535566.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333402 target range: 43.222900 and range: 43.40 m. 2025-10-27T03:26:06.826Z,1761535566.826 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:07.076Z,1761535567.076 [DAT](INFO): DAT read: Rx Time:03:26:07.9222 2025-10-27T03:26:07.076Z,1761535567.076 [DAT](INFO): Rx dataTimestamp_ set to:1761535567.076142 2025-10-27T03:26:07.077Z,1761535567.077 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:07.141Z,1761535567.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727598,-0.685439,-0.027826],[0.663737,-0.693151,-0.281061],[0.173362,-0.222969,0.959287]] 2025-10-27T03:26:07.185Z,1761535567.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T03:26:07.188Z,1761535567.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.222900 m, nav range: 38.460556 m, bearing: 116.119422 deg, approach rate: -0.638467 m/s, LOS rate: -0.299487 deg/s, cmd heading: 133.694068 deg, new cmd heading: 133.309498 deg. 2025-10-27T03:26:07.189Z,1761535567.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.326690 target range: 43.222900 and range: 43.40 m. 2025-10-27T03:26:07.328Z,1761535567.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:07.542Z,1761535567.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722765,-0.690391,-0.031146],[0.668929,-0.687552,-0.282500],[0.173621,-0.225016,0.958761]] 2025-10-27T03:26:07.572Z,1761535567.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T03:26:07.575Z,1761535567.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.222900 m, nav range: 38.222729 m, bearing: 116.009859 deg, approach rate: -0.614353 m/s, LOS rate: -0.284784 deg/s, cmd heading: 133.309501 deg, new cmd heading: 132.978770 deg. 2025-10-27T03:26:07.576Z,1761535567.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320917 target range: 43.222900 and range: 43.40 m. 2025-10-27T03:26:07.586Z,1761535567.586 [DAT](INFO): DAT read: 03:26:07.9223 LVL= 32752, 32753, 19522, 32755, AGC= 62, IDX= 419, 0.25,-1.527,-2.768,-0.531,-1.366, PHS=-0.059,-1.357, 0.791, RAW= 173.1, 6.7, CAL= 172.7, 6.3, ROT= 337.3, -6.3 2025-10-27T03:26:07.587Z,1761535567.587 [DAT](INFO): got valid direction response: 03:26:07.9223 LVL= 32752, 32753, 19522, 32755, AGC= 62, IDX= 419, 0.25,-1.527,-2.768,-0.531,-1.366, PHS=-0.059,-1.357, 0.791, RAW= 173.1, 6.7, CAL= 172.7, 6.3, ROT= 337.3, -6.3 2025-10-27T03:26:07.588Z,1761535567.588 [DAT](INFO): DAT read: Bearing 304.5, -13.4 (Local) 2025-10-27T03:26:07.588Z,1761535567.588 [DAT](INFO): Local bearing/azimuth received: Bearing 304.5, -13.4 (Local) 2025-10-27T03:26:07.590Z,1761535567.590 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m (Round-trip 55.3 ms) speed 0.5 m/s 2025-10-27T03:26:07.591Z,1761535567.591 [DAT](INFO): DAT read: user:340>Tx time:03:26:09.0128 2025-10-27T03:26:07.591Z,1761535567.591 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:26:07.592Z,1761535567.592 [DAT](INFO): direction in FSK: [0.916967,-0.383576,0.109734] 2025-10-27T03:26:07.593Z,1761535567.593 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:07.596Z,1761535567.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:07.597Z,1761535567.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:26:07.841Z,1761535567.841 [DAT](INFO): DAT read: 2025-10-27T03:26:07.844Z,1761535567.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:07.945Z,1761535567.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717897,-0.695355,-0.033246],[0.674059,-0.682389,-0.282823],[0.173976,-0.225447,0.958596]] 2025-10-27T03:26:08.012Z,1761535568.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.526912 s, deltaX: -2.000000 m, approachRate: -0.567068 m/s, rangeRepo size: 4 2025-10-27T03:26:08.014Z,1761535568.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.230900 m, bearing: 114.967363 deg, lat: 36.779311 deg, lon: -121.859554 deg, deltaT: 3.526912 s, deltaX: -1.992001 m, approachRate: -0.564800 m/s, posRepo size: 4 2025-10-27T03:26:08.019Z,1761535568.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.23 m. 2025-10-27T03:26:08.022Z,1761535568.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.230900 m, nav range: 38.208580 m, bearing: 115.244035 deg, approach rate: 0.000000 m/s, LOS rate: -0.284784 deg/s, cmd heading: 132.978770 deg, new cmd heading: 132.603415 deg. 2025-10-27T03:26:08.028Z,1761535568.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314366 target range: 41.230900 and range: 41.40 m. 2025-10-27T03:26:08.085Z,1761535568.085 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:08.336Z,1761535568.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:08.383Z,1761535568.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:08.385Z,1761535568.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.23 m. 2025-10-27T03:26:08.388Z,1761535568.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.230900 m, nav range: 37.964806 m, bearing: 115.121078 deg, approach rate: -0.652625 m/s, LOS rate: -0.331291 deg/s, cmd heading: 132.603410 deg, new cmd heading: 132.232175 deg. 2025-10-27T03:26:08.389Z,1761535568.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307887 target range: 41.230900 and range: 41.40 m. 2025-10-27T03:26:08.591Z,1761535568.591 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:08.760Z,1761535568.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707933,-0.705401,-0.035214],[0.684357,-0.672781,-0.281107],[0.174602,-0.223103,0.959030]] 2025-10-27T03:26:08.842Z,1761535568.842 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:08.897Z,1761535568.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.23 m. 2025-10-27T03:26:08.910Z,1761535568.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.230900 m, nav range: 37.662548 m, bearing: 114.973781 deg, approach rate: -0.590820 m/s, LOS rate: -0.290230 deg/s, cmd heading: 132.232175 deg, new cmd heading: 131.786748 deg. 2025-10-27T03:26:08.937Z,1761535568.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.300113 target range: 41.230900 and range: 41.40 m. 2025-10-27T03:26:09.092Z,1761535569.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:09.240Z,1761535569.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702854,-0.710446,-0.035523],[0.689509,-0.668164,-0.279523],[0.174851,-0.220958,0.959482]] 2025-10-27T03:26:09.309Z,1761535569.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.23 m. 2025-10-27T03:26:09.312Z,1761535569.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.230900 m, nav range: 37.400829 m, bearing: 114.851437 deg, approach rate: -0.635163 m/s, LOS rate: -0.298993 deg/s, cmd heading: 131.786752 deg, new cmd heading: 131.417157 deg. 2025-10-27T03:26:09.313Z,1761535569.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293662 target range: 41.230900 and range: 41.40 m. 2025-10-27T03:26:09.344Z,1761535569.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:09.596Z,1761535569.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:09.638Z,1761535569.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697934,-0.715183,-0.037429],[0.694432,-0.663057,-0.279498],[0.175075,-0.221064,0.959416]] 2025-10-27T03:26:09.673Z,1761535569.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.23 m. 2025-10-27T03:26:09.676Z,1761535569.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.230900 m, nav range: 37.188564 m, bearing: 114.753411 deg, approach rate: -0.583917 m/s, LOS rate: -0.271198 deg/s, cmd heading: 131.417156 deg, new cmd heading: 131.121402 deg. 2025-10-27T03:26:09.677Z,1761535569.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288500 target range: 41.230900 and range: 41.40 m. 2025-10-27T03:26:09.851Z,1761535569.851 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:10.041Z,1761535570.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692845,-0.720013,-0.039332],[0.699441,-0.657782,-0.279474],[0.175353,-0.221143,0.959347]] 2025-10-27T03:26:10.093Z,1761535570.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.23 m. 2025-10-27T03:26:10.097Z,1761535570.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.230900 m, nav range: 36.942642 m, bearing: 114.646772 deg, approach rate: -0.584695 m/s, LOS rate: -0.255228 deg/s, cmd heading: 131.121395 deg, new cmd heading: 130.799353 deg. 2025-10-27T03:26:10.097Z,1761535570.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282879 target range: 41.230900 and range: 41.40 m. 2025-10-27T03:26:10.100Z,1761535570.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:10.354Z,1761535570.354 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:10.449Z,1761535570.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687784,-0.724805,-0.040133],[0.704325,-0.652924,-0.278596],[0.175724,-0.219881,0.959569]] 2025-10-27T03:26:10.469Z,1761535570.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:10.471Z,1761535570.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.23 m. 2025-10-27T03:26:10.474Z,1761535570.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.230900 m, nav range: 36.730148 m, bearing: 114.556007 deg, approach rate: -0.562637 m/s, LOS rate: -0.241715 deg/s, cmd heading: 130.799352 deg, new cmd heading: 130.525485 deg. 2025-10-27T03:26:10.475Z,1761535570.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278100 target range: 41.230900 and range: 41.40 m. 2025-10-27T03:26:10.605Z,1761535570.605 [DAT](INFO): DAT read: Rx Time:03:26:11.4695 2025-10-27T03:26:10.607Z,1761535570.607 [DAT](INFO): Rx dataTimestamp_ set to:1761535570.606027 2025-10-27T03:26:10.609Z,1761535570.609 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:10.859Z,1761535570.859 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:10.917Z,1761535570.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683086,-0.729181,-0.041100],[0.708833,-0.648366,-0.277807],[0.175923,-0.218899,0.959757]] 2025-10-27T03:26:10.953Z,1761535570.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.23 m. 2025-10-27T03:26:10.956Z,1761535570.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.230900 m, nav range: 36.458412 m, bearing: 114.429013 deg, approach rate: -0.563830 m/s, LOS rate: -0.265465 deg/s, cmd heading: 130.525489 deg, new cmd heading: 130.141674 deg. 2025-10-27T03:26:10.957Z,1761535570.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.271401 target range: 41.230900 and range: 41.40 m. 2025-10-27T03:26:11.114Z,1761535571.114 [DAT](INFO): DAT read: 03:26:11.4695 LVL= 32752, 32753, 22002, 32755, AGC= 62, IDX= 406,-0.03,-0.524,-1.826, 0.475,-0.388, PHS=-0.033,-1.393, 0.819, RAW= 172.5, 6.3, CAL= 172.0, 5.7, ROT= 338.0, -5.7 2025-10-27T03:26:11.120Z,1761535571.120 [DAT](INFO): got valid direction response: 03:26:11.4695 LVL= 32752, 32753, 22002, 32755, AGC= 62, IDX= 406,-0.03,-0.524,-1.826, 0.475,-0.388, PHS=-0.033,-1.393, 0.819, RAW= 172.5, 6.3, CAL= 172.0, 5.7, ROT= 338.0, -5.7 2025-10-27T03:26:11.121Z,1761535571.121 [DAT](INFO): DAT read: Bearing 300.4, -12.4 (Local) 2025-10-27T03:26:11.121Z,1761535571.121 [DAT](INFO): Local bearing/azimuth received: Bearing 300.4, -12.4 (Local) 2025-10-27T03:26:11.123Z,1761535571.123 [DAT](INFO): DAT read: Range 11 to 50 : 39.3 m (Round-trip 52.5 ms) speed 0.5 m/s 2025-10-27T03:26:11.124Z,1761535571.124 [DAT](INFO): DAT read: user:341>Tx time:03:26:12.5628 2025-10-27T03:26:11.125Z,1761535571.125 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:26:11.126Z,1761535571.126 [DAT](INFO): direction in FSK: [0.922599,-0.372754,0.099320] 2025-10-27T03:26:11.126Z,1761535571.126 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:11.136Z,1761535571.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:11.137Z,1761535571.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:26:11.360Z,1761535571.360 [DAT](INFO): DAT read: 2025-10-27T03:26:11.360Z,1761535571.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:11.381Z,1761535571.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 3.528040 s, deltaX: -2.100002 m, approachRate: -0.595232 m/s, rangeRepo size: 4 2025-10-27T03:26:11.383Z,1761535571.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.139214 m, bearing: 112.664853 deg, lat: 36.779318 deg, lon: -121.859549 deg, deltaT: 3.528040 s, deltaX: -2.091686 m, approachRate: -0.592875 m/s, posRepo size: 4 2025-10-27T03:26:11.384Z,1761535571.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.14 m. 2025-10-27T03:26:11.386Z,1761535571.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.139214 m, nav range: 36.329418 m, bearing: 112.987200 deg, approach rate: 0.000000 m/s, LOS rate: -0.265465 deg/s, cmd heading: 130.141673 deg, new cmd heading: 129.801304 deg. 2025-10-27T03:26:11.387Z,1761535571.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265460 target range: 39.139214 and range: 39.30 m. 2025-10-27T03:26:11.612Z,1761535571.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:11.817Z,1761535571.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669384,-0.741587,-0.044428],[0.722134,-0.635447,-0.273368],[0.174494,-0.215071,0.960883]] 2025-10-27T03:26:11.845Z,1761535571.845 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T03:26:11.845Z,1761535571.845 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T03:26:11.845Z,1761535571.845 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T03:26:11.852Z,1761535571.852 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.299999 m (mode 2.000000 count ). 2025-10-27T03:26:11.852Z,1761535571.852 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T03:26:11.852Z,1761535571.852 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T03:26:11.854Z,1761535571.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.14 m. 2025-10-27T03:26:11.862Z,1761535571.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.139214 m, nav range: 36.071075 m, bearing: 112.861677 deg, approach rate: -0.544854 m/s, LOS rate: -0.266629 deg/s, cmd heading: 129.801297 deg, new cmd heading: 129.422037 deg. 2025-10-27T03:26:11.866Z,1761535571.866 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:11.873Z,1761535571.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258841 target range: 39.139214 and range: 39.30 m. 2025-10-27T03:26:12.116Z,1761535572.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:12.286Z,1761535572.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665100,-0.745384,-0.045220],[0.726485,-0.631847,-0.270166],[0.172805,-0.212540,0.961751]] 2025-10-27T03:26:12.340Z,1761535572.340 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T03:26:12.340Z,1761535572.340 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T03:26:12.342Z,1761535572.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.14 m. 2025-10-27T03:26:12.345Z,1761535572.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.139214 m, nav range: 35.775219 m, bearing: 112.715715 deg, approach rate: -0.606759 m/s, LOS rate: -0.301822 deg/s, cmd heading: 129.422031 deg, new cmd heading: 128.980533 deg. 2025-10-27T03:26:12.346Z,1761535572.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251135 target range: 39.139214 and range: 39.30 m. 2025-10-27T03:26:12.368Z,1761535572.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:12.620Z,1761535572.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:12.686Z,1761535572.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660616,-0.749221,-0.047471],[0.731139,-0.627745,-0.267155],[0.170359,-0.211195,0.962484]] 2025-10-27T03:26:12.732Z,1761535572.732 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T03:26:12.732Z,1761535572.732 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T03:26:12.733Z,1761535572.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:12.738Z,1761535572.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.14 m. 2025-10-27T03:26:12.744Z,1761535572.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.139214 m, nav range: 35.545746 m, bearing: 112.603433 deg, approach rate: -0.580925 m/s, LOS rate: -0.286082 deg/s, cmd heading: 128.980527 deg, new cmd heading: 128.641513 deg. 2025-10-27T03:26:12.745Z,1761535572.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245218 target range: 39.139214 and range: 39.30 m. 2025-10-27T03:26:12.876Z,1761535572.876 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:13.090Z,1761535573.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656441,-0.752642,-0.051130],[0.735586,-0.623585,-0.264677],[0.167324,-0.211356,0.962981]] 2025-10-27T03:26:13.128Z,1761535573.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:13.131Z,1761535573.131 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T03:26:13.132Z,1761535573.132 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T03:26:13.132Z,1761535573.132 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T03:26:13.132Z,1761535573.132 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T03:26:13.134Z,1761535573.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.14 m. 2025-10-27T03:26:13.138Z,1761535573.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.139214 m, nav range: 35.305225 m, bearing: 112.489114 deg, approach rate: -0.605877 m/s, LOS rate: -0.289936 deg/s, cmd heading: 128.641518 deg, new cmd heading: 128.296226 deg. 2025-10-27T03:26:13.139Z,1761535573.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239192 target range: 39.139214 and range: 39.30 m. 2025-10-27T03:26:13.380Z,1761535573.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:13.493Z,1761535573.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652258,-0.755974,-0.055333],[0.740028,-0.619297,-0.262354],[0.164065,-0.212070,0.963384]] 2025-10-27T03:26:13.523Z,1761535573.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.14 m. 2025-10-27T03:26:13.526Z,1761535573.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.139214 m, nav range: 35.068573 m, bearing: 112.377590 deg, approach rate: -0.608528 m/s, LOS rate: -0.288706 deg/s, cmd heading: 128.296224 deg, new cmd heading: 127.959401 deg. 2025-10-27T03:26:13.527Z,1761535573.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233313 target range: 39.139214 and range: 39.30 m. 2025-10-27T03:26:13.632Z,1761535573.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:13.884Z,1761535573.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:13.917Z,1761535573.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648177,-0.759161,-0.059518],[0.744371,-0.615188,-0.259721],[0.160556,-0.212649,0.963848]] 2025-10-27T03:26:13.997Z,1761535573.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.14 m. 2025-10-27T03:26:13.000Z,1761535574.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.139214 m, nav range: 34.786747 m, bearing: 112.248512 deg, approach rate: -0.594570 m/s, LOS rate: -0.274524 deg/s, cmd heading: 127.959400 deg, new cmd heading: 127.569033 deg. 2025-10-27T03:26:14.001Z,1761535574.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.226500 target range: 39.139214 and range: 39.30 m. 2025-10-27T03:26:14.136Z,1761535574.136 [DAT](INFO): DAT read: Rx Time:03:26:15.0165 2025-10-27T03:26:14.137Z,1761535574.137 [DAT](INFO): Rx dataTimestamp_ set to:1761535574.136375 2025-10-27T03:26:14.137Z,1761535574.137 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:14.324Z,1761535574.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644336,-0.762220,-0.062064],[0.748402,-0.611802,-0.256110],[0.157241,-0.211470,0.964653]] 2025-10-27T03:26:14.358Z,1761535574.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.14 m. 2025-10-27T03:26:14.365Z,1761535574.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.139214 m, nav range: 34.575844 m, bearing: 112.152616 deg, approach rate: -0.583195 m/s, LOS rate: -0.266792 deg/s, cmd heading: 127.569028 deg, new cmd heading: 127.279587 deg. 2025-10-27T03:26:14.366Z,1761535574.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221448 target range: 39.139214 and range: 39.30 m. 2025-10-27T03:26:14.388Z,1761535574.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:14.649Z,1761535574.649 [DAT](INFO): DAT read: 03:26:15.0165 LVL= 32752, 32753, 27986, 32755, AGC= 65, IDX= 408,-0.34,-1.393,-2.689,-0.424,-1.243, PHS=-0.048,-1.401, 0.775, RAW= 172.0, 7.1, CAL= 171.6, 6.9, ROT= 338.4, -6.9 2025-10-27T03:26:14.650Z,1761535574.650 [DAT](INFO): got valid direction response: 03:26:15.0165 LVL= 32752, 32753, 27986, 32755, AGC= 65, IDX= 408,-0.34,-1.393,-2.689,-0.424,-1.243, PHS=-0.048,-1.401, 0.775, RAW= 172.0, 7.1, CAL= 171.6, 6.9, ROT= 338.4, -6.9 2025-10-27T03:26:14.653Z,1761535574.653 [DAT](INFO): DAT read: Bearing 298.0, -13.0 (Local) 2025-10-27T03:26:14.653Z,1761535574.653 [DAT](INFO): Local bearing/azimuth received: Bearing 298.0, -13.0 (Local) 2025-10-27T03:26:14.654Z,1761535574.654 [DAT](INFO): DAT read: Range 11 to 50 : 37.1 m (Round-trip 49.5 ms) speed 0.5 m/s 2025-10-27T03:26:14.656Z,1761535574.656 [DAT](INFO): DAT read: user:342>Tx time:03:26:16.1128 2025-10-27T03:26:14.656Z,1761535574.656 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:26:14.657Z,1761535574.657 [DAT](INFO): direction in FSK: [0.923042,-0.365458,0.120137] 2025-10-27T03:26:14.657Z,1761535574.657 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:14.676Z,1761535574.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:14.676Z,1761535574.676 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:26:14.749Z,1761535574.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640410,-0.765331,-0.064373],[0.752462,-0.608426,-0.252228],[0.153871,-0.209967,0.965524]] 2025-10-27T03:26:14.821Z,1761535574.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.099998 m, deltaT: 3.532776 s, deltaX: -2.200001 m, approachRate: -0.622740 m/s, rangeRepo size: 4 2025-10-27T03:26:14.838Z,1761535574.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.948311 m, bearing: 109.797964 deg, lat: 36.779318 deg, lon: -121.859543 deg, deltaT: 3.532776 s, deltaX: -2.190903 m, approachRate: -0.620165 m/s, posRepo size: 4 2025-10-27T03:26:14.843Z,1761535574.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:14.846Z,1761535574.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 34.768230 m, bearing: 111.561584 deg, approach rate: 0.000000 m/s, LOS rate: -0.266792 deg/s, cmd heading: 127.279592 deg, new cmd heading: 126.910033 deg. 2025-10-27T03:26:14.847Z,1761535574.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214998 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:14.893Z,1761535574.893 [DAT](INFO): DAT read: 2025-10-27T03:26:14.896Z,1761535574.896 [DAT](INFO): DAT read: Tx time:03:26:16.3128 2025-10-27T03:26:14.897Z,1761535574.897 [DAT](INFO): Ping request sent. 2025-10-27T03:26:14.897Z,1761535574.897 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:26:14.898Z,1761535574.898 [DAT](INFO): publishing transmit ping time 2025-10-27T03:26:14.902Z,1761535574.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004596 2025-10-27T03:26:15.144Z,1761535575.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246951 2025-10-27T03:26:15.218Z,1761535575.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:15.220Z,1761535575.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:15.223Z,1761535575.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 34.514915 m, bearing: 111.441854 deg, approach rate: -0.633455 m/s, LOS rate: -0.301601 deg/s, cmd heading: 126.910037 deg, new cmd heading: 126.548217 deg. 2025-10-27T03:26:15.224Z,1761535575.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208683 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:15.396Z,1761535575.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499132 2025-10-27T03:26:15.567Z,1761535575.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632073,-0.771813,-0.069189],[0.760773,-0.601088,-0.244782],[0.147337,-0.207357,0.967106]] 2025-10-27T03:26:15.594Z,1761535575.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:15.597Z,1761535575.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 34.290619 m, bearing: 111.339144 deg, approach rate: -0.600200 m/s, LOS rate: -0.276643 deg/s, cmd heading: 126.548215 deg, new cmd heading: 126.238071 deg. 2025-10-27T03:26:15.598Z,1761535575.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203270 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:15.649Z,1761535575.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751809 2025-10-27T03:26:15.900Z,1761535575.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002866 2025-10-27T03:26:16.055Z,1761535576.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:16.058Z,1761535576.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 34.013763 m, bearing: 111.212816 deg, approach rate: -0.600712 m/s, LOS rate: -0.276333 deg/s, cmd heading: 126.238070 deg, new cmd heading: 125.856007 deg. 2025-10-27T03:26:16.058Z,1761535576.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196602 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:16.152Z,1761535576.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255020 2025-10-27T03:26:16.379Z,1761535576.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623016,-0.778633,-0.074709],[0.769417,-0.592822,-0.237823],[0.140888,-0.205650,0.968431]] 2025-10-27T03:26:16.398Z,1761535576.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:16.402Z,1761535576.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 33.807152 m, bearing: 111.121884 deg, approach rate: -0.601866 m/s, LOS rate: -0.266505 deg/s, cmd heading: 125.856003 deg, new cmd heading: 125.581544 deg. 2025-10-27T03:26:16.402Z,1761535576.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191811 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:16.404Z,1761535576.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507059 2025-10-27T03:26:16.656Z,1761535576.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758861 2025-10-27T03:26:16.782Z,1761535576.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618156,-0.782322,-0.076516],[0.773910,-0.588669,-0.233521],[0.137646,-0.203569,0.969337]] 2025-10-27T03:26:16.805Z,1761535576.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:16.808Z,1761535576.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 33.563797 m, bearing: 111.016289 deg, approach rate: -0.598114 m/s, LOS rate: -0.261413 deg/s, cmd heading: 125.581538 deg, new cmd heading: 125.262459 deg. 2025-10-27T03:26:16.809Z,1761535576.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186242 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:16.912Z,1761535576.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015385 2025-10-27T03:26:17.164Z,1761535577.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266926 2025-10-27T03:26:17.188Z,1761535577.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612974,-0.786091,-0.079524],[0.778608,-0.583881,-0.229896],[0.134287,-0.202838,0.969961]] 2025-10-27T03:26:17.223Z,1761535577.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:17.225Z,1761535577.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:17.248Z,1761535577.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 33.309246 m, bearing: 110.912031 deg, approach rate: -0.605340 m/s, LOS rate: -0.249829 deg/s, cmd heading: 125.262459 deg, new cmd heading: 124.947297 deg. 2025-10-27T03:26:17.249Z,1761535577.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.180742 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:17.418Z,1761535577.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520691 2025-10-27T03:26:17.585Z,1761535577.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607733,-0.789819,-0.082745],[0.783253,-0.578942,-0.226586],[0.131057,-0.202514,0.970470]] 2025-10-27T03:26:17.616Z,1761535577.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:17.618Z,1761535577.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 33.081944 m, bearing: 110.820461 deg, approach rate: -0.582100 m/s, LOS rate: -0.236111 deg/s, cmd heading: 124.947301 deg, new cmd heading: 124.670708 deg. 2025-10-27T03:26:17.620Z,1761535577.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.175914 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:17.669Z,1761535577.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772203 2025-10-27T03:26:17.920Z,1761535577.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022963 2025-10-27T03:26:18.028Z,1761535578.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602073,-0.793716,-0.086731],[0.788135,-0.573388,-0.223764],[0.127874,-0.203078,0.970777]] 2025-10-27T03:26:18.066Z,1761535578.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:18.069Z,1761535578.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 32.802841 m, bearing: 110.705547 deg, approach rate: -0.619491 m/s, LOS rate: -0.257232 deg/s, cmd heading: 124.670705 deg, new cmd heading: 124.323034 deg. 2025-10-27T03:26:18.070Z,1761535578.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.169846 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:18.172Z,1761535578.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274868 2025-10-27T03:26:18.424Z,1761535578.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526905 2025-10-27T03:26:18.568Z,1761535578.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596887,-0.797148,-0.090994],[0.792548,-0.568158,-0.221506],[0.124875,-0.204331,0.970904]] 2025-10-27T03:26:18.586Z,1761535578.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:18.589Z,1761535578.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 32.485909 m, bearing: 110.576582 deg, approach rate: -0.609353 m/s, LOS rate: -0.250375 deg/s, cmd heading: 124.323035 deg, new cmd heading: 123.932371 deg. 2025-10-27T03:26:18.590Z,1761535578.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163028 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:18.677Z,1761535578.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779868 2025-10-27T03:26:18.928Z,1761535578.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030870 2025-10-27T03:26:19.010Z,1761535579.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591489,-0.800667,-0.095256],[0.797045,-0.562735,-0.219201],[0.121903,-0.205579,0.971018]] 2025-10-27T03:26:19.060Z,1761535579.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:19.063Z,1761535579.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 32.200520 m, bearing: 110.460938 deg, approach rate: -0.602548 m/s, LOS rate: -0.246325 deg/s, cmd heading: 123.932375 deg, new cmd heading: 123.582374 deg. 2025-10-27T03:26:19.064Z,1761535579.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156919 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:19.180Z,1761535579.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282900 2025-10-27T03:26:19.433Z,1761535579.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535922 2025-10-27T03:26:19.526Z,1761535579.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:19.529Z,1761535579.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:19.531Z,1761535579.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 31.918427 m, bearing: 110.344543 deg, approach rate: -0.602134 m/s, LOS rate: -0.250644 deg/s, cmd heading: 123.582369 deg, new cmd heading: 123.230102 deg. 2025-10-27T03:26:19.532Z,1761535579.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150771 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:19.684Z,1761535579.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786821 2025-10-27T03:26:19.891Z,1761535579.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575138,-0.811179,-0.105853],[0.810031,-0.546628,-0.212243],[0.114305,-0.207814,0.971467]] 2025-10-27T03:26:19.910Z,1761535579.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:19.913Z,1761535579.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 31.687008 m, bearing: 110.256598 deg, approach rate: -0.606306 m/s, LOS rate: -0.232095 deg/s, cmd heading: 123.230095 deg, new cmd heading: 122.964335 deg. 2025-10-27T03:26:19.914Z,1761535579.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.146132 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:19.949Z,1761535579.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.052279 2025-10-27T03:26:20.200Z,1761535580.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302916 2025-10-27T03:26:20.293Z,1761535580.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570193,-0.814361,-0.108153],[0.813767,-0.541867,-0.210150],[0.112533,-0.207837,0.971669]] 2025-10-27T03:26:20.385Z,1761535580.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:20.392Z,1761535580.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 31.401241 m, bearing: 110.157369 deg, approach rate: -0.602525 m/s, LOS rate: -0.211122 deg/s, cmd heading: 122.964333 deg, new cmd heading: 122.663941 deg. 2025-10-27T03:26:20.393Z,1761535580.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140890 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:20.453Z,1761535580.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.555956 2025-10-27T03:26:20.705Z,1761535580.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807497 2025-10-27T03:26:20.717Z,1761535580.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565165,-0.817572,-0.110295],[0.817538,-0.537124,-0.207677],[0.110548,-0.207542,0.971959]] 2025-10-27T03:26:20.773Z,1761535580.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:20.780Z,1761535580.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 31.162310 m, bearing: 110.075858 deg, approach rate: -0.615438 m/s, LOS rate: -0.211566 deg/s, cmd heading: 122.663941 deg, new cmd heading: 122.417534 deg. 2025-10-27T03:26:20.781Z,1761535580.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136589 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:20.956Z,1761535580.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058949 2025-10-27T03:26:21.176Z,1761535581.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:21.179Z,1761535581.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 30.900023 m, bearing: 109.981865 deg, approach rate: -0.649845 m/s, LOS rate: -0.234854 deg/s, cmd heading: 122.417535 deg, new cmd heading: 122.133166 deg. 2025-10-27T03:26:21.180Z,1761535581.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.131626 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:21.212Z,1761535581.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.315188 2025-10-27T03:26:21.464Z,1761535581.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566873 2025-10-27T03:26:21.548Z,1761535581.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556970,-0.822361,-0.116221],[0.823577,-0.528800,-0.205161],[0.107259,-0.209985,0.971803]] 2025-10-27T03:26:21.565Z,1761535581.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:21.567Z,1761535581.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:21.570Z,1761535581.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 30.650833 m, bearing: 109.895867 deg, approach rate: -0.638101 m/s, LOS rate: -0.222006 deg/s, cmd heading: 122.133167 deg, new cmd heading: 121.873078 deg. 2025-10-27T03:26:21.571Z,1761535581.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.127086 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:21.719Z,1761535581.719 [DAT](INFO): DAT read: Response Not Received 2025-10-27T03:26:21.720Z,1761535581.720 [DAT](INFO): response not received 2025-10-27T03:26:21.721Z,1761535581.721 [DAT](ERROR): No response from remote modem. 2025-10-27T03:26:21.722Z,1761535581.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.824256 2025-10-27T03:26:21.951Z,1761535581.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553262,-0.824741,-0.117061],[0.826294,-0.525553,-0.202562],[0.105539,-0.208797,0.972248]] 2025-10-27T03:26:21.968Z,1761535581.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.070818 2025-10-27T03:26:21.987Z,1761535581.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:21.990Z,1761535581.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 30.381945 m, bearing: 109.803929 deg, approach rate: -0.639909 m/s, LOS rate: -0.220732 deg/s, cmd heading: 121.873073 deg, new cmd heading: 121.594822 deg. 2025-10-27T03:26:21.991Z,1761535581.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122230 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:22.223Z,1761535582.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.325648 2025-10-27T03:26:22.361Z,1761535582.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549901,-0.827224,-0.115363],[0.828726,-0.523187,-0.198718],[0.104028,-0.204879,0.973243]] 2025-10-27T03:26:22.414Z,1761535582.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:22.417Z,1761535582.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 30.098475 m, bearing: 109.712098 deg, approach rate: -0.664159 m/s, LOS rate: -0.217184 deg/s, cmd heading: 121.594825 deg, new cmd heading: 121.316737 deg. 2025-10-27T03:26:22.418Z,1761535582.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117377 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:22.473Z,1761535582.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575702 2025-10-27T03:26:22.725Z,1761535582.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.828137 2025-10-27T03:26:22.769Z,1761535582.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546920,-0.829306,-0.114587],[0.830884,-0.520934,-0.195600],[0.102521,-0.202186,0.973966]] 2025-10-27T03:26:22.788Z,1761535582.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:22.791Z,1761535582.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 29.849438 m, bearing: 109.631885 deg, approach rate: -0.665132 m/s, LOS rate: -0.216021 deg/s, cmd heading: 121.316741 deg, new cmd heading: 121.074097 deg. 2025-10-27T03:26:22.792Z,1761535582.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113142 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:22.976Z,1761535582.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079208 2025-10-27T03:26:23.166Z,1761535583.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544123,-0.831204,-0.114151],[0.832856,-0.518670,-0.193216],[0.101395,-0.200204,0.974493]] 2025-10-27T03:26:23.221Z,1761535583.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:23.229Z,1761535583.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.332015 2025-10-27T03:26:23.230Z,1761535583.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 29.564297 m, bearing: 109.536817 deg, approach rate: -0.659755 m/s, LOS rate: -0.222088 deg/s, cmd heading: 121.074092 deg, new cmd heading: 120.786140 deg. 2025-10-27T03:26:23.232Z,1761535583.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108116 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:23.480Z,1761535583.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.583395 2025-10-27T03:26:23.584Z,1761535583.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541670,-0.832589,-0.115709],[0.834589,-0.516264,-0.192177],[0.100268,-0.200667,0.974515]] 2025-10-27T03:26:23.601Z,1761535583.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:23.603Z,1761535583.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:23.606Z,1761535583.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 29.308674 m, bearing: 109.451525 deg, approach rate: -0.668874 m/s, LOS rate: -0.225127 deg/s, cmd heading: 120.786144 deg, new cmd heading: 120.528037 deg. 2025-10-27T03:26:23.606Z,1761535583.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103611 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:23.733Z,1761535583.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.836027 2025-10-27T03:26:23.984Z,1761535583.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.086844 2025-10-27T03:26:23.988Z,1761535583.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539046,-0.834189,-0.116445],[0.836417,-0.513876,-0.190627],[0.099181,-0.200153,0.974732]] 2025-10-27T03:26:24.022Z,1761535584.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:24.036Z,1761535584.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 29.040401 m, bearing: 109.362137 deg, approach rate: -0.640151 m/s, LOS rate: -0.215267 deg/s, cmd heading: 120.528032 deg, new cmd heading: 120.257393 deg. 2025-10-27T03:26:24.037Z,1761535584.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098887 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:24.241Z,1761535584.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.343707 2025-10-27T03:26:24.427Z,1761535584.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536474,-0.835863,-0.116312],[0.838181,-0.511701,-0.188719],[0.098226,-0.198733,0.975119]] 2025-10-27T03:26:24.470Z,1761535584.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:24.473Z,1761535584.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 28.729633 m, bearing: 109.257143 deg, approach rate: -0.693885 m/s, LOS rate: -0.236965 deg/s, cmd heading: 120.257392 deg, new cmd heading: 119.939008 deg. 2025-10-27T03:26:24.473Z,1761535584.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093331 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:24.488Z,1761535584.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590953 2025-10-27T03:26:24.741Z,1761535584.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843759 2025-10-27T03:26:24.821Z,1761535584.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533889,-0.837594,-0.115751],[0.839929,-0.509581,-0.186671],[0.097370,-0.196884,0.975580]] 2025-10-27T03:26:24.850Z,1761535584.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:24.853Z,1761535584.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 28.474798 m, bearing: 109.171011 deg, approach rate: -0.670347 m/s, LOS rate: -0.228601 deg/s, cmd heading: 119.939010 deg, new cmd heading: 119.678301 deg. 2025-10-27T03:26:24.854Z,1761535584.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088780 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:24.992Z,1761535584.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:26:24.992Z,1761535584.992 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:26:25.247Z,1761535585.247 [DAT](INFO): DAT read: user:343> 2025-10-27T03:26:25.248Z,1761535585.248 [DAT](INFO): DAT read: Tx time:03:26:26.6127 2025-10-27T03:26:25.249Z,1761535585.249 [DAT](INFO): Ping request sent. 2025-10-27T03:26:25.249Z,1761535585.249 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:26:25.249Z,1761535585.249 [DAT](INFO): publishing transmit ping time 2025-10-27T03:26:25.250Z,1761535585.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001297 2025-10-27T03:26:25.283Z,1761535585.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530835,-0.839583,-0.115385],[0.841966,-0.506974,-0.184584],[0.096477,-0.195134,0.976020]] 2025-10-27T03:26:25.406Z,1761535585.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:25.413Z,1761535585.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 28.110142 m, bearing: 109.045038 deg, approach rate: -0.658981 m/s, LOS rate: -0.230602 deg/s, cmd heading: 119.678301 deg, new cmd heading: 119.295487 deg. 2025-10-27T03:26:25.414Z,1761535585.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082099 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:25.496Z,1761535585.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247012 2025-10-27T03:26:25.748Z,1761535585.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499020 2025-10-27T03:26:25.861Z,1761535585.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524119,-0.843375,-0.118393],[0.846332,-0.500290,-0.182844],[0.094975,-0.196032,0.975987]] 2025-10-27T03:26:25.881Z,1761535585.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:25.883Z,1761535585.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:25.886Z,1761535585.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 27.782587 m, bearing: 108.934581 deg, approach rate: -0.682949 m/s, LOS rate: -0.233018 deg/s, cmd heading: 119.295483 deg, new cmd heading: 118.960208 deg. 2025-10-27T03:26:25.887Z,1761535585.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.076247 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:26.000Z,1761535586.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751199 2025-10-27T03:26:26.253Z,1761535586.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003711 2025-10-27T03:26:26.336Z,1761535586.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520148,-0.845533,-0.120499],[0.848836,-0.496181,-0.182432],[0.094463,-0.197176,0.975806]] 2025-10-27T03:26:26.400Z,1761535586.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:26.407Z,1761535586.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 27.442190 m, bearing: 108.820812 deg, approach rate: -0.657640 m/s, LOS rate: -0.222525 deg/s, cmd heading: 118.960203 deg, new cmd heading: 118.614668 deg. 2025-10-27T03:26:26.408Z,1761535586.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070216 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:26.504Z,1761535586.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255371 2025-10-27T03:26:26.750Z,1761535586.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516141,-0.847709,-0.122423],[0.851309,-0.492025,-0.182164],[0.094187,-0.198243,0.975617]] 2025-10-27T03:26:26.756Z,1761535586.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507039 2025-10-27T03:26:26.769Z,1761535586.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:26.772Z,1761535586.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 27.190111 m, bearing: 108.737260 deg, approach rate: -0.683060 m/s, LOS rate: -0.228500 deg/s, cmd heading: 118.614663 deg, new cmd heading: 118.361686 deg. 2025-10-27T03:26:26.773Z,1761535586.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065801 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:27.009Z,1761535587.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760219 2025-10-27T03:26:27.149Z,1761535587.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512488,-0.849661,-0.124230],[0.853484,-0.488105,-0.182536],[0.094456,-0.199576,0.975319]] 2025-10-27T03:26:27.195Z,1761535587.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:27.198Z,1761535587.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 26.910711 m, bearing: 108.642531 deg, approach rate: -0.656315 m/s, LOS rate: -0.224830 deg/s, cmd heading: 118.361687 deg, new cmd heading: 118.074552 deg. 2025-10-27T03:26:27.200Z,1761535587.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060790 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:27.261Z,1761535587.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011467 2025-10-27T03:26:27.512Z,1761535587.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262952 2025-10-27T03:26:27.546Z,1761535587.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508471,-0.851792,-0.126128],[0.855844,-0.483802,-0.182936],[0.094803,-0.200964,0.975001]] 2025-10-27T03:26:27.581Z,1761535587.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:26:27.588Z,1761535587.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.948311 m, nav range: 26.667492 m, bearing: 108.560914 deg, approach rate: -0.630641 m/s, LOS rate: -0.213553 deg/s, cmd heading: 118.074546 deg, new cmd heading: 117.827464 deg. 2025-10-27T03:26:27.595Z,1761535587.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056477 target range: 36.948311 and range: 37.10 m. 2025-10-27T03:26:27.766Z,1761535587.766 [DAT](INFO): DAT read: Rx Time:03:26:28.7804 2025-10-27T03:26:27.766Z,1761535587.766 [DAT](INFO): Rx dataTimestamp_ set to:1761535587.766100 2025-10-27T03:26:27.769Z,1761535587.769 [DAT](INFO): DAT read: Bearing 287.9, -18.8 (Local) 2025-10-27T03:26:27.769Z,1761535587.769 [DAT](INFO): Local bearing/azimuth received: Bearing 287.9, -18.8 (Local) 2025-10-27T03:26:27.772Z,1761535587.772 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.6 2025-10-27T03:26:27.777Z,1761535587.777 [DAT](INFO): DAT read: 03:26:28.7804 LVL= 32752, 32753, 19106, 32755, AGC= 68, IDX= 37,-0.12, 0.532,-0.788, 1.592, 0.745, PHS=-0.111,-1.488, 0.803, RAW= 173.4, 8.0, CAL= 173.1, 8.3, ROT= 336.9, -8.3 2025-10-27T03:26:27.778Z,1761535587.778 [DAT](INFO): got valid direction response: 03:26:28.7804 LVL= 32752, 32753, 19106, 32755, AGC= 68, IDX= 37,-0.12, 0.532,-0.788, 1.592, 0.745, PHS=-0.111,-1.488, 0.803, RAW= 173.4, 8.0, CAL= 173.1, 8.3, ROT= 336.9, -8.3 2025-10-27T03:26:27.778Z,1761535587.778 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:26:27.779Z,1761535587.779 [DAT](INFO): direction in FSK: [0.910187,-0.388228,0.144356] 2025-10-27T03:26:27.780Z,1761535587.780 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:27.787Z,1761535587.787 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.538280 2025-10-27T03:26:27.987Z,1761535587.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504110,-0.854128,-0.127827],[0.858409,-0.479273,-0.182843],[0.094907,-0.201901,0.974797]] 2025-10-27T03:26:28.016Z,1761535588.016 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.767042 2025-10-27T03:26:28.022Z,1761535588.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 13.125821 s, deltaX: -8.099998 m, approachRate: -0.617104 m/s, rangeRepo size: 4 2025-10-27T03:26:28.024Z,1761535588.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.881689 m, bearing: 98.801074 deg, lat: 36.779318 deg, lon: -121.859543 deg, deltaT: 13.125821 s, deltaX: -8.066622 m, approachRate: -0.614561 m/s, posRepo size: 4 2025-10-27T03:26:28.025Z,1761535588.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.88 m. 2025-10-27T03:26:28.027Z,1761535588.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.881689 m, nav range: 26.370516 m, bearing: 108.462531 deg, approach rate: 0.000000 m/s, LOS rate: -0.213553 deg/s, cmd heading: 117.827470 deg, new cmd heading: 117.545419 deg. 2025-10-27T03:26:28.028Z,1761535588.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051555 target range: 28.881689 and range: 29.00 m. 2025-10-27T03:26:28.269Z,1761535588.269 [DAT](INFO): DAT read: Rx Time:03:26:29.2801 2025-10-27T03:26:28.269Z,1761535588.269 [DAT](INFO): Rx dataTimestamp_ set to:1761535588.268790 2025-10-27T03:26:28.270Z,1761535588.270 [DAT](INFO): DAT read: Bearing 289.6, -19.8 (Local) 2025-10-27T03:26:28.271Z,1761535588.271 [DAT](INFO): Local bearing/azimuth received: Bearing 289.6, -19.8 (Local) 2025-10-27T03:26:28.273Z,1761535588.273 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.7 2025-10-27T03:26:28.277Z,1761535588.277 [DAT](INFO): DAT read: 03:26:29.2801 LVL= 32752, 32753, 21170, 32755, AGC= 66, IDX= 498,-0.17,-0.480,-1.812, 0.619,-0.204, PHS=-0.174,-1.563, 0.779, RAW= 173.9, 9.4, CAL= 173.7, 10.4, ROT= 336.3, -10.4 2025-10-27T03:26:28.278Z,1761535588.278 [DAT](INFO): got valid direction response: 03:26:29.2801 LVL= 32752, 32753, 21170, 32755, AGC= 66, IDX= 498,-0.17,-0.480,-1.812, 0.619,-0.204, PHS=-0.174,-1.563, 0.779, RAW= 173.9, 9.4, CAL= 173.7, 10.4, ROT= 336.3, -10.4 2025-10-27T03:26:28.279Z,1761535588.279 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T03:26:28.280Z,1761535588.280 [DAT](INFO): direction in FSK: [0.900620,-0.395345,0.180519] 2025-10-27T03:26:28.280Z,1761535588.280 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:28.291Z,1761535588.291 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.041554 2025-10-27T03:26:28.398Z,1761535588.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499889,-0.856520,-0.128390],[0.860815,-0.475020,-0.182630],[0.095438,-0.201815,0.974763]] 2025-10-27T03:26:28.495Z,1761535588.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.502690 s, deltaX: -0.500000 m, approachRate: -0.994649 m/s, rangeRepo size: 4 2025-10-27T03:26:28.497Z,1761535588.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.383776 m, bearing: 98.244499 deg, lat: 36.779327 deg, lon: -121.859538 deg, deltaT: 0.502690 s, deltaX: -0.497913 m, approachRate: -0.990498 m/s, posRepo size: 4 2025-10-27T03:26:28.498Z,1761535588.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m. 2025-10-27T03:26:28.504Z,1761535588.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.383776 m, nav range: 26.188372 m, bearing: 106.036891 deg, approach rate: 0.000000 m/s, LOS rate: -0.213553 deg/s, cmd heading: 117.545425 deg, new cmd heading: 117.244940 deg. 2025-10-27T03:26:28.505Z,1761535588.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046310 target range: 28.383776 and range: 28.50 m. 2025-10-27T03:26:28.520Z,1761535588.520 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.271086 2025-10-27T03:26:28.772Z,1761535588.772 [DAT](INFO): DAT read: Rx Time:03:26:29.7798 2025-10-27T03:26:28.773Z,1761535588.773 [DAT](INFO): Rx dataTimestamp_ set to:1761535588.772656 2025-10-27T03:26:28.774Z,1761535588.774 [DAT](INFO): DAT read: Bearing 289.5, -19.8 (Local) 2025-10-27T03:26:28.775Z,1761535588.775 [DAT](INFO): Local bearing/azimuth received: Bearing 289.5, -19.8 (Local) 2025-10-27T03:26:28.777Z,1761535588.777 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.5 2025-10-27T03:26:28.781Z,1761535588.781 [DAT](INFO): DAT read: 03:26:29.7798 LVL= 32752, 32753, 23826, 32755, AGC= 66, IDX= 495,-0.21,-1.502,-2.820,-0.416,-1.219, PHS=-0.181,-1.555, 0.760, RAW= 173.8, 9.7, CAL= 173.7, 10.9, ROT= 336.3, -10.9 2025-10-27T03:26:28.782Z,1761535588.782 [DAT](INFO): got valid direction response: 03:26:29.7798 LVL= 32752, 32753, 23826, 32755, AGC= 66, IDX= 495,-0.21,-1.502,-2.820,-0.416,-1.219, PHS=-0.181,-1.555, 0.760, RAW= 173.8, 9.7, CAL= 173.7, 10.9, ROT= 336.3, -10.9 2025-10-27T03:26:28.783Z,1761535588.783 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T03:26:28.784Z,1761535588.784 [DAT](INFO): direction in FSK: [0.899143,-0.394696,0.189095] 2025-10-27T03:26:28.784Z,1761535588.784 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:28.788Z,1761535588.788 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.538784 2025-10-27T03:26:28.923Z,1761535588.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.503866 s, deltaX: -0.400000 m, approachRate: -0.793861 m/s, rangeRepo size: 4 2025-10-27T03:26:28.925Z,1761535588.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.985407 m, bearing: 98.327657 deg, lat: 36.779356 deg, lon: -121.859527 deg, deltaT: 0.503866 s, deltaX: -0.398369 m, approachRate: -0.790625 m/s, posRepo size: 4 2025-10-27T03:26:28.926Z,1761535588.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.99 m. 2025-10-27T03:26:28.930Z,1761535588.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.985407 m, nav range: 26.240318 m, bearing: 98.661137 deg, approach rate: 0.000000 m/s, LOS rate: -0.213553 deg/s, cmd heading: 117.244937 deg, new cmd heading: 116.970521 deg. 2025-10-27T03:26:28.940Z,1761535588.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.041521 target range: 27.985407 and range: 28.10 m. 2025-10-27T03:26:29.028Z,1761535589.028 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778592 2025-10-27T03:26:29.264Z,1761535589.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491979,-0.860699,-0.130974],[0.865203,-0.466625,-0.183531],[0.096849,-0.203612,0.974250]] 2025-10-27T03:26:29.277Z,1761535589.277 [DAT](INFO): DAT read: Rx Time:03:26:30.2798 2025-10-27T03:26:29.277Z,1761535589.277 [DAT](INFO): Rx dataTimestamp_ set to:1761535589.276810 2025-10-27T03:26:29.278Z,1761535589.278 [DAT](INFO): DAT read: Bearing 288.7, -20.1 (Local) 2025-10-27T03:26:29.279Z,1761535589.279 [DAT](INFO): Local bearing/azimuth received: Bearing 288.7, -20.1 (Local) 2025-10-27T03:26:29.281Z,1761535589.281 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.7 2025-10-27T03:26:29.285Z,1761535589.285 [DAT](INFO): DAT read: 03:26:30.2798 LVL= 32752, 32753, 22770, 32755, AGC= 66, IDX= 510,-0.25,-0.170,-1.495, 0.946, 0.120, PHS=-0.188,-1.570, 0.782, RAW= 174.2, 9.6, CAL= 174.1, 10.7, ROT= 335.9, -10.7 2025-10-27T03:26:29.287Z,1761535589.287 [DAT](INFO): got valid direction response: 03:26:30.2798 LVL= 32752, 32753, 22770, 32755, AGC= 66, IDX= 510,-0.25,-0.170,-1.495, 0.946, 0.120, PHS=-0.188,-1.570, 0.782, RAW= 174.2, 9.6, CAL= 174.1, 10.7, ROT= 335.9, -10.7 2025-10-27T03:26:29.287Z,1761535589.287 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T03:26:29.288Z,1761535589.288 [DAT](INFO): direction in FSK: [0.896962,-0.401231,0.185667] 2025-10-27T03:26:29.288Z,1761535589.288 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:29.296Z,1761535589.296 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047064 2025-10-27T03:26:29.415Z,1761535589.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.504154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:26:29.417Z,1761535589.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.985273 m, bearing: 97.374680 deg, lat: 36.779357 deg, lon: -121.859524 deg, deltaT: 0.504154 s, deltaX: -0.000134 m, approachRate: -0.000265 m/s, posRepo size: 4 2025-10-27T03:26:29.418Z,1761535589.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.99 m. 2025-10-27T03:26:29.432Z,1761535589.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.985273 m, nav range: 26.154882 m, bearing: 98.077536 deg, approach rate: 0.000000 m/s, LOS rate: -0.213553 deg/s, cmd heading: 116.970528 deg, new cmd heading: 116.655245 deg. 2025-10-27T03:26:29.433Z,1761535589.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.036018 target range: 27.985273 and range: 28.10 m. 2025-10-27T03:26:29.529Z,1761535589.529 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.279700 2025-10-27T03:26:29.754Z,1761535589.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488294,-0.862777,-0.131089],[0.867180,-0.462873,-0.183707],[0.097821,-0.203381,0.974201]] 2025-10-27T03:26:29.772Z,1761535589.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:29.774Z,1761535589.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.99 m. 2025-10-27T03:26:29.781Z,1761535589.781 [DAT](INFO): DAT read: Rx Time:03:26:30.7795 2025-10-27T03:26:29.781Z,1761535589.781 [DAT](INFO): Rx dataTimestamp_ set to:1761535589.780719 2025-10-27T03:26:29.782Z,1761535589.782 [DAT](INFO): DAT read: Bearing 286.5, -20.5 (Local) 2025-10-27T03:26:29.783Z,1761535589.783 [DAT](INFO): Local bearing/azimuth received: Bearing 286.5, -20.5 (Local) 2025-10-27T03:26:29.785Z,1761535589.785 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.5 2025-10-27T03:26:29.790Z,1761535589.790 [DAT](INFO): DAT read: 03:26:30.7795 LVL= 32752, 32753, 21330, 32755, AGC= 65, IDX= 507,-0.28,-1.877, 3.095,-0.717,-1.598, PHS=-0.176,-1.545, 0.837, RAW= 175.1, 8.6, CAL= 174.9, 9.1, ROT= 335.1, -9.1 2025-10-27T03:26:29.791Z,1761535589.791 [DAT](INFO): got valid direction response: 03:26:30.7795 LVL= 32752, 32753, 21330, 32755, AGC= 65, IDX= 507,-0.28,-1.877, 3.095,-0.717,-1.598, PHS=-0.176,-1.545, 0.837, RAW= 175.1, 8.6, CAL= 174.9, 9.1, ROT= 335.1, -9.1 2025-10-27T03:26:29.791Z,1761535589.791 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T03:26:29.792Z,1761535589.792 [DAT](INFO): direction in FSK: [0.895628,-0.415736,0.158158] 2025-10-27T03:26:29.792Z,1761535589.792 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:29.796Z,1761535589.796 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.547155 2025-10-27T03:26:29.809Z,1761535589.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.985273 m, nav range: 25.892113 m, bearing: 97.892580 deg, approach rate: -0.723005 m/s, LOS rate: -0.514068 deg/s, cmd heading: 116.655246 deg, new cmd heading: 116.094764 deg. 2025-10-27T03:26:29.810Z,1761535589.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.026236 target range: 27.985273 and range: 28.10 m. 2025-10-27T03:26:30.033Z,1761535590.033 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.784104 2025-10-27T03:26:30.203Z,1761535590.203 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:26:30.221Z,1761535590.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484577,-0.864679,-0.132347],[0.869147,-0.458836,-0.184534],[0.098837,-0.204450,0.973874]] 2025-10-27T03:26:30.285Z,1761535590.285 [DAT](INFO): DAT read: Rx Time:03:26:31.2794 2025-10-27T03:26:30.285Z,1761535590.285 [DAT](INFO): Rx dataTimestamp_ set to:1761535590.284807 2025-10-27T03:26:30.286Z,1761535590.286 [DAT](INFO): DAT read: Bearing 286.3, -20.5 (Local) 2025-10-27T03:26:30.287Z,1761535590.287 [DAT](INFO): Local bearing/azimuth received: Bearing 286.3, -20.5 (Local) 2025-10-27T03:26:30.289Z,1761535590.289 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.5 2025-10-27T03:26:30.293Z,1761535590.293 [DAT](INFO): DAT read: 03:26:31.2794 LVL= 32752, 32753, 21058, 32755, AGC= 65, IDX= 506,-0.31,-0.373,-1.697, 0.791,-0.089, PHS=-0.183,-1.564, 0.836, RAW= 175.0, 8.8, CAL= 174.8, 9.4, ROT= 335.2, -9.4 2025-10-27T03:26:30.295Z,1761535590.295 [DAT](INFO): got valid direction response: 03:26:31.2794 LVL= 32752, 32753, 21058, 32755, AGC= 65, IDX= 506,-0.31,-0.373,-1.697, 0.791,-0.089, PHS=-0.183,-1.564, 0.836, RAW= 175.0, 8.8, CAL= 174.8, 9.4, ROT= 335.2, -9.4 2025-10-27T03:26:30.295Z,1761535590.295 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T03:26:30.296Z,1761535590.296 [DAT](INFO): direction in FSK: [0.895588,-0.413820,0.163326] 2025-10-27T03:26:30.296Z,1761535590.296 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:30.304Z,1761535590.304 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.055125 2025-10-27T03:26:30.305Z,1761535590.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 1.007997 s, deltaX: -0.600000 m, approachRate: -0.595240 m/s, rangeRepo size: 4 2025-10-27T03:26:30.308Z,1761535590.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.487314 m, bearing: 95.798323 deg, lat: 36.779358 deg, lon: -121.859523 deg, deltaT: 0.503909 s, deltaX: -0.497959 m, approachRate: -0.988193 m/s, posRepo size: 4 2025-10-27T03:26:30.308Z,1761535590.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.49 m. 2025-10-27T03:26:30.328Z,1761535590.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.487314 m, nav range: 25.682888 m, bearing: 97.434654 deg, approach rate: 0.000000 m/s, LOS rate: -0.514068 deg/s, cmd heading: 116.094761 deg, new cmd heading: 115.279158 deg. 2025-10-27T03:26:30.329Z,1761535590.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.012001 target range: 27.487314 and range: 27.50 m. 2025-10-27T03:26:30.536Z,1761535590.536 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.287116 2025-10-27T03:26:30.697Z,1761535590.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476884,-0.868746,-0.133646],[0.873116,-0.450689,-0.185870],[0.101241,-0.205327,0.973443]] 2025-10-27T03:26:30.760Z,1761535590.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.49 m. 2025-10-27T03:26:30.762Z,1761535590.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.487314 m, nav range: 25.387735 m, bearing: 97.228062 deg, approach rate: -0.645995 m/s, LOS rate: -0.457421 deg/s, cmd heading: 115.279154 deg, new cmd heading: 114.652198 deg. 2025-10-27T03:26:30.768Z,1761535590.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001058 target range: 27.487314 and range: 27.50 m. 2025-10-27T03:26:30.789Z,1761535590.789 [DAT](INFO): DAT read: Rx Time:03:26:31.7791 2025-10-27T03:26:30.789Z,1761535590.789 [DAT](INFO): Rx dataTimestamp_ set to:1761535590.788864 2025-10-27T03:26:30.790Z,1761535590.790 [DAT](INFO): DAT read: Bearing 285.4, -20.6 (Local) 2025-10-27T03:26:30.791Z,1761535590.791 [DAT](INFO): Local bearing/azimuth received: Bearing 285.4, -20.6 (Local) 2025-10-27T03:26:30.793Z,1761535590.793 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.5 2025-10-27T03:26:30.798Z,1761535590.798 [DAT](INFO): DAT read: 03:26:31.7791 LVL= 32752, 32753, 21746, 32755, AGC= 65, IDX= 503,-0.31,-2.371, 2.601,-1.199,-2.086, PHS=-0.183,-1.551, 0.843, RAW= 175.3, 8.6, CAL= 175.1, 9.2, ROT= 334.9, -9.2 2025-10-27T03:26:30.799Z,1761535590.799 [DAT](INFO): got valid direction response: 03:26:31.7791 LVL= 32752, 32753, 21746, 32755, AGC= 65, IDX= 503,-0.31,-2.371, 2.601,-1.199,-2.086, PHS=-0.183,-1.551, 0.843, RAW= 175.3, 8.6, CAL= 175.1, 9.2, ROT= 334.9, -9.2 2025-10-27T03:26:30.800Z,1761535590.800 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T03:26:30.801Z,1761535590.801 [DAT](INFO): direction in FSK: [0.893920,-0.418743,0.159881] 2025-10-27T03:26:30.801Z,1761535590.801 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:30.805Z,1761535590.805 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.555709 2025-10-27T03:26:31.040Z,1761535591.040 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.790932 2025-10-27T03:26:31.121Z,1761535591.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472865,-0.870736,-0.134967],[0.875148,-0.446285,-0.186940],[0.102542,-0.206514,0.973056]] 2025-10-27T03:26:31.209Z,1761535591.209 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:26:31.234Z,1761535591.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.504057 s, deltaX: -0.500000 m, approachRate: -0.991951 m/s, rangeRepo size: 4 2025-10-27T03:26:31.241Z,1761535591.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.889832 m, bearing: 94.848004 deg, lat: 36.779364 deg, lon: -121.859520 deg, deltaT: 1.008145 s, deltaX: -0.597483 m, approachRate: -0.592655 m/s, posRepo size: 4 2025-10-27T03:26:31.241Z,1761535591.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.89 m. 2025-10-27T03:26:31.248Z,1761535591.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.889832 m, nav range: 25.369846 m, bearing: 95.389794 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 114.652197 deg, new cmd heading: 114.003312 deg. 2025-10-27T03:26:31.249Z,1761535591.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.989733 target range: 26.889832 and range: 27.00 m. 2025-10-27T03:26:31.293Z,1761535591.293 [DAT](INFO): DAT read: Rx Time:03:26:32.2790 2025-10-27T03:26:31.293Z,1761535591.293 [DAT](INFO): Rx dataTimestamp_ set to:1761535591.292856 2025-10-27T03:26:31.294Z,1761535591.294 [DAT](INFO): DAT read: Bearing 284.1, -20.4 (Local) 2025-10-27T03:26:31.295Z,1761535591.295 [DAT](INFO): Local bearing/azimuth received: Bearing 284.1, -20.4 (Local) 2025-10-27T03:26:31.297Z,1761535591.297 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.6 2025-10-27T03:26:31.302Z,1761535591.302 [DAT](INFO): DAT read: 03:26:32.2790 LVL= 32752, 32753, 21282, 32755, AGC= 64, IDX= 501,-0.29,-2.322, 2.656,-1.150,-2.052, PHS=-0.168,-1.530, 0.859, RAW= 175.4, 8.1, CAL= 175.1, 8.5, ROT= 334.9, -8.5 2025-10-27T03:26:31.303Z,1761535591.303 [DAT](INFO): got valid direction response: 03:26:32.2790 LVL= 32752, 32753, 21282, 32755, AGC= 64, IDX= 501,-0.29,-2.322, 2.656,-1.150,-2.052, PHS=-0.168,-1.530, 0.859, RAW= 175.4, 8.1, CAL= 175.1, 8.5, ROT= 334.9, -8.5 2025-10-27T03:26:31.311Z,1761535591.311 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T03:26:31.312Z,1761535591.312 [DAT](INFO): direction in FSK: [0.895622,-0.419540,0.147809] 2025-10-27T03:26:31.312Z,1761535591.312 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:31.316Z,1761535591.316 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.067108 2025-10-27T03:26:31.544Z,1761535591.544 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.295006 2025-10-27T03:26:31.764Z,1761535591.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468422,-0.872912,-0.136405],[0.877380,-0.441449,-0.187954],[0.103852,-0.207721,0.972660]] 2025-10-27T03:26:31.797Z,1761535591.797 [DAT](INFO): DAT read: Rx Time:03:26:32.7787 2025-10-27T03:26:31.797Z,1761535591.797 [DAT](INFO): Rx dataTimestamp_ set to:1761535591.796784 2025-10-27T03:26:31.798Z,1761535591.798 [DAT](INFO): DAT read: Bearing 284.6, -20.0 (Local) 2025-10-27T03:26:31.799Z,1761535591.799 [DAT](INFO): Local bearing/azimuth received: Bearing 284.6, -20.0 (Local) 2025-10-27T03:26:31.801Z,1761535591.801 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.5 2025-10-27T03:26:31.805Z,1761535591.805 [DAT](INFO): DAT read: 03:26:32.7787 LVL= 32752, 32753, 19986, 32755, AGC= 66, IDX= 498,-0.25, 3.120, 1.818,-2.030,-2.889, PHS=-0.172,-1.531, 0.815, RAW= 174.8, 8.8, CAL= 174.6, 9.4, ROT= 335.4, -9.4 2025-10-27T03:26:31.807Z,1761535591.807 [DAT](INFO): got valid direction response: 03:26:32.7787 LVL= 32752, 32753, 19986, 32755, AGC= 66, IDX= 498,-0.25, 3.120, 1.818,-2.030,-2.889, PHS=-0.172,-1.531, 0.815, RAW= 174.8, 8.8, CAL= 174.6, 9.4, ROT= 335.4, -9.4 2025-10-27T03:26:31.807Z,1761535591.807 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T03:26:31.808Z,1761535591.808 [DAT](INFO): direction in FSK: [0.897027,-0.410691,0.163326] 2025-10-27T03:26:31.808Z,1761535591.808 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:31.814Z,1761535591.814 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.564748 2025-10-27T03:26:31.876Z,1761535591.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 1.007920 s, deltaX: -0.700001 m, approachRate: -0.694500 m/s, rangeRepo size: 4 2025-10-27T03:26:31.878Z,1761535591.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.192564 m, bearing: 95.117365 deg, lat: 36.779364 deg, lon: -121.859520 deg, deltaT: 1.007920 s, deltaX: -0.697268 m, approachRate: -0.691789 m/s, posRepo size: 4 2025-10-27T03:26:31.887Z,1761535591.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.19 m. 2025-10-27T03:26:31.890Z,1761535591.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.192564 m, nav range: 24.958832 m, bearing: 95.055306 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 114.003316 deg, new cmd heading: 113.120707 deg. 2025-10-27T03:26:31.907Z,1761535591.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.974329 target range: 26.192564 and range: 26.30 m. 2025-10-27T03:26:32.048Z,1761535592.048 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.799287 2025-10-27T03:26:32.302Z,1761535592.302 [DAT](INFO): DAT read: Rx Time:03:26:33.2786 2025-10-27T03:26:32.302Z,1761535592.302 [DAT](INFO): Rx dataTimestamp_ set to:1761535592.301945 2025-10-27T03:26:32.304Z,1761535592.304 [DAT](INFO): DAT read: Bearing 283.7, -20.4 (Local) 2025-10-27T03:26:32.305Z,1761535592.305 [DAT](INFO): Local bearing/azimuth received: Bearing 283.7, -20.4 (Local) 2025-10-27T03:26:32.308Z,1761535592.308 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.5 2025-10-27T03:26:32.337Z,1761535592.337 [DAT](INFO): DAT read: 03:26:33.2786 LVL= 32752, 32753, 22898, 32755, AGC= 66, IDX= 497,-0.20,-2.122, 2.864,-0.958,-1.840, PHS=-0.181,-1.535, 0.837, RAW= 175.3, 8.6, CAL= 175.1, 9.1, ROT= 334.9, -9.1 2025-10-27T03:26:32.351Z,1761535592.351 [DAT](INFO): got valid direction response: 03:26:33.2786 LVL= 32752, 32753, 22898, 32755, AGC= 66, IDX= 497,-0.20,-2.122, 2.864,-0.958,-1.840, PHS=-0.181,-1.535, 0.837, RAW= 175.3, 8.6, CAL= 175.1, 9.1, ROT= 334.9, -9.1 2025-10-27T03:26:32.351Z,1761535592.351 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T03:26:32.352Z,1761535592.352 [DAT](INFO): direction in FSK: [0.894171,-0.418860,0.158158] 2025-10-27T03:26:32.353Z,1761535592.353 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:32.377Z,1761535592.377 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.127587 2025-10-27T03:26:32.388Z,1761535592.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459093,-0.877769,-0.136950],[0.881884,-0.431665,-0.189592],[0.107302,-0.207814,0.972265]] 2025-10-27T03:26:32.486Z,1761535592.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.505161 s, deltaX: -0.199999 m, approachRate: -0.395911 m/s, rangeRepo size: 4 2025-10-27T03:26:32.497Z,1761535592.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.993441 m, bearing: 93.928206 deg, lat: 36.779365 deg, lon: -121.859520 deg, deltaT: 0.505161 s, deltaX: -0.199123 m, approachRate: -0.394178 m/s, posRepo size: 4 2025-10-27T03:26:32.497Z,1761535592.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m. 2025-10-27T03:26:32.504Z,1761535592.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.993441 m, nav range: 24.557255 m, bearing: 94.661695 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 113.120705 deg, new cmd heading: 112.283720 deg. 2025-10-27T03:26:32.505Z,1761535592.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.959721 target range: 25.993441 and range: 26.10 m. 2025-10-27T03:26:32.552Z,1761535592.552 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.303177 2025-10-27T03:26:32.804Z,1761535592.804 [DAT](INFO): DAT read: Rx Time:03:26:33.7783 2025-10-27T03:26:32.805Z,1761535592.805 [DAT](INFO): Rx dataTimestamp_ set to:1761535592.804685 2025-10-27T03:26:32.806Z,1761535592.806 [DAT](INFO): DAT read: Bearing 283.4, -20.5 (Local) 2025-10-27T03:26:32.807Z,1761535592.807 [DAT](INFO): Local bearing/azimuth received: Bearing 283.4, -20.5 (Local) 2025-10-27T03:26:32.809Z,1761535592.809 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.5 2025-10-27T03:26:32.813Z,1761535592.813 [DAT](INFO): DAT read: 03:26:33.7783 LVL= 32752, 32753, 23058, 32755, AGC= 66, IDX= 494,-0.14, 3.103, 1.805,-2.007,-2.885, PHS=-0.193,-1.548, 0.834, RAW= 175.5, 8.8, CAL= 175.3, 9.5, ROT= 334.7, -9.5 2025-10-27T03:26:32.814Z,1761535592.814 [DAT](INFO): got valid direction response: 03:26:33.7783 LVL= 32752, 32753, 23058, 32755, AGC= 66, IDX= 494,-0.14, 3.103, 1.805,-2.007,-2.885, PHS=-0.193,-1.548, 0.834, RAW= 175.5, 8.8, CAL= 175.3, 9.5, ROT= 334.7, -9.5 2025-10-27T03:26:32.816Z,1761535592.816 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T03:26:32.821Z,1761535592.821 [DAT](INFO): direction in FSK: [0.891684,-0.421497,0.165048] 2025-10-27T03:26:32.822Z,1761535592.822 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:32.827Z,1761535592.827 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.578250 2025-10-27T03:26:32.937Z,1761535592.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454141,-0.879957,-0.139395],[0.884165,-0.425898,-0.191997],[0.109581,-0.210442,0.971445]] 2025-10-27T03:26:32.990Z,1761535592.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.502740 s, deltaX: -0.400000 m, approachRate: -0.795639 m/s, rangeRepo size: 4 2025-10-27T03:26:33.001Z,1761535593.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.595074 m, bearing: 93.487553 deg, lat: 36.779366 deg, lon: -121.859520 deg, deltaT: 0.502740 s, deltaX: -0.398367 m, approachRate: -0.792392 m/s, posRepo size: 4 2025-10-27T03:26:33.001Z,1761535593.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.60 m. 2025-10-27T03:26:33.008Z,1761535593.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.595074 m, nav range: 24.176142 m, bearing: 93.972743 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 112.283720 deg, new cmd heading: 111.592275 deg. 2025-10-27T03:26:33.009Z,1761535593.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947653 target range: 25.595074 and range: 25.70 m. 2025-10-27T03:26:33.058Z,1761535593.058 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.808612 2025-10-27T03:26:33.312Z,1761535593.312 [DAT](INFO): DAT read: Rx Time:03:26:34.2782 2025-10-27T03:26:33.313Z,1761535593.313 [DAT](INFO): Rx dataTimestamp_ set to:1761535593.312810 2025-10-27T03:26:33.316Z,1761535593.316 [DAT](INFO): DAT read: Bearing 282.1, -20.7 (Local) 2025-10-27T03:26:33.316Z,1761535593.316 [DAT](INFO): Local bearing/azimuth received: Bearing 282.1, -20.7 (Local) 2025-10-27T03:26:33.318Z,1761535593.318 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) s 2025-10-27T03:26:33.326Z,1761535593.326 [DAT](INFO): DAT read: 03:26:34.2782 LVL= 32752, 32753, 23154, 32755, AGC= 64, IDX= 509,-0.06,-2.330, 2.665,-1.134,-2.034, PHS=-0.194,-1.539, 0.856, RAW= 175.9, 8.5, CAL= 175.7, 9.0, ROT= 334.3, -9.0 2025-10-27T03:26:33.327Z,1761535593.327 [DAT](INFO): got valid direction response: 03:26:34.2782 LVL= 32752, 32753, 23154, 32755, AGC= 64, IDX= 509,-0.06,-2.330, 2.665,-1.134,-2.034, PHS=-0.194,-1.539, 0.856, RAW= 175.9, 8.5, CAL= 175.7, 9.0, ROT= 334.3, -9.0 2025-10-27T03:26:33.327Z,1761535593.327 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T03:26:33.328Z,1761535593.328 [DAT](INFO): direction in FSK: [0.889983,-0.428320,0.156434] 2025-10-27T03:26:33.328Z,1761535593.328 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:33.332Z,1761535593.332 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.083247 2025-10-27T03:26:33.534Z,1761535593.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.508125 s, deltaX: -0.200001 m, approachRate: -0.393605 m/s, rangeRepo size: 4 2025-10-27T03:26:33.540Z,1761535593.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.395943 m, bearing: 92.991164 deg, lat: 36.779367 deg, lon: -121.859520 deg, deltaT: 0.508125 s, deltaX: -0.199131 m, approachRate: -0.391894 m/s, posRepo size: 4 2025-10-27T03:26:33.541Z,1761535593.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m. 2025-10-27T03:26:33.548Z,1761535593.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.395943 m, nav range: 23.840406 m, bearing: 93.391215 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 111.592273 deg, new cmd heading: 110.845940 deg. 2025-10-27T03:26:33.549Z,1761535593.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.934627 target range: 25.395943 and range: 25.50 m. 2025-10-27T03:26:33.560Z,1761535593.560 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.311472 2025-10-27T03:26:33.812Z,1761535593.812 [DAT](INFO): DAT read: Rx Time:03:26:34.7780 2025-10-27T03:26:33.813Z,1761535593.813 [DAT](INFO): Rx dataTimestamp_ set to:1761535593.812669 2025-10-27T03:26:33.814Z,1761535593.814 [DAT](INFO): DAT read: Bearing 282.4, -19.8 (Local) 2025-10-27T03:26:33.815Z,1761535593.815 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, -19.8 (Local) 2025-10-27T03:26:33.817Z,1761535593.817 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.5 2025-10-27T03:26:33.822Z,1761535593.822 [DAT](INFO): DAT read: 03:26:34.7780 LVL= 32752, 30513, 23602, 32755, AGC= 65, IDX= 506, 0.03,-2.220, 2.773,-1.081,-1.932, PHS=-0.186,-1.533, 0.807, RAW= 175.0, 9.0, CAL= 174.8, 9.8, ROT= 335.2, -9.8 2025-10-27T03:26:33.823Z,1761535593.823 [DAT](INFO): got valid direction response: 03:26:34.7780 LVL= 32752, 30513, 23602, 32755, AGC= 65, IDX= 506, 0.03,-2.220, 2.773,-1.081,-1.932, PHS=-0.186,-1.533, 0.807, RAW= 175.0, 9.0, CAL= 174.8, 9.8, ROT= 335.2, -9.8 2025-10-27T03:26:33.823Z,1761535593.823 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T03:26:33.824Z,1761535593.824 [DAT](INFO): direction in FSK: [0.894531,-0.413331,0.170209] 2025-10-27T03:26:33.825Z,1761535593.825 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:33.837Z,1761535593.837 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.587803 2025-10-27T03:26:33.967Z,1761535593.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437531,-0.887237,-0.146211],[0.891452,-0.406684,-0.199804],[0.117811,-0.217760,0.968866]] 2025-10-27T03:26:34.006Z,1761535594.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.499859 s, deltaX: -0.299999 m, approachRate: -0.600168 m/s, rangeRepo size: 4 2025-10-27T03:26:34.012Z,1761535594.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.097168 m, bearing: 93.044798 deg, lat: 36.779368 deg, lon: -121.859522 deg, deltaT: 0.499859 s, deltaX: -0.298775 m, approachRate: -0.597718 m/s, posRepo size: 4 2025-10-27T03:26:34.013Z,1761535594.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m. 2025-10-27T03:26:34.020Z,1761535594.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.097168 m, nav range: 23.411526 m, bearing: 93.044719 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 110.845938 deg, new cmd heading: 110.198366 deg. 2025-10-27T03:26:34.021Z,1761535594.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.923324 target range: 25.097168 and range: 25.20 m. 2025-10-27T03:26:34.064Z,1761535594.064 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.814954 2025-10-27T03:26:34.317Z,1761535594.317 [DAT](INFO): DAT read: Rx Time:03:26:35.2779 2025-10-27T03:26:34.317Z,1761535594.317 [DAT](INFO): Rx dataTimestamp_ set to:1761535594.316954 2025-10-27T03:26:34.319Z,1761535594.319 [DAT](INFO): DAT read: Bearing 282.1, -19.9 (Local) 2025-10-27T03:26:34.319Z,1761535594.319 [DAT](INFO): Local bearing/azimuth received: Bearing 282.1, -19.9 (Local) 2025-10-27T03:26:34.321Z,1761535594.321 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.5 2025-10-27T03:26:34.326Z,1761535594.326 [DAT](INFO): DAT read: 03:26:35.2779 LVL= 32752, 32433, 21042, 32755, AGC= 66, IDX= 505, 0.13,-1.107,-2.383, 0.032,-0.809, PHS=-0.196,-1.528, 0.797, RAW= 175.2, 9.2, CAL= 175.0, 10.1, ROT= 335.0, -10.1 2025-10-27T03:26:34.327Z,1761535594.327 [DAT](INFO): got valid direction response: 03:26:35.2779 LVL= 32752, 32433, 21042, 32755, AGC= 66, IDX= 505, 0.13,-1.107,-2.383, 0.032,-0.809, PHS=-0.196,-1.528, 0.797, RAW= 175.2, 9.2, CAL= 175.0, 10.1, ROT= 335.0, -10.1 2025-10-27T03:26:34.327Z,1761535594.327 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T03:26:34.328Z,1761535594.328 [DAT](INFO): direction in FSK: [0.892263,-0.416069,0.175367] 2025-10-27T03:26:34.329Z,1761535594.329 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:34.332Z,1761535594.332 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.083367 2025-10-27T03:26:34.386Z,1761535594.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431055,-0.890087,-0.148112],[0.894217,-0.399432,-0.202062],[0.120692,-0.219544,0.968108]] 2025-10-27T03:26:34.500Z,1761535594.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504285 s, deltaX: -0.100000 m, approachRate: -0.198301 m/s, rangeRepo size: 4 2025-10-27T03:26:34.502Z,1761535594.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.997320 m, bearing: 92.481884 deg, lat: 36.779368 deg, lon: -121.859520 deg, deltaT: 0.504285 s, deltaX: -0.099848 m, approachRate: -0.197999 m/s, posRepo size: 4 2025-10-27T03:26:34.503Z,1761535594.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.00 m. 2025-10-27T03:26:34.506Z,1761535594.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.997320 m, nav range: 23.238691 m, bearing: 92.675791 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 110.198368 deg, new cmd heading: 109.520727 deg. 2025-10-27T03:26:34.507Z,1761535594.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.911497 target range: 24.997320 and range: 25.10 m. 2025-10-27T03:26:34.569Z,1761535594.569 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.320260 2025-10-27T03:26:34.802Z,1761535594.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424327,-0.892859,-0.150827],[0.897010,-0.391705,-0.204791],[0.123769,-0.222191,0.967115]] 2025-10-27T03:26:34.821Z,1761535594.821 [DAT](INFO): DAT read: Rx Time:03:26:35.7776 2025-10-27T03:26:34.821Z,1761535594.821 [DAT](INFO): Rx dataTimestamp_ set to:1761535594.820765 2025-10-27T03:26:34.822Z,1761535594.822 [DAT](INFO): DAT read: Bearing 281.2, -19.9 (Local) 2025-10-27T03:26:34.823Z,1761535594.823 [DAT](INFO): Local bearing/azimuth received: Bearing 281.2, -19.9 (Local) 2025-10-27T03:26:34.825Z,1761535594.825 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 2025-10-27T03:26:34.829Z,1761535594.829 [DAT](INFO): DAT read: 03:26:35.7776 LVL= 32752, 32753, 23842, 32755, AGC= 63, IDX= 502, 0.26,-2.230, 2.776,-1.074,-1.930, PHS=-0.198,-1.532, 0.813, RAW= 175.4, 9.0, CAL= 175.3, 9.9, ROT= 334.7, -9.9 2025-10-27T03:26:34.831Z,1761535594.831 [DAT](INFO): got valid direction response: 03:26:35.7776 LVL= 32752, 32753, 23842, 32755, AGC= 63, IDX= 502, 0.26,-2.230, 2.776,-1.074,-1.930, PHS=-0.198,-1.532, 0.813, RAW= 175.4, 9.0, CAL= 175.3, 9.9, ROT= 334.7, -9.9 2025-10-27T03:26:34.831Z,1761535594.831 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T03:26:34.832Z,1761535594.832 [DAT](INFO): direction in FSK: [0.890620,-0.420994,0.171929] 2025-10-27T03:26:34.832Z,1761535594.832 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:34.840Z,1761535594.840 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.591050 2025-10-27T03:26:34.850Z,1761535594.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.503811 s, deltaX: -0.300001 m, approachRate: -0.595464 m/s, rangeRepo size: 4 2025-10-27T03:26:34.852Z,1761535594.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.698547 m, bearing: 91.724491 deg, lat: 36.779369 deg, lon: -121.859521 deg, deltaT: 0.503811 s, deltaX: -0.298773 m, approachRate: -0.593026 m/s, posRepo size: 4 2025-10-27T03:26:34.852Z,1761535594.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.70 m. 2025-10-27T03:26:34.879Z,1761535594.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.698547 m, nav range: 22.953794 m, bearing: 92.326770 deg, approach rate: 0.000000 m/s, LOS rate: -0.457421 deg/s, cmd heading: 109.520724 deg, new cmd heading: 109.041050 deg. 2025-10-27T03:26:34.880Z,1761535594.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.903125 target range: 24.698547 and range: 24.80 m. 2025-10-27T03:26:35.072Z,1761535595.072 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.823180 2025-10-27T03:26:35.219Z,1761535595.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417442,-0.895575,-0.153906],[0.899789,-0.383709,-0.207719],[0.126973,-0.225193,0.966005]] 2025-10-27T03:26:35.298Z,1761535595.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:35.304Z,1761535595.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.70 m. 2025-10-27T03:26:35.311Z,1761535595.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.698547 m, nav range: 22.674911 m, bearing: 92.084937 deg, approach rate: -0.612909 m/s, LOS rate: -0.538020 deg/s, cmd heading: 109.041047 deg, new cmd heading: 108.306666 deg. 2025-10-27T03:26:35.315Z,1761535595.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.890308 target range: 24.698547 and range: 24.80 m. 2025-10-27T03:26:35.325Z,1761535595.325 [DAT](INFO): DAT read: Rx Time:03:26:36.2774 2025-10-27T03:26:35.325Z,1761535595.325 [DAT](INFO): Rx dataTimestamp_ set to:1761535595.324874 2025-10-27T03:26:35.326Z,1761535595.326 [DAT](INFO): DAT read: Bearing 280.7, -19.9 (Local) 2025-10-27T03:26:35.327Z,1761535595.327 [DAT](INFO): Local bearing/azimuth received: Bearing 280.7, -19.9 (Local) 2025-10-27T03:26:35.329Z,1761535595.329 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4 2025-10-27T03:26:35.334Z,1761535595.334 [DAT](INFO): DAT read: 03:26:36.2774 LVL= 32752, 32753, 22930, 32755, AGC= 63, IDX= 500, 0.44,-2.831, 2.179,-1.666,-2.525, PHS=-0.204,-1.534, 0.815, RAW= 175.6, 9.1, CAL= 175.4, 9.9, ROT= 334.6, -9.9 2025-10-27T03:26:35.335Z,1761535595.335 [DAT](INFO): got valid direction response: 03:26:36.2774 LVL= 32752, 32753, 22930, 32755, AGC= 63, IDX= 500, 0.44,-2.831, 2.179,-1.666,-2.525, PHS=-0.204,-1.534, 0.815, RAW= 175.6, 9.1, CAL= 175.4, 9.9, ROT= 334.6, -9.9 2025-10-27T03:26:35.335Z,1761535595.335 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T03:26:35.336Z,1761535595.336 [DAT](INFO): direction in FSK: [0.889884,-0.422548,0.171929] 2025-10-27T03:26:35.336Z,1761535595.336 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:35.344Z,1761535595.344 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.095217 2025-10-27T03:26:35.580Z,1761535595.580 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330916 2025-10-27T03:26:35.666Z,1761535595.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410232,-0.898484,-0.156324],[0.902640,-0.375549,-0.210248],[0.130197,-0.227355,0.965069]] 2025-10-27T03:26:35.753Z,1761535595.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504109 s, deltaX: -0.299999 m, approachRate: -0.595108 m/s, rangeRepo size: 4 2025-10-27T03:26:35.759Z,1761535595.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.399685 m, bearing: 90.760145 deg, lat: 36.779369 deg, lon: -121.859520 deg, deltaT: 0.504109 s, deltaX: -0.298862 m, approachRate: -0.592853 m/s, posRepo size: 4 2025-10-27T03:26:35.760Z,1761535595.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m. 2025-10-27T03:26:35.763Z,1761535595.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.399685 m, nav range: 22.499359 m, bearing: 91.830782 deg, approach rate: 0.000000 m/s, LOS rate: -0.538020 deg/s, cmd heading: 108.306665 deg, new cmd heading: 107.582759 deg. 2025-10-27T03:26:35.772Z,1761535595.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.877673 target range: 24.399685 and range: 24.50 m. 2025-10-27T03:26:35.830Z,1761535595.830 [DAT](INFO): DAT read: Rx Time:03:26:36.7771 2025-10-27T03:26:35.832Z,1761535595.832 [DAT](INFO): Rx dataTimestamp_ set to:1761535595.830551 2025-10-27T03:26:35.838Z,1761535595.838 [DAT](INFO): DAT read: Bearing 283.3, -20.1 (Local) 2025-10-27T03:26:35.838Z,1761535595.838 [DAT](INFO): Local bearing/azimuth received: Bearing 283.3, -20.1 (Local) 2025-10-27T03:26:35.841Z,1761535595.841 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.5 2025-10-27T03:26:35.863Z,1761535595.863 [DAT](INFO): DAT read: 03:26:36.7771 LVL= 32752, 32753, 29106, 32755, AGC= 65, IDX= 498,-0.40, 1.713, 0.437, 2.864, 2.081, PHS=-0.267,-1.600, 0.739, RAW= 175.4, 11.1, CAL= 175.3, 13.1, ROT= 334.7, -13.1 2025-10-27T03:26:35.873Z,1761535595.873 [DAT](INFO): got valid direction response: 03:26:36.7771 LVL= 32752, 32753, 29106, 32755, AGC= 65, IDX= 498,-0.40, 1.713, 0.437, 2.864, 2.081, PHS=-0.267,-1.600, 0.739, RAW= 175.4, 11.1, CAL= 175.3, 13.1, ROT= 334.7, -13.1 2025-10-27T03:26:35.874Z,1761535595.874 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T03:26:35.885Z,1761535595.885 [DAT](INFO): direction in FSK: [0.880555,-0.416236,0.226651] 2025-10-27T03:26:35.885Z,1761535595.885 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:35.912Z,1761535595.912 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.662584 2025-10-27T03:26:36.062Z,1761535596.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403125,-0.901636,-0.156659],[0.905354,-0.367952,-0.212003],[0.133507,-0.227296,0.964631]] 2025-10-27T03:26:36.080Z,1761535596.080 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.831108 2025-10-27T03:26:36.152Z,1761535596.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.505677 s, deltaX: -0.500000 m, approachRate: -0.988773 m/s, rangeRepo size: 4 2025-10-27T03:26:36.154Z,1761535596.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.901731 m, bearing: 90.964284 deg, lat: 36.779371 deg, lon: -121.859521 deg, deltaT: 0.505677 s, deltaX: -0.497953 m, approachRate: -0.984726 m/s, posRepo size: 4 2025-10-27T03:26:36.159Z,1761535596.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m. 2025-10-27T03:26:36.162Z,1761535596.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.901731 m, nav range: 22.196136 m, bearing: 91.025544 deg, approach rate: 0.000000 m/s, LOS rate: -0.538020 deg/s, cmd heading: 107.582760 deg, new cmd heading: 106.938491 deg. 2025-10-27T03:26:36.167Z,1761535596.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866429 target range: 23.901731 and range: 24.00 m. 2025-10-27T03:26:36.333Z,1761535596.333 [DAT](INFO): DAT read: Rx Time:03:26:37.2770 2025-10-27T03:26:36.333Z,1761535596.333 [DAT](INFO): Rx dataTimestamp_ set to:1761535596.332817 2025-10-27T03:26:36.334Z,1761535596.334 [DAT](INFO): DAT read: Bearing 279.3, -19.9 (Local) 2025-10-27T03:26:36.335Z,1761535596.335 [DAT](INFO): Local bearing/azimuth received: Bearing 279.3, -19.9 (Local) 2025-10-27T03:26:36.337Z,1761535596.337 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.4 2025-10-27T03:26:36.342Z,1761535596.342 [DAT](INFO): DAT read: 03:26:37.2770 LVL= 32752, 32593, 24242, 32755, AGC= 65, IDX= 497,-0.21, 2.169, 0.915,-2.928, 2.487, PHS=-0.216,-1.526, 0.825, RAW= 176.2, 9.0, CAL= 176.0, 9.9, ROT= 334.0, -9.9 2025-10-27T03:26:36.343Z,1761535596.343 [DAT](INFO): got valid direction response: 03:26:37.2770 LVL= 32752, 32593, 24242, 32755, AGC= 65, IDX= 497,-0.21, 2.169, 0.915,-2.928, 2.487, PHS=-0.216,-1.526, 0.825, RAW= 176.2, 9.0, CAL= 176.0, 9.9, ROT= 334.0, -9.9 2025-10-27T03:26:36.343Z,1761535596.343 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T03:26:36.344Z,1761535596.344 [DAT](INFO): direction in FSK: [0.885410,-0.431844,0.171929] 2025-10-27T03:26:36.344Z,1761535596.344 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:36.349Z,1761535596.349 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.100408 2025-10-27T03:26:36.466Z,1761535596.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395861,-0.904755,-0.157203],[0.908123,-0.360261,-0.213365],[0.136409,-0.227222,0.964242]] 2025-10-27T03:26:36.555Z,1761535596.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.502266 s, deltaX: -0.100000 m, approachRate: -0.199098 m/s, rangeRepo size: 4 2025-10-27T03:26:36.557Z,1761535596.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.802166 m, bearing: 89.181489 deg, lat: 36.779371 deg, lon: -121.859521 deg, deltaT: 0.502266 s, deltaX: -0.099566 m, approachRate: -0.198233 m/s, posRepo size: 4 2025-10-27T03:26:36.558Z,1761535596.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m. 2025-10-27T03:26:36.565Z,1761535596.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.802166 m, nav range: 21.969889 m, bearing: 90.686165 deg, approach rate: 0.000000 m/s, LOS rate: -0.538020 deg/s, cmd heading: 106.938489 deg, new cmd heading: 106.294950 deg. 2025-10-27T03:26:36.566Z,1761535596.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.855197 target range: 23.802166 and range: 23.90 m. 2025-10-27T03:26:36.584Z,1761535596.584 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.335054 2025-10-27T03:26:36.836Z,1761535596.836 [DAT](INFO): DAT read: Rx Time:03:26:37.7768 2025-10-27T03:26:36.837Z,1761535596.837 [DAT](INFO): Rx dataTimestamp_ set to:1761535596.836662 2025-10-27T03:26:36.838Z,1761535596.838 [DAT](INFO): DAT read: Bearing 281.8, -19.8 (Local) 2025-10-27T03:26:36.839Z,1761535596.839 [DAT](INFO): Local bearing/azimuth received: Bearing 281.8, -19.8 (Local) 2025-10-27T03:26:36.841Z,1761535596.841 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.5 2025-10-27T03:26:36.845Z,1761535596.845 [DAT](INFO): DAT read: 03:26:37.7768 LVL= 32752, 32753, 30530, 32755, AGC= 63, IDX= 494,-0.17, 1.696, 0.438, 2.850, 2.061, PHS=-0.263,-1.578, 0.745, RAW= 175.6, 10.9, CAL= 175.6, 12.7, ROT= 334.4, -12.7 2025-10-27T03:26:36.846Z,1761535596.846 [DAT](INFO): got valid direction response: 03:26:37.7768 LVL= 32752, 32753, 30530, 32755, AGC= 63, IDX= 494,-0.17, 1.696, 0.438, 2.850, 2.061, PHS=-0.263,-1.578, 0.745, RAW= 175.6, 10.9, CAL= 175.6, 12.7, ROT= 334.4, -12.7 2025-10-27T03:26:36.847Z,1761535596.847 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T03:26:36.848Z,1761535596.848 [DAT](INFO): direction in FSK: [0.879769,-0.421515,0.219846] 2025-10-27T03:26:36.848Z,1761535596.848 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:36.852Z,1761535596.852 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.602759 2025-10-27T03:26:36.957Z,1761535596.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503845 s, deltaX: -0.299999 m, approachRate: -0.595420 m/s, rangeRepo size: 4 2025-10-27T03:26:36.963Z,1761535596.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.503395 m, bearing: 90.092462 deg, lat: 36.779373 deg, lon: -121.859521 deg, deltaT: 0.503845 s, deltaX: -0.298771 m, approachRate: -0.592982 m/s, posRepo size: 4 2025-10-27T03:26:36.964Z,1761535596.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m. 2025-10-27T03:26:36.966Z,1761535596.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.503395 m, nav range: 21.705986 m, bearing: 90.090423 deg, approach rate: 0.000000 m/s, LOS rate: -0.538020 deg/s, cmd heading: 106.294949 deg, new cmd heading: 105.640097 deg. 2025-10-27T03:26:36.979Z,1761535596.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.843768 target range: 23.503395 and range: 23.60 m. 2025-10-27T03:26:37.091Z,1761535597.091 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841577 2025-10-27T03:26:37.321Z,1761535597.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380771,-0.911175,-0.157393],[0.913716,-0.344647,-0.215272],[0.141905,-0.225782,0.963787]] 2025-10-27T03:26:37.341Z,1761535597.341 [DAT](INFO): DAT read: Rx Time:03:26:38.2767 2025-10-27T03:26:37.341Z,1761535597.341 [DAT](INFO): Rx dataTimestamp_ set to:1761535597.340778 2025-10-27T03:26:37.342Z,1761535597.342 [DAT](INFO): DAT read: Bearing 279.4, -19.8 (Local) 2025-10-27T03:26:37.343Z,1761535597.343 [DAT](INFO): Local bearing/azimuth received: Bearing 279.4, -19.8 (Local) 2025-10-27T03:26:37.345Z,1761535597.345 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 2025-10-27T03:26:37.349Z,1761535597.349 [DAT](INFO): DAT read: 03:26:38.2767 LVL= 32752, 32753, 28690, 32755, AGC= 64, IDX= 509,-0.05, 2.625, 1.386,-2.477, 2.967, PHS=-0.239,-1.536, 0.796, RAW= 176.3, 9.7, CAL= 176.2, 10.9, ROT= 333.8, -10.9 2025-10-27T03:26:37.351Z,1761535597.351 [DAT](INFO): got valid direction response: 03:26:38.2767 LVL= 32752, 32753, 28690, 32755, AGC= 64, IDX= 509,-0.05, 2.625, 1.386,-2.477, 2.967, PHS=-0.239,-1.536, 0.796, RAW= 176.3, 9.7, CAL= 176.2, 10.9, ROT= 333.8, -10.9 2025-10-27T03:26:37.351Z,1761535597.351 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T03:26:37.352Z,1761535597.352 [DAT](INFO): direction in FSK: [0.881071,-0.433541,0.189095] 2025-10-27T03:26:37.352Z,1761535597.352 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:37.360Z,1761535597.360 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.111059 2025-10-27T03:26:37.424Z,1761535597.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504116 s, deltaX: -0.200001 m, approachRate: -0.396736 m/s, rangeRepo size: 4 2025-10-27T03:26:37.426Z,1761535597.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.304213 m, bearing: 88.133166 deg, lat: 36.779373 deg, lon: -121.859523 deg, deltaT: 0.504116 s, deltaX: -0.199183 m, approachRate: -0.395112 m/s, posRepo size: 4 2025-10-27T03:26:37.426Z,1761535597.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m. 2025-10-27T03:26:37.445Z,1761535597.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.304213 m, nav range: 21.294598 m, bearing: 89.785569 deg, approach rate: 0.000000 m/s, LOS rate: -0.538020 deg/s, cmd heading: 105.640098 deg, new cmd heading: 104.906307 deg. 2025-10-27T03:26:37.445Z,1761535597.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.830961 target range: 23.304213 and range: 23.40 m. 2025-10-27T03:26:37.601Z,1761535597.601 [DAT](INFO): DAT read: Rx Time:03:26:38.7764 2025-10-27T03:26:37.602Z,1761535597.602 [DAT](INFO): Rx dataTimestamp_ set to:1761535597.601466 2025-10-27T03:26:37.606Z,1761535597.606 [DAT](INFO): DAT read: Bearing 280.5, -19.9 (Local) 2025-10-27T03:26:37.607Z,1761535597.607 [DAT](INFO): Local bearing/azimuth received: Bearing 280.5, -19.9 (Local) 2025-10-27T03:26:37.609Z,1761535597.609 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.359690 2025-10-27T03:26:37.706Z,1761535597.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373643,-0.913951,-0.158384],[0.916180,-0.336953,-0.216972],[0.144934,-0.226178,0.963243]] 2025-10-27T03:26:37.766Z,1761535597.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:37.776Z,1761535597.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m. 2025-10-27T03:26:37.783Z,1761535597.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.304213 m, nav range: 21.073895 m, bearing: 89.554704 deg, approach rate: -0.604095 m/s, LOS rate: -0.638526 deg/s, cmd heading: 104.906310 deg, new cmd heading: 104.206498 deg. 2025-10-27T03:26:37.784Z,1761535597.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.818746 target range: 23.304213 and range: 23.40 m. 2025-10-27T03:26:37.851Z,1761535597.851 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4 2025-10-27T03:26:37.858Z,1761535597.858 [DAT](INFO): DAT read: 03:26:38.7764 LVL= 32752, 32753, 29106, 32755, AGC= 65, IDX= 506, 0.02, 2.618, 1.405,-2.508, 2.987, PHS=-0.267,-1.537, 0.745, RAW= 176.2, 10.7, CAL= 176.2, 12.5, ROT= 333.8, -12.5 2025-10-27T03:26:37.860Z,1761535597.860 [DAT](INFO): got valid direction response: 03:26:38.7764 LVL= 32752, 32753, 29106, 32755, AGC= 65, IDX= 506, 0.02, 2.618, 1.405,-2.508, 2.987, PHS=-0.267,-1.537, 0.745, RAW= 176.2, 10.7, CAL= 176.2, 12.5, ROT= 333.8, -12.5 2025-10-27T03:26:37.860Z,1761535597.860 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T03:26:37.862Z,1761535597.862 [DAT](INFO): direction in FSK: [0.875990,-0.431041,0.216440] 2025-10-27T03:26:37.862Z,1761535597.862 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:37.882Z,1761535597.882 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.632992 2025-10-27T03:26:38.104Z,1761535598.104 [DAT](INFO): DAT read: Rx Time:03:26:39.2763 2025-10-27T03:26:38.106Z,1761535598.106 [DAT](INFO): Rx dataTimestamp_ set to:1761535598.105321 2025-10-27T03:26:38.112Z,1761535598.112 [DAT](INFO): DAT read: Bearing 279.2, -19.1 (Local) 2025-10-27T03:26:38.113Z,1761535598.113 [DAT](INFO): Local bearing/azimuth received: Bearing 279.2, -19.1 (Local) 2025-10-27T03:26:38.132Z,1761535598.132 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.5 2025-10-27T03:26:38.144Z,1761535598.144 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-10-27T03:26:38.146Z,1761535598.146 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.897275 2025-10-27T03:26:38.152Z,1761535598.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366314,-0.916490,-0.160810],[0.918648,-0.328724,-0.219148],[0.147985,-0.228005,0.962348]] 2025-10-27T03:26:38.228Z,1761535598.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.764543 s, deltaX: -0.600000 m, approachRate: -0.784783 m/s, rangeRepo size: 4 2025-10-27T03:26:38.230Z,1761535598.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.706583 m, bearing: 87.493541 deg, lat: 36.779377 deg, lon: -121.859527 deg, deltaT: 0.764543 s, deltaX: -0.597630 m, approachRate: -0.781682 m/s, posRepo size: 4 2025-10-27T03:26:38.230Z,1761535598.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.71 m. 2025-10-27T03:26:38.250Z,1761535598.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.706583 m, nav range: 20.508154 m, bearing: 88.079267 deg, approach rate: 0.000000 m/s, LOS rate: -0.638526 deg/s, cmd heading: 104.206495 deg, new cmd heading: 103.353849 deg. 2025-10-27T03:26:38.260Z,1761535598.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.803865 target range: 22.706583 and range: 22.80 m. 2025-10-27T03:26:38.356Z,1761535598.356 [DAT](INFO): DAT read: 03:26:39.2763 LVL= 32752, 32753, 26834, 32755, AGC= 62, IDX= 505, 0.05,-1.602,-2.815,-0.470,-1.259, PHS=-0.241,-1.512, 0.745, RAW= 175.8, 10.3, CAL= 175.7, 11.9, ROT= 334.3, -11.9 2025-10-27T03:26:38.357Z,1761535598.357 [DAT](INFO): got valid direction response: 03:26:39.2763 LVL= 32752, 32753, 26834, 32755, AGC= 62, IDX= 505, 0.05,-1.602,-2.815,-0.470,-1.259, PHS=-0.241,-1.512, 0.745, RAW= 175.8, 10.3, CAL= 175.7, 11.9, ROT= 334.3, -11.9 2025-10-27T03:26:38.357Z,1761535598.357 [DAT](INFO): #Rx 23: Read direction message, but no range. 2025-10-27T03:26:38.358Z,1761535598.358 [DAT](INFO): direction in FSK: [0.881712,-0.424340,0.206204] 2025-10-27T03:26:38.364Z,1761535598.364 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.114371 2025-10-27T03:26:38.562Z,1761535598.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358164,-0.919364,-0.162754],[0.921346,-0.319813,-0.221001],[0.151129,-0.229108,0.961597]] 2025-10-27T03:26:38.608Z,1761535598.608 [DAT](INFO): DAT read: Rx Time:03:26:39.7760 2025-10-27T03:26:38.610Z,1761535598.610 [DAT](INFO): Rx dataTimestamp_ set to:1761535598.609190 2025-10-27T03:26:38.614Z,1761535598.614 [DAT](INFO): DAT read: Bearing 280.1, -19.2 (Local) 2025-10-27T03:26:38.616Z,1761535598.616 [DAT](INFO): Local bearing/azimuth received: Bearing 280.1, -19.2 (Local) 2025-10-27T03:26:38.626Z,1761535598.626 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T03:26:38.647Z,1761535598.647 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-27T03:26:38.648Z,1761535598.648 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.398956 2025-10-27T03:26:38.751Z,1761535598.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503869 s, deltaX: -0.400000 m, approachRate: -0.793856 m/s, rangeRepo size: 4 2025-10-27T03:26:38.757Z,1761535598.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.308182 m, bearing: 87.413801 deg, lat: 36.779378 deg, lon: -121.859527 deg, deltaT: 0.503869 s, deltaX: -0.398401 m, approachRate: -0.790684 m/s, posRepo size: 4 2025-10-27T03:26:38.758Z,1761535598.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m. 2025-10-27T03:26:38.764Z,1761535598.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.308182 m, nav range: 20.193424 m, bearing: 87.418830 deg, approach rate: 0.000000 m/s, LOS rate: -0.638526 deg/s, cmd heading: 103.353849 deg, new cmd heading: 102.341231 deg. 2025-10-27T03:26:38.765Z,1761535598.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.786191 target range: 22.308182 and range: 22.40 m. 2025-10-27T03:26:38.861Z,1761535598.861 [DAT](INFO): DAT read: 03:26:39.7760 LVL= 32752, 32753, 29890, 32755, AGC= 64, IDX= 502, 0.09,-2.879, 2.220,-1.773,-2.511, PHS=-0.266,-1.507, 0.695, RAW= 175.8, 11.3, CAL= 175.8, 13.4, ROT= 334.2, -13.4 2025-10-27T03:26:38.863Z,1761535598.863 [DAT](INFO): got valid direction response: 03:26:39.7760 LVL= 32752, 32753, 29890, 32755, AGC= 64, IDX= 502, 0.09,-2.879, 2.220,-1.773,-2.511, PHS=-0.266,-1.507, 0.695, RAW= 175.8, 11.3, CAL= 175.8, 13.4, ROT= 334.2, -13.4 2025-10-27T03:26:38.863Z,1761535598.863 [DAT](INFO): #Rx 25: Read direction message, but no range. 2025-10-27T03:26:38.865Z,1761535598.865 [DAT](INFO): direction in FSK: [0.875808,-0.423382,0.231748] 2025-10-27T03:26:38.870Z,1761535598.870 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.620988 2025-10-27T03:26:39.002Z,1761535599.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350013,-0.921861,-0.166325],[0.923916,-0.310449,-0.223608],[0.154500,-0.231936,0.960383]] 2025-10-27T03:26:39.021Z,1761535599.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m. 2025-10-27T03:26:39.024Z,1761535599.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.308182 m, nav range: 20.007349 m, bearing: 87.201691 deg, approach rate: -0.687121 m/s, LOS rate: -0.809285 deg/s, cmd heading: 102.341232 deg, new cmd heading: 101.683788 deg. 2025-10-27T03:26:39.025Z,1761535599.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.774717 target range: 22.308182 and range: 22.40 m. 2025-10-27T03:26:39.112Z,1761535599.112 [DAT](INFO): DAT read: Rx Time:03:26:40.2758 2025-10-27T03:26:39.114Z,1761535599.114 [DAT](INFO): Rx dataTimestamp_ set to:1761535599.113284 2025-10-27T03:26:39.120Z,1761535599.120 [DAT](INFO): DAT read: Bearing 279.5, -18.4 (Local) 2025-10-27T03:26:39.121Z,1761535599.121 [DAT](INFO): Local bearing/azimuth received: Bearing 279.5, -18.4 (Local) 2025-10-27T03:26:39.128Z,1761535599.128 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.5 2025-10-27T03:26:39.148Z,1761535599.148 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-27T03:26:39.149Z,1761535599.149 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.900335 2025-10-27T03:26:39.364Z,1761535599.364 [DAT](INFO): DAT read: 03:26:40.2758 LVL= 32752, 32753, 31794, 32755, AGC= 62, IDX= 500, 0.10,-2.506, 2.577,-1.424,-2.151, PHS=-0.253,-1.510, 0.683, RAW= 175.2, 11.3, CAL= 175.2, 13.4, ROT= 334.8, -13.4 2025-10-27T03:26:39.365Z,1761535599.365 [DAT](INFO): got valid direction response: 03:26:40.2758 LVL= 32752, 32753, 31794, 32755, AGC= 62, IDX= 500, 0.10,-2.506, 2.577,-1.424,-2.151, PHS=-0.253,-1.510, 0.683, RAW= 175.2, 11.3, CAL= 175.2, 13.4, ROT= 334.8, -13.4 2025-10-27T03:26:39.365Z,1761535599.365 [DAT](INFO): #Rx 27: Read direction message, but no range. 2025-10-27T03:26:39.366Z,1761535599.366 [DAT](INFO): direction in FSK: [0.880194,-0.414188,0.231748] 2025-10-27T03:26:39.370Z,1761535599.370 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.120578 2025-10-27T03:26:39.402Z,1761535599.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342014,-0.924319,-0.169297],[0.926330,-0.301355,-0.226050],[0.157924,-0.234137,0.959291]] 2025-10-27T03:26:39.501Z,1761535599.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504094 s, deltaX: -0.299999 m, approachRate: -0.595126 m/s, rangeRepo size: 4 2025-10-27T03:26:39.507Z,1761535599.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.009357 m, bearing: 87.254779 deg, lat: 36.779378 deg, lon: -121.859527 deg, deltaT: 0.504094 s, deltaX: -0.298824 m, approachRate: -0.592795 m/s, posRepo size: 4 2025-10-27T03:26:39.508Z,1761535599.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.01 m. 2025-10-27T03:26:39.515Z,1761535599.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.009357 m, nav range: 19.683121 m, bearing: 86.877136 deg, approach rate: 0.000000 m/s, LOS rate: -0.809285 deg/s, cmd heading: 101.683786 deg, new cmd heading: 100.519105 deg. 2025-10-27T03:26:39.516Z,1761535599.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754389 target range: 22.009357 and range: 22.10 m. 2025-10-27T03:26:39.617Z,1761535599.617 [DAT](INFO): DAT read: Rx Time:03:26:40.7752 2025-10-27T03:26:39.620Z,1761535599.620 [DAT](INFO): Rx dataTimestamp_ set to:1761535599.617955 2025-10-27T03:26:39.624Z,1761535599.624 [DAT](INFO): DAT read: Bearing 279.4, -18.4 (Local) 2025-10-27T03:26:39.625Z,1761535599.625 [DAT](INFO): Local bearing/azimuth received: Bearing 279.4, -18.4 (Local) 2025-10-27T03:26:39.655Z,1761535599.655 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.5 2025-10-27T03:26:39.664Z,1761535599.664 [DAT](INFO): DAT read: 03:26:40.7752 LVL= 32752, 32753, 30962, 32755, AGC= 63, IDX= 497, 0.14, 2.098, 0.917,-3.116, 2.464, PHS=-0.263,-1.502, 0.659, RAW= 175.2, 11.8, CAL= 175.2, 14.1, ROT= 334.8, -14.1 2025-10-27T03:26:39.665Z,1761535599.665 [DAT](INFO): got valid direction response: 03:26:40.7752 LVL= 32752, 32753, 30962, 32755, AGC= 63, IDX= 497, 0.14, 2.098, 0.917,-3.116, 2.464, PHS=-0.263,-1.502, 0.659, RAW= 175.2, 11.8, CAL= 175.2, 14.1, ROT= 334.8, -14.1 2025-10-27T03:26:39.666Z,1761535599.666 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T03:26:39.675Z,1761535599.675 [DAT](INFO): direction in FSK: [0.877566,-0.412951,0.243615] 2025-10-27T03:26:39.675Z,1761535599.675 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:39.687Z,1761535599.687 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.429790 2025-10-27T03:26:39.849Z,1761535599.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324286,-0.929509,-0.175646],[0.931688,-0.281708,-0.229342],[0.163695,-0.238020,0.957366]] 2025-10-27T03:26:39.864Z,1761535599.864 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.615089 2025-10-27T03:26:39.916Z,1761535599.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504671 s, deltaX: -0.900000 m, approachRate: -1.783339 m/s, rangeRepo size: 4 2025-10-27T03:26:39.918Z,1761535599.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.113049 m, bearing: 86.320366 deg, lat: 36.779378 deg, lon: -121.859527 deg, deltaT: 0.504671 s, deltaX: -0.896309 m, approachRate: -1.776026 m/s, posRepo size: 4 2025-10-27T03:26:39.918Z,1761535599.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m. 2025-10-27T03:26:39.925Z,1761535599.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.113049 m, nav range: 19.387920 m, bearing: 86.474364 deg, approach rate: 0.000000 m/s, LOS rate: -0.809285 deg/s, cmd heading: 100.519102 deg, new cmd heading: 99.542352 deg. 2025-10-27T03:26:39.926Z,1761535599.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.737342 target range: 21.113049 and range: 21.20 m. 2025-10-27T03:26:40.118Z,1761535600.118 [DAT](INFO): DAT read: Rx Time:03:26:41.2751 2025-10-27T03:26:40.119Z,1761535600.119 [DAT](INFO): Rx dataTimestamp_ set to:1761535600.118222 2025-10-27T03:26:40.120Z,1761535600.120 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.5 2025-10-27T03:26:40.120Z,1761535600.120 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-27T03:26:40.121Z,1761535600.121 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.872335 2025-10-27T03:26:40.262Z,1761535600.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:40.266Z,1761535600.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.500267 s, deltaX: -0.200001 m, approachRate: -0.399788 m/s, rangeRepo size: 4 2025-10-27T03:26:40.269Z,1761535600.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m. 2025-10-27T03:26:40.322Z,1761535600.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.113049 m, nav range: 19.148947 m, bearing: 86.203735 deg, approach rate: -0.660405 m/s, LOS rate: -0.757215 deg/s, cmd heading: 99.542351 deg, new cmd heading: 98.720391 deg. 2025-10-27T03:26:40.333Z,1761535600.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.722996 target range: 21.113049 and range: 21.00 m. 2025-10-27T03:26:40.369Z,1761535600.369 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.119945 2025-10-27T03:26:40.624Z,1761535600.624 [DAT](INFO): DAT read: Rx Time:03:26:41.7749 2025-10-27T03:26:40.626Z,1761535600.626 [DAT](INFO): Rx dataTimestamp_ set to:1761535600.624831 2025-10-27T03:26:40.629Z,1761535600.629 [DAT](INFO): DAT read: Bearing 279.3, -17.5 (Local) 2025-10-27T03:26:40.631Z,1761535600.631 [DAT](INFO): Local bearing/azimuth received: Bearing 279.3, -17.5 (Local) 2025-10-27T03:26:40.638Z,1761535600.638 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 2025-10-27T03:26:40.642Z,1761535600.642 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T03:26:40.651Z,1761535600.651 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.400701 2025-10-27T03:26:40.749Z,1761535600.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306519,-0.934020,-0.183445],[0.936657,-0.261655,-0.232833],[0.169472,-0.243193,0.955059]] 2025-10-27T03:26:40.806Z,1761535600.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.506609 s, deltaX: -0.400000 m, approachRate: -0.789563 m/s, rangeRepo size: 4 2025-10-27T03:26:40.807Z,1761535600.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m. 2025-10-27T03:26:40.810Z,1761535600.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.113049 m, nav range: 18.799507 m, bearing: 85.819490 deg, approach rate: -0.646277 m/s, LOS rate: -0.723852 deg/s, cmd heading: 98.720392 deg, new cmd heading: 97.546404 deg. 2025-10-27T03:26:40.810Z,1761535600.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.702506 target range: 21.113049 and range: 20.60 m. 2025-10-27T03:26:40.878Z,1761535600.878 [DAT](INFO): DAT read: 03:26:41.7749 LVL= 32752, 32753, 29490, 32755, AGC= 65, IDX= 509, 0.13, 1.611, 0.433, 2.625, 1.980, PHS=-0.267,-1.502, 0.601, RAW= 174.2, 12.7, CAL= 174.4, 15.5, ROT= 335.6, -15.5 2025-10-27T03:26:40.880Z,1761535600.880 [DAT](INFO): got valid direction response: 03:26:41.7749 LVL= 32752, 32753, 29490, 32755, AGC= 65, IDX= 509, 0.13, 1.611, 0.433, 2.625, 1.980, PHS=-0.267,-1.502, 0.601, RAW= 174.2, 12.7, CAL= 174.4, 15.5, ROT= 335.6, -15.5 2025-10-27T03:26:40.880Z,1761535600.880 [DAT](INFO): #Rx 31: Read direction message, but no range. 2025-10-27T03:26:40.882Z,1761535600.882 [DAT](INFO): direction in FSK: [0.877563,-0.398080,0.267238] 2025-10-27T03:26:40.887Z,1761535600.887 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.637450 2025-10-27T03:26:41.138Z,1761535601.138 [DAT](INFO): DAT read: Rx Time:03:26:42.2748 2025-10-27T03:26:41.148Z,1761535601.148 [DAT](INFO): Rx dataTimestamp_ set to:1761535601.147575 2025-10-27T03:26:41.149Z,1761535601.149 [DAT](INFO): DAT read: Bearing 280.7, -14.1 (Local) 2025-10-27T03:26:41.150Z,1761535601.150 [DAT](INFO): Local bearing/azimuth received: Bearing 280.7, -14.1 (Local) 2025-10-27T03:26:41.152Z,1761535601.152 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-27T03:26:41.180Z,1761535601.180 [DAT](INFO): DAT read: 03:26:42.2748 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.07, 2.984, 1.710,-2.438,-2.984, PHS=-0.213,-1.544, 0.502, RAW= 170.1, 13.9, CAL= 170.5, 17.0, ROT= 339.5, -17.0 2025-10-27T03:26:41.181Z,1761535601.181 [DAT](INFO): got valid direction response: 03:26:42.2748 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.07, 2.984, 1.710,-2.438,-2.984, PHS=-0.213,-1.544, 0.502, RAW= 170.1, 13.9, CAL= 170.5, 17.0, ROT= 339.5, -17.0 2025-10-27T03:26:41.182Z,1761535601.182 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T03:26:41.195Z,1761535601.195 [DAT](INFO): direction in FSK: [0.895744,-0.334905,0.292372] 2025-10-27T03:26:41.196Z,1761535601.196 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:41.205Z,1761535601.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297378,-0.936296,-0.186860],[0.939021,-0.251430,-0.234567],[0.172642,-0.245220,0.953972]] 2025-10-27T03:26:41.210Z,1761535601.210 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.961196 2025-10-27T03:26:41.291Z,1761535601.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.522744 s, deltaX: -0.200001 m, approachRate: -0.382598 m/s, rangeRepo size: 4 2025-10-27T03:26:41.293Z,1761535601.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.316349 m, bearing: 90.497325 deg, lat: 36.779378 deg, lon: -121.859528 deg, deltaT: 1.529620 s, deltaX: -0.796700 m, approachRate: -0.520848 m/s, posRepo size: 4 2025-10-27T03:26:41.294Z,1761535601.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.32 m. 2025-10-27T03:26:41.302Z,1761535601.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.316349 m, nav range: 18.439732 m, bearing: 85.609002 deg, approach rate: 0.000000 m/s, LOS rate: -0.723852 deg/s, cmd heading: 97.546405 deg, new cmd heading: 96.502858 deg. 2025-10-27T03:26:41.307Z,1761535601.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684293 target range: 20.316349 and range: 20.40 m. 2025-10-27T03:26:41.379Z,1761535601.378 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.129396 2025-10-27T03:26:41.633Z,1761535601.633 [DAT](INFO): DAT read: Rx Time:03:26:42.7745 2025-10-27T03:26:41.635Z,1761535601.635 [DAT](INFO): Rx dataTimestamp_ set to:1761535601.633433 2025-10-27T03:26:41.639Z,1761535601.639 [DAT](INFO): DAT read: Bearing 280.4, -13.5 (Local) 2025-10-27T03:26:41.641Z,1761535601.641 [DAT](INFO): Local bearing/azimuth received: Bearing 280.4, -13.5 (Local) 2025-10-27T03:26:41.655Z,1761535601.655 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.6 2025-10-27T03:26:41.672Z,1761535601.672 [DAT](INFO): DAT read: 03:26:42.7745 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.05, 1.624, 0.353, 2.456, 1.934, PHS=-0.208,-1.536, 0.478, RAW= 169.6, 14.2, CAL= 170.0, 17.4, ROT= 340.0, -17.4 2025-10-27T03:26:41.673Z,1761535601.673 [DAT](INFO): got valid direction response: 03:26:42.7745 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.05, 1.624, 0.353, 2.456, 1.934, PHS=-0.208,-1.536, 0.478, RAW= 169.6, 14.2, CAL= 170.0, 17.4, ROT= 340.0, -17.4 2025-10-27T03:26:41.674Z,1761535601.674 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T03:26:41.675Z,1761535601.675 [DAT](INFO): direction in FSK: [0.896693,-0.326370,0.299041] 2025-10-27T03:26:41.680Z,1761535601.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287310,-0.938738,-0.190327],[0.941615,-0.240396,-0.235737],[0.175541,-0.246944,0.952997]] 2025-10-27T03:26:41.683Z,1761535601.683 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:41.697Z,1761535601.697 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.448177 2025-10-27T03:26:41.800Z,1761535601.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.485858 s, deltaX: -0.400000 m, approachRate: -0.823285 m/s, rangeRepo size: 4 2025-10-27T03:26:41.802Z,1761535601.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.917963 m, bearing: 90.549127 deg, lat: 36.779376 deg, lon: -121.859537 deg, deltaT: 0.485858 s, deltaX: -0.398386 m, approachRate: -0.819964 m/s, posRepo size: 4 2025-10-27T03:26:41.807Z,1761535601.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m. 2025-10-27T03:26:41.810Z,1761535601.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.917963 m, nav range: 17.337822 m, bearing: 85.461571 deg, approach rate: 0.000000 m/s, LOS rate: -0.723852 deg/s, cmd heading: 96.502855 deg, new cmd heading: 95.387552 deg. 2025-10-27T03:26:41.815Z,1761535601.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664827 target range: 19.917963 and range: 20.00 m. 2025-10-27T03:26:41.881Z,1761535601.881 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.631794 2025-10-27T03:26:42.074Z,1761535602.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277004,-0.941115,-0.193835],[0.944187,-0.229173,-0.236622],[0.178267,-0.248562,0.952070]] 2025-10-27T03:26:42.136Z,1761535602.136 [DAT](INFO): DAT read: Rx Time:03:26:43.2743 2025-10-27T03:26:42.138Z,1761535602.138 [DAT](INFO): Rx dataTimestamp_ set to:1761535602.136591 2025-10-27T03:26:42.142Z,1761535602.142 [DAT](INFO): DAT read: Bearing 280.6, -11.7 (Local) 2025-10-27T03:26:42.144Z,1761535602.144 [DAT](INFO): Local bearing/azimuth received: Bearing 280.6, -11.7 (Local) 2025-10-27T03:26:42.149Z,1761535602.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m. 2025-10-27T03:26:42.156Z,1761535602.156 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.5 2025-10-27T03:26:42.160Z,1761535602.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.917963 m, nav range: 17.127861 m, bearing: 85.222781 deg, approach rate: -0.601211 m/s, LOS rate: -0.692140 deg/s, cmd heading: 95.387553 deg, new cmd heading: 94.662444 deg. 2025-10-27T03:26:42.161Z,1761535602.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.652171 target range: 19.917963 and range: 20.00 m. 2025-10-27T03:26:42.165Z,1761535602.165 [DAT](INFO): DAT read: 03:26:43.2743 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.01, 0.579,-0.742, 1.338, 0.867, PHS=-0.186,-1.564, 0.427, RAW= 167.5, 14.8, CAL= 168.1, 18.1, ROT= 341.9, -18.1 2025-10-27T03:26:42.166Z,1761535602.166 [DAT](INFO): got valid direction response: 03:26:43.2743 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.01, 0.579,-0.742, 1.338, 0.867, PHS=-0.186,-1.564, 0.427, RAW= 167.5, 14.8, CAL= 168.1, 18.1, ROT= 341.9, -18.1 2025-10-27T03:26:42.167Z,1761535602.167 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T03:26:42.168Z,1761535602.168 [DAT](INFO): direction in FSK: [0.903480,-0.295303,0.310676] 2025-10-27T03:26:42.168Z,1761535602.168 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:42.174Z,1761535602.174 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.925333 2025-10-27T03:26:42.384Z,1761535602.384 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.135145 2025-10-27T03:26:42.477Z,1761535602.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265869,-0.943426,-0.198142],[0.946900,-0.217022,-0.237239],[0.180816,-0.250695,0.951030]] 2025-10-27T03:26:42.551Z,1761535602.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503158 s, deltaX: -0.299999 m, approachRate: -0.596233 m/s, rangeRepo size: 4 2025-10-27T03:26:42.553Z,1761535602.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.619156 m, bearing: 91.568942 deg, lat: 36.779363 deg, lon: -121.859539 deg, deltaT: 0.503158 s, deltaX: -0.298807 m, approachRate: -0.593863 m/s, posRepo size: 4 2025-10-27T03:26:42.554Z,1761535602.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m. 2025-10-27T03:26:42.561Z,1761535602.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.619156 m, nav range: 16.595739 m, bearing: 89.769702 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 94.662447 deg, new cmd heading: 93.870773 deg. 2025-10-27T03:26:42.561Z,1761535602.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638354 target range: 19.619156 and range: 19.70 m. 2025-10-27T03:26:42.644Z,1761535602.644 [DAT](INFO): DAT read: Rx Time:03:26:43.7740 2025-10-27T03:26:42.646Z,1761535602.646 [DAT](INFO): Rx dataTimestamp_ set to:1761535602.644709 2025-10-27T03:26:42.648Z,1761535602.648 [DAT](INFO): DAT read: Bearing 280.1, -10.2 (Local) 2025-10-27T03:26:42.648Z,1761535602.648 [DAT](INFO): Local bearing/azimuth received: Bearing 280.1, -10.2 (Local) 2025-10-27T03:26:42.650Z,1761535602.650 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 2025-10-27T03:26:42.655Z,1761535602.655 [DAT](INFO): DAT read: 03:26:43.7740 LVL= 32752, 32753, 30690, 32755, AGC= 58, IDX= 500,-0.07,-1.085,-2.422,-0.392,-0.823, PHS=-0.160,-1.554, 0.387, RAW= 165.9, 15.1, CAL= 166.5, 18.4, ROT= 343.5, -18.4 2025-10-27T03:26:42.656Z,1761535602.656 [DAT](INFO): got valid direction response: 03:26:43.7740 LVL= 32752, 32753, 30690, 32755, AGC= 58, IDX= 500,-0.07,-1.085,-2.422,-0.392,-0.823, PHS=-0.160,-1.554, 0.387, RAW= 165.9, 15.1, CAL= 166.5, 18.4, ROT= 343.5, -18.4 2025-10-27T03:26:42.656Z,1761535602.656 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T03:26:42.657Z,1761535602.657 [DAT](INFO): direction in FSK: [0.909801,-0.269495,0.315649] 2025-10-27T03:26:42.658Z,1761535602.658 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:42.674Z,1761535602.674 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.425152 2025-10-27T03:26:42.888Z,1761535602.888 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.639196 2025-10-27T03:26:43.049Z,1761535603.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242135,-0.947222,-0.210096],[0.952213,-0.190447,-0.238789],[0.186174,-0.257875,0.948071]] 2025-10-27T03:26:43.144Z,1761535603.144 [DAT](INFO): DAT read: Rx Time:03:26:44.2739 2025-10-27T03:26:43.146Z,1761535603.146 [DAT](INFO): Rx dataTimestamp_ set to:1761535603.144954 2025-10-27T03:26:43.148Z,1761535603.148 [DAT](INFO): DAT read: Bearing 277.6, -9.2 (Local) 2025-10-27T03:26:43.149Z,1761535603.149 [DAT](INFO): Local bearing/azimuth received: Bearing 277.6, -9.2 (Local) 2025-10-27T03:26:43.151Z,1761535603.151 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.8 2025-10-27T03:26:43.155Z,1761535603.155 [DAT](INFO): DAT read: 03:26:44.2739 LVL= 32752, 32753, 26738, 32755, AGC= 61, IDX= 499,-0.12,-1.225,-2.570,-0.550,-1.005, PHS=-0.118,-1.520, 0.411, RAW= 165.4, 14.1, CAL= 165.9, 16.8, ROT= 344.1, -16.8 2025-10-27T03:26:43.156Z,1761535603.156 [DAT](INFO): got valid direction response: 03:26:44.2739 LVL= 32752, 32753, 26738, 32755, AGC= 61, IDX= 499,-0.12,-1.225,-2.570,-0.550,-1.005, PHS=-0.118,-1.520, 0.411, RAW= 165.4, 14.1, CAL= 165.9, 16.8, ROT= 344.1, -16.8 2025-10-27T03:26:43.157Z,1761535603.157 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T03:26:43.158Z,1761535603.158 [DAT](INFO): direction in FSK: [0.920694,-0.262266,0.289032] 2025-10-27T03:26:43.158Z,1761535603.158 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:43.162Z,1761535603.162 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.912941 2025-10-27T03:26:43.179Z,1761535603.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.508118 s, deltaX: -0.500000 m, approachRate: -0.984023 m/s, rangeRepo size: 4 2025-10-27T03:26:43.181Z,1761535603.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.121206 m, bearing: 92.130882 deg, lat: 36.779363 deg, lon: -121.859539 deg, deltaT: 0.508118 s, deltaX: -0.497950 m, approachRate: -0.979988 m/s, posRepo size: 4 2025-10-27T03:26:43.182Z,1761535603.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T03:26:43.204Z,1761535603.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.121206 m, nav range: 16.162687 m, bearing: 89.870184 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 93.870773 deg, new cmd heading: 92.628395 deg. 2025-10-27T03:26:43.206Z,1761535603.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.616670 target range: 19.121206 and range: 19.20 m. 2025-10-27T03:26:43.401Z,1761535603.401 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.152121 2025-10-27T03:26:43.649Z,1761535603.649 [DAT](INFO): DAT read: Rx Time:03:26:44.7736 2025-10-27T03:26:43.649Z,1761535603.649 [DAT](INFO): Rx dataTimestamp_ set to:1761535603.648835 2025-10-27T03:26:43.650Z,1761535603.650 [DAT](INFO): DAT read: Bearing 276.0, -10.0 (Local) 2025-10-27T03:26:43.651Z,1761535603.651 [DAT](INFO): Local bearing/azimuth received: Bearing 276.0, -10.0 (Local) 2025-10-27T03:26:43.653Z,1761535603.653 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T03:26:43.658Z,1761535603.658 [DAT](INFO): DAT read: 03:26:44.7736 LVL= 32752, 32753, 24002, 32755, AGC= 62, IDX= 496,-0.22,-2.146, 2.794,-1.422,-1.909, PHS=-0.135,-1.535, 0.444, RAW= 166.5, 13.8, CAL= 167.0, 16.5, ROT= 343.0, -16.5 2025-10-27T03:26:43.659Z,1761535603.659 [DAT](INFO): got valid direction response: 03:26:44.7736 LVL= 32752, 32753, 24002, 32755, AGC= 62, IDX= 496,-0.22,-2.146, 2.794,-1.422,-1.909, PHS=-0.135,-1.535, 0.444, RAW= 166.5, 13.8, CAL= 167.0, 16.5, ROT= 343.0, -16.5 2025-10-27T03:26:43.659Z,1761535603.659 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T03:26:43.660Z,1761535603.660 [DAT](INFO): direction in FSK: [0.916924,-0.280332,0.284015] 2025-10-27T03:26:43.660Z,1761535603.660 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:43.671Z,1761535603.671 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.422155 2025-10-27T03:26:43.682Z,1761535603.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229420,-0.949305,-0.214909],[0.954850,-0.176691,-0.238834],[0.188754,-0.260000,0.946981]] 2025-10-27T03:26:43.867Z,1761535603.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 1.004126 s, deltaX: -0.400002 m, approachRate: -0.398358 m/s, rangeRepo size: 4 2025-10-27T03:26:43.869Z,1761535603.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.722851 m, bearing: 90.352736 deg, lat: 36.779360 deg, lon: -121.859539 deg, deltaT: 1.004126 s, deltaX: -0.398355 m, approachRate: -0.396719 m/s, posRepo size: 4 2025-10-27T03:26:43.870Z,1761535603.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T03:26:43.872Z,1761535603.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.722851 m, nav range: 15.640397 m, bearing: 90.361921 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 92.628396 deg, new cmd heading: 91.113970 deg. 2025-10-27T03:26:43.873Z,1761535603.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590239 target range: 18.722851 and range: 18.80 m. 2025-10-27T03:26:43.900Z,1761535603.900 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.651001 2025-10-27T03:26:44.153Z,1761535604.153 [DAT](INFO): DAT read: Rx Time:03:26:45.2736 2025-10-27T03:26:44.153Z,1761535604.153 [DAT](INFO): Rx dataTimestamp_ set to:1761535604.152765 2025-10-27T03:26:44.154Z,1761535604.154 [DAT](INFO): DAT read: Bearing 270.6, -12.6 (Local) 2025-10-27T03:26:44.155Z,1761535604.155 [DAT](INFO): Local bearing/azimuth received: Bearing 270.6, -12.6 (Local) 2025-10-27T03:26:44.157Z,1761535604.157 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T03:26:44.162Z,1761535604.162 [DAT](INFO): DAT read: 03:26:45.2736 LVL= 32752, 32753, 22258, 32755, AGC= 63, IDX= 511,-0.34,-0.525,-1.857, 0.393,-0.272, PHS=-0.151,-1.539, 0.621, RAW= 170.6, 11.3, CAL= 170.7, 13.1, ROT= 339.3, -13.1 2025-10-27T03:26:44.163Z,1761535604.163 [DAT](INFO): got valid direction response: 03:26:45.2736 LVL= 32752, 32753, 22258, 32755, AGC= 63, IDX= 511,-0.34,-0.525,-1.857, 0.393,-0.272, PHS=-0.151,-1.539, 0.621, RAW= 170.6, 11.3, CAL= 170.7, 13.1, ROT= 339.3, -13.1 2025-10-27T03:26:44.164Z,1761535604.164 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T03:26:44.165Z,1761535604.165 [DAT](INFO): direction in FSK: [0.911100,-0.344276,0.226651] 2025-10-27T03:26:44.165Z,1761535604.165 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:44.169Z,1761535604.169 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.919867 2025-10-27T03:26:44.310Z,1761535604.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202277,-0.952543,-0.227477],[0.960105,-0.147086,-0.237833],[0.193087,-0.266510,0.944293]] 2025-10-27T03:26:44.408Z,1761535604.408 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.158083 2025-10-27T03:26:44.435Z,1761535604.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:26:44.437Z,1761535604.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.722851 m, bearing: 83.968233 deg, lat: 36.779360 deg, lon: -121.859539 deg, deltaT: 0.503930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:26:44.438Z,1761535604.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T03:26:44.445Z,1761535604.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.722851 m, nav range: 15.349387 m, bearing: 90.165189 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 91.113972 deg, new cmd heading: 89.942503 deg. 2025-10-27T03:26:44.446Z,1761535604.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569793 target range: 18.722851 and range: 18.80 m. 2025-10-27T03:26:44.656Z,1761535604.656 [DAT](INFO): DAT read: Rx Time:03:26:45.7733 2025-10-27T03:26:44.657Z,1761535604.657 [DAT](INFO): Rx dataTimestamp_ set to:1761535604.656660 2025-10-27T03:26:44.658Z,1761535604.658 [DAT](INFO): DAT read: Bearing 262.9, -15.2 (Local) 2025-10-27T03:26:44.659Z,1761535604.659 [DAT](INFO): Local bearing/azimuth received: Bearing 262.9, -15.2 (Local) 2025-10-27T03:26:44.661Z,1761535604.661 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.6 2025-10-27T03:26:44.665Z,1761535604.665 [DAT](INFO): DAT read: 03:26:45.7733 LVL= 32752, 32753, 22898, 32755, AGC= 64, IDX= 508,-0.47,-1.038,-2.347, 0.134,-0.788, PHS=-0.148,-1.514, 0.879, RAW= 175.3, 7.6, CAL= 175.0, 7.6, ROT= 335.0, -7.6 2025-10-27T03:26:44.666Z,1761535604.666 [DAT](INFO): got valid direction response: 03:26:45.7733 LVL= 32752, 32753, 22898, 32755, AGC= 64, IDX= 508,-0.47,-1.038,-2.347, 0.134,-0.788, PHS=-0.148,-1.514, 0.879, RAW= 175.3, 7.6, CAL= 175.0, 7.6, ROT= 335.0, -7.6 2025-10-27T03:26:44.667Z,1761535604.667 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T03:26:44.668Z,1761535604.668 [DAT](INFO): direction in FSK: [0.898346,-0.418906,0.132256] 2025-10-27T03:26:44.668Z,1761535604.668 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:44.672Z,1761535604.672 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.422905 2025-10-27T03:26:44.765Z,1761535604.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188189,-0.954397,-0.231756],[0.962560,-0.132355,-0.236560],[0.195098,-0.267597,0.943572]] 2025-10-27T03:26:44.846Z,1761535604.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503895 s, deltaX: -0.500000 m, approachRate: -0.992270 m/s, rangeRepo size: 4 2025-10-27T03:26:44.853Z,1761535604.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.225002 m, bearing: 77.313699 deg, lat: 36.779360 deg, lon: -121.859535 deg, deltaT: 0.503895 s, deltaX: -0.497849 m, approachRate: -0.988001 m/s, posRepo size: 4 2025-10-27T03:26:44.853Z,1761535604.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.23 m. 2025-10-27T03:26:44.860Z,1761535604.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.225002 m, nav range: 15.379625 m, bearing: 90.004655 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 89.942506 deg, new cmd heading: 89.063641 deg. 2025-10-27T03:26:44.861Z,1761535604.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554454 target range: 18.225002 and range: 18.30 m. 2025-10-27T03:26:44.909Z,1761535604.909 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.660290 2025-10-27T03:26:45.160Z,1761535605.160 [DAT](INFO): DAT read: Rx Time:03:26:46.2733 2025-10-27T03:26:45.161Z,1761535605.161 [DAT](INFO): Rx dataTimestamp_ set to:1761535605.160624 2025-10-27T03:26:45.162Z,1761535605.162 [DAT](INFO): DAT read: Bearing 257.5, -14.3 (Local) 2025-10-27T03:26:45.163Z,1761535605.163 [DAT](INFO): Local bearing/azimuth received: Bearing 257.5, -14.3 (Local) 2025-10-27T03:26:45.165Z,1761535605.165 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 2025-10-27T03:26:45.169Z,1761535605.169 [DAT](INFO): DAT read: 03:26:46.2733 LVL= 28464, 32753, 24050, 32755, AGC= 66, IDX= 507, 0.42, 2.908, 1.586,-2.165, 3.076, PHS=-0.066,-1.444, 0.998, RAW= 175.7, 4.9, CAL= 175.2, 3.4, ROT= 334.8, -3.4 2025-10-27T03:26:45.170Z,1761535605.170 [DAT](INFO): got valid direction response: 03:26:46.2733 LVL= 28464, 32753, 24050, 32755, AGC= 66, IDX= 507, 0.42, 2.908, 1.586,-2.165, 3.076, PHS=-0.066,-1.444, 0.998, RAW= 175.7, 4.9, CAL= 175.2, 3.4, ROT= 334.8, -3.4 2025-10-27T03:26:45.171Z,1761535605.171 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T03:26:45.172Z,1761535605.172 [DAT](INFO): direction in FSK: [0.903234,-0.425030,0.059306] 2025-10-27T03:26:45.172Z,1761535605.172 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:45.176Z,1761535605.176 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.926664 2025-10-27T03:26:45.229Z,1761535605.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173834,-0.956599,-0.233881],[0.964907,-0.117987,-0.234594],[0.196817,-0.266454,0.943539]] 2025-10-27T03:26:45.304Z,1761535605.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503964 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:26:45.306Z,1761535605.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.225002 m, bearing: 75.444749 deg, lat: 36.779376 deg, lon: -121.859528 deg, deltaT: 0.503964 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:26:45.306Z,1761535605.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.23 m. 2025-10-27T03:26:45.313Z,1761535605.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.225002 m, nav range: 15.803867 m, bearing: 83.451962 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 89.063638 deg, new cmd heading: 88.122343 deg. 2025-10-27T03:26:45.314Z,1761535605.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538025 target range: 18.225002 and range: 18.30 m. 2025-10-27T03:26:45.414Z,1761535605.414 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.164400 2025-10-27T03:26:45.665Z,1761535605.665 [DAT](INFO): DAT read: Rx Time:03:26:46.7730 2025-10-27T03:26:45.665Z,1761535605.665 [DAT](INFO): Rx dataTimestamp_ set to:1761535605.664873 2025-10-27T03:26:45.666Z,1761535605.666 [DAT](INFO): DAT read: Bearing 252.7, -13.4 (Local) 2025-10-27T03:26:45.667Z,1761535605.667 [DAT](INFO): Local bearing/azimuth received: Bearing 252.7, -13.4 (Local) 2025-10-27T03:26:45.669Z,1761535605.669 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 2025-10-27T03:26:45.673Z,1761535605.673 [DAT](INFO): DAT read: 03:26:46.7730 LVL= 24784, 32753, 27698, 32755, AGC= 65, IDX= 504, 0.34, 2.411, 1.031,-2.592, 2.501, PHS= 0.012,-1.424, 1.146, RAW= 176.1, 2.4, CAL= 175.5, -0.3, ROT= 334.5, 0.3 2025-10-27T03:26:45.674Z,1761535605.674 [DAT](INFO): got valid direction response: 03:26:46.7730 LVL= 24784, 32753, 27698, 32755, AGC= 65, IDX= 504, 0.34, 2.411, 1.031,-2.592, 2.501, PHS= 0.012,-1.424, 1.146, RAW= 176.1, 2.4, CAL= 175.5, -0.3, ROT= 334.5, 0.3 2025-10-27T03:26:45.675Z,1761535605.675 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T03:26:45.676Z,1761535605.676 [DAT](INFO): direction in FSK: [0.902573,-0.430505,-0.005236] 2025-10-27T03:26:45.676Z,1761535605.676 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:45.682Z,1761535605.682 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.432848 2025-10-27T03:26:45.684Z,1761535605.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158933,-0.958424,-0.236989],[0.967185,-0.102949,-0.232283],[0.198228,-0.266130,0.943335]] 2025-10-27T03:26:45.698Z,1761535605.698 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050307150395,1., 0 2025-10-27T03:26:45.788Z,1761535605.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504249 s, deltaX: -0.400000 m, approachRate: -0.793258 m/s, rangeRepo size: 4 2025-10-27T03:26:45.790Z,1761535605.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.826633 m, bearing: 73.595857 deg, lat: 36.779393 deg, lon: -121.859525 deg, deltaT: 0.504249 s, deltaX: -0.398369 m, approachRate: -0.790024 m/s, posRepo size: 4 2025-10-27T03:26:45.795Z,1761535605.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.83 m. 2025-10-27T03:26:45.798Z,1761535605.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.826633 m, nav range: 16.025080 m, bearing: 76.597622 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 88.122343 deg, new cmd heading: 87.107705 deg. 2025-10-27T03:26:45.803Z,1761535605.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.520316 target range: 17.826633 and range: 17.90 m. 2025-10-27T03:26:45.916Z,1761535605.916 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.667171 2025-10-27T03:26:46.153Z,1761535606.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143864,-0.959920,-0.240534],[0.969235,-0.087624,-0.230011],[0.199716,-0.266225,0.942994]] 2025-10-27T03:26:46.169Z,1761535606.169 [DAT](INFO): DAT read: Rx Time:03:26:47.2728 2025-10-27T03:26:46.169Z,1761535606.169 [DAT](INFO): Rx dataTimestamp_ set to:1761535606.168783 2025-10-27T03:26:46.170Z,1761535606.170 [DAT](INFO): DAT read: Bearing 252.1, -10.4 (Local) 2025-10-27T03:26:46.171Z,1761535606.171 [DAT](INFO): Local bearing/azimuth received: Bearing 252.1, -10.4 (Local) 2025-10-27T03:26:46.173Z,1761535606.173 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 2025-10-27T03:26:46.178Z,1761535606.178 [DAT](INFO): DAT read: 03:26:47.2728 LVL= 24656, 27425, 29778, 32755, AGC= 65, IDX= 502, 0.33, 2.883, 1.412,-2.237, 2.886, PHS= 0.099,-1.429, 1.116, RAW= 173.4, 2.0, CAL= 172.6, -0.6, ROT= 337.4, 0.6 2025-10-27T03:26:46.180Z,1761535606.180 [DAT](INFO): got valid direction response: 03:26:47.2728 LVL= 24656, 27425, 29778, 32755, AGC= 65, IDX= 502, 0.33, 2.883, 1.412,-2.237, 2.886, PHS= 0.099,-1.429, 1.116, RAW= 173.4, 2.0, CAL= 172.6, -0.6, ROT= 337.4, 0.6 2025-10-27T03:26:46.181Z,1761535606.181 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T03:26:46.188Z,1761535606.188 [DAT](INFO): direction in FSK: [0.923160,-0.384274,-0.010472] 2025-10-27T03:26:46.188Z,1761535606.188 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:46.211Z,1761535606.211 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.957655 2025-10-27T03:26:46.224Z,1761535606.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503910 s, deltaX: -0.299999 m, approachRate: -0.595343 m/s, rangeRepo size: 4 2025-10-27T03:26:46.226Z,1761535606.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.527864 m, bearing: 75.624065 deg, lat: 36.779397 deg, lon: -121.859518 deg, deltaT: 0.503910 s, deltaX: -0.298769 m, approachRate: -0.592902 m/s, posRepo size: 4 2025-10-27T03:26:46.226Z,1761535606.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.53 m. 2025-10-27T03:26:46.233Z,1761535606.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.527864 m, nav range: 16.498865 m, bearing: 75.317474 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 87.107704 deg, new cmd heading: 86.220650 deg. 2025-10-27T03:26:46.234Z,1761535606.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.504834 target range: 17.527864 and range: 17.60 m. 2025-10-27T03:26:46.423Z,1761535606.423 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.173367 2025-10-27T03:26:46.673Z,1761535606.673 [DAT](INFO): DAT read: Rx Time:03:26:47.7725 2025-10-27T03:26:46.673Z,1761535606.673 [DAT](INFO): Rx dataTimestamp_ set to:1761535606.672824 2025-10-27T03:26:46.674Z,1761535606.674 [DAT](INFO): DAT read: Bearing 252.1, -5.0 (Local) 2025-10-27T03:26:46.675Z,1761535606.675 [DAT](INFO): Local bearing/azimuth received: Bearing 252.1, -5.0 (Local) 2025-10-27T03:26:46.678Z,1761535606.678 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-27T03:26:46.691Z,1761535606.691 [DAT](INFO): DAT read: 03:26:47.7725 LVL= 19888, 25713, 24482, 27811, AGC= 63, IDX= 499, 0.38, 2.180, 0.546, 3.122, 2.030, PHS= 0.252,-1.439, 1.048, RAW= 168.3, 1.3, CAL= 167.3, -1.0, ROT= 342.7, 1.0 2025-10-27T03:26:46.693Z,1761535606.693 [DAT](INFO): got valid direction response: 03:26:47.7725 LVL= 19888, 25713, 24482, 27811, AGC= 63, IDX= 499, 0.38, 2.180, 0.546, 3.122, 2.030, PHS= 0.252,-1.439, 1.048, RAW= 168.3, 1.3, CAL= 167.3, -1.0, ROT= 342.7, 1.0 2025-10-27T03:26:46.694Z,1761535606.694 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T03:26:46.700Z,1761535606.700 [DAT](INFO): direction in FSK: [0.954615,-0.297329,-0.017452] 2025-10-27T03:26:46.701Z,1761535606.701 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:46.717Z,1761535606.717 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.467873 2025-10-27T03:26:46.763Z,1761535606.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504041 s, deltaX: -0.500000 m, approachRate: -0.991983 m/s, rangeRepo size: 4 2025-10-27T03:26:46.765Z,1761535606.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.029909 m, bearing: 80.943320 deg, lat: 36.779397 deg, lon: -121.859517 deg, deltaT: 0.504041 s, deltaX: -0.497955 m, approachRate: -0.987926 m/s, posRepo size: 4 2025-10-27T03:26:46.766Z,1761535606.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.03 m. 2025-10-27T03:26:46.777Z,1761535606.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.029909 m, nav range: 16.312664 m, bearing: 75.048935 deg, approach rate: 0.000000 m/s, LOS rate: -0.692140 deg/s, cmd heading: 86.220647 deg, new cmd heading: 85.092564 deg. 2025-10-27T03:26:46.778Z,1761535606.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485145 target range: 17.029909 and range: 17.10 m. 2025-10-27T03:26:46.924Z,1761535606.924 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.675072 2025-10-27T03:26:47.157Z,1761535607.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096146,-0.962284,-0.254491],[0.974326,-0.038694,-0.221790],[0.203578,-0.269282,0.941299]] 2025-10-27T03:26:47.178Z,1761535607.178 [DAT](INFO): DAT read: Rx Time:03:26:48.2724 2025-10-27T03:26:47.179Z,1761535607.179 [DAT](INFO): Rx dataTimestamp_ set to:1761535607.178358 2025-10-27T03:26:47.182Z,1761535607.182 [DAT](INFO): DAT read: Bearing 253.0, 2.4 (Local) 2025-10-27T03:26:47.182Z,1761535607.182 [DAT](INFO): Local bearing/azimuth received: Bearing 253.0, 2.4 (Local) 2025-10-27T03:26:47.187Z,1761535607.187 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 2025-10-27T03:26:47.200Z,1761535607.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:47.215Z,1761535607.215 [DAT](INFO): DAT read: 03:26:48.2724 LVL= 20432, 20657, 23170, 29859, AGC= 61, IDX= 499,-0.39, 2.357, 0.462, 2.998, 2.004, PHS= 0.455,-1.496, 0.950, RAW= 161.0, 0.8, CAL= 159.7, -1.0, ROT= 350.3, 1.0 2025-10-27T03:26:47.216Z,1761535607.216 [DAT](INFO): got valid direction response: 03:26:48.2724 LVL= 20432, 20657, 23170, 29859, AGC= 61, IDX= 499,-0.39, 2.357, 0.462, 2.998, 2.004, PHS= 0.455,-1.496, 0.950, RAW= 161.0, 0.8, CAL= 159.7, -1.0, ROT= 350.3, 1.0 2025-10-27T03:26:47.217Z,1761535607.217 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T03:26:47.218Z,1761535607.218 [DAT](INFO): direction in FSK: [0.985553,-0.168464,-0.017452] 2025-10-27T03:26:47.218Z,1761535607.218 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:47.219Z,1761535607.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.03 m. 2025-10-27T03:26:47.222Z,1761535607.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.029909 m, nav range: 16.052738 m, bearing: 74.772528 deg, approach rate: -0.584423 m/s, LOS rate: -0.631541 deg/s, cmd heading: 85.092566 deg, new cmd heading: 84.249982 deg. 2025-10-27T03:26:47.230Z,1761535607.230 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.980844 2025-10-27T03:26:47.235Z,1761535607.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.470440 target range: 17.029909 and range: 17.10 m. 2025-10-27T03:26:47.431Z,1761535607.431 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.181099 2025-10-27T03:26:47.531Z,1761535607.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080043,-0.963011,-0.257298],[0.975580,-0.022719,-0.218465],[0.204539,-0.268501,0.941313]] 2025-10-27T03:26:47.621Z,1761535607.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.505534 s, deltaX: -0.100000 m, approachRate: -0.197811 m/s, rangeRepo size: 4 2025-10-27T03:26:47.627Z,1761535607.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.930347 m, bearing: 84.821197 deg, lat: 36.779397 deg, lon: -121.859514 deg, deltaT: 0.505534 s, deltaX: -0.099562 m, approachRate: -0.196944 m/s, posRepo size: 4 2025-10-27T03:26:47.628Z,1761535607.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m. 2025-10-27T03:26:47.635Z,1761535607.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.930347 m, nav range: 16.011738 m, bearing: 74.732972 deg, approach rate: 0.000000 m/s, LOS rate: -0.631541 deg/s, cmd heading: 84.249980 deg, new cmd heading: 83.459159 deg. 2025-10-27T03:26:47.636Z,1761535607.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456637 target range: 16.930347 and range: 17.00 m. 2025-10-27T03:26:47.682Z,1761535607.682 [DAT](INFO): DAT read: Rx Time:03:26:48.7721 2025-10-27T03:26:47.683Z,1761535607.683 [DAT](INFO): Rx dataTimestamp_ set to:1761535607.682070 2025-10-27T03:26:47.685Z,1761535607.685 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-27T03:26:47.686Z,1761535607.686 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-27T03:26:47.689Z,1761535607.689 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.439207 2025-10-27T03:26:47.932Z,1761535607.932 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.683441 2025-10-27T03:26:47.994Z,1761535607.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064311,-0.963252,-0.260788],[0.976536,-0.006923,-0.215244],[0.205528,-0.268512,0.941095]] 2025-10-27T03:26:48.012Z,1761535608.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503712 s, deltaX: -0.500000 m, approachRate: -0.992631 m/s, rangeRepo size: 4 2025-10-27T03:26:48.013Z,1761535608.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m. 2025-10-27T03:26:48.036Z,1761535608.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.930347 m, nav range: 15.779575 m, bearing: 74.517684 deg, approach rate: -0.593484 m/s, LOS rate: -0.558443 deg/s, cmd heading: 83.459161 deg, new cmd heading: 82.803824 deg. 2025-10-27T03:26:48.037Z,1761535608.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.445199 target range: 16.930347 and range: 16.50 m. 2025-10-27T03:26:48.185Z,1761535608.185 [DAT](INFO): DAT read: Rx Time:03:26:49.2721 2025-10-27T03:26:48.186Z,1761535608.186 [DAT](INFO): Rx dataTimestamp_ set to:1761535608.185650 2025-10-27T03:26:48.188Z,1761535608.188 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-27T03:26:48.190Z,1761535608.190 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-27T03:26:48.191Z,1761535608.191 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.942024 2025-10-27T03:26:48.393Z,1761535608.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047844,-0.963555,-0.263196],[0.977305,0.009280,-0.211632],[0.206361,-0.267348,0.941244]] 2025-10-27T03:26:48.440Z,1761535608.440 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.189554 2025-10-27T03:26:48.473Z,1761535608.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503580 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:26:48.474Z,1761535608.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m. 2025-10-27T03:26:48.481Z,1761535608.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.930347 m, nav range: 15.547162 m, bearing: 74.310951 deg, approach rate: -0.504022 m/s, LOS rate: -0.455033 deg/s, cmd heading: 82.803824 deg, new cmd heading: 82.174379 deg. 2025-10-27T03:26:48.482Z,1761535608.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434214 target range: 16.930347 and range: 16.50 m. 2025-10-27T03:26:48.690Z,1761535608.690 [DAT](INFO): DAT read: Rx Time:03:26:49.7718 2025-10-27T03:26:48.690Z,1761535608.690 [DAT](INFO): Rx dataTimestamp_ set to:1761535608.690045 2025-10-27T03:26:48.693Z,1761535608.693 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4 2025-10-27T03:26:48.694Z,1761535608.694 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-27T03:26:48.696Z,1761535608.696 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.446970 2025-10-27T03:26:48.791Z,1761535608.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031686,-0.963454,-0.265992],[0.977804,0.025265,-0.207995],[0.207114,-0.266678,0.941268]] 2025-10-27T03:26:48.840Z,1761535608.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504395 s, deltaX: -0.400000 m, approachRate: -0.793029 m/s, rangeRepo size: 4 2025-10-27T03:26:48.841Z,1761535608.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m. 2025-10-27T03:26:48.844Z,1761535608.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.930347 m, nav range: 15.308853 m, bearing: 74.070511 deg, approach rate: -0.649587 m/s, LOS rate: -0.665596 deg/s, cmd heading: 82.174382 deg, new cmd heading: 81.441876 deg. 2025-10-27T03:26:48.845Z,1761535608.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421429 target range: 16.930347 and range: 16.10 m. 2025-10-27T03:26:48.941Z,1761535608.941 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.691572 2025-10-27T03:26:49.193Z,1761535609.193 [DAT](INFO): DAT read: Rx Time:03:26:50.2717 2025-10-27T03:26:49.194Z,1761535609.194 [DAT](INFO): Rx dataTimestamp_ set to:1761535609.193100 2025-10-27T03:26:49.199Z,1761535609.199 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 2025-10-27T03:26:49.200Z,1761535609.200 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-27T03:26:49.202Z,1761535609.202 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.952690 2025-10-27T03:26:49.226Z,1761535609.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015204,-0.962807,-0.269761],[0.978120,0.041663,-0.203827],[0.207485,-0.266958,0.941108]] 2025-10-27T03:26:49.266Z,1761535609.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:49.269Z,1761535609.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503055 s, deltaX: -0.200001 m, approachRate: -0.397572 m/s, rangeRepo size: 4 2025-10-27T03:26:49.270Z,1761535609.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m. 2025-10-27T03:26:49.273Z,1761535609.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.930347 m, nav range: 15.065516 m, bearing: 73.833551 deg, approach rate: -0.567034 m/s, LOS rate: -0.561090 deg/s, cmd heading: 81.441878 deg, new cmd heading: 80.719556 deg. 2025-10-27T03:26:49.274Z,1761535609.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408822 target range: 16.930347 and range: 15.90 m. 2025-10-27T03:26:49.467Z,1761535609.467 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.217169 2025-10-27T03:26:49.665Z,1761535609.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m. 2025-10-27T03:26:49.668Z,1761535609.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.930347 m, nav range: 14.837332 m, bearing: 73.595739 deg, approach rate: -0.576249 m/s, LOS rate: -0.609798 deg/s, cmd heading: 80.719558 deg, new cmd heading: 79.995191 deg. 2025-10-27T03:26:49.669Z,1761535609.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396179 target range: 16.930347 and range: 15.90 m. 2025-10-27T03:26:49.697Z,1761535609.697 [DAT](INFO): DAT read: Rx Time:03:26:50.7715 2025-10-27T03:26:49.698Z,1761535609.698 [DAT](INFO): Rx dataTimestamp_ set to:1761535609.697788 2025-10-27T03:26:49.702Z,1761535609.702 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4 2025-10-27T03:26:49.703Z,1761535609.703 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-27T03:26:49.705Z,1761535609.705 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.455976 2025-10-27T03:26:49.948Z,1761535609.948 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.698948 2025-10-27T03:26:50.018Z,1761535610.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016221,-0.961142,-0.275576],[0.978024,0.072548,-0.195463],[0.207860,-0.266349,0.941197]] 2025-10-27T03:26:50.037Z,1761535610.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504688 s, deltaX: -0.299999 m, approachRate: -0.594425 m/s, rangeRepo size: 4 2025-10-27T03:26:50.038Z,1761535610.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m. 2025-10-27T03:26:50.041Z,1761535610.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.930347 m, nav range: 14.621772 m, bearing: 73.393025 deg, approach rate: -0.579855 m/s, LOS rate: -0.553338 deg/s, cmd heading: 79.995189 deg, new cmd heading: 79.378106 deg. 2025-10-27T03:26:50.042Z,1761535610.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385409 target range: 16.930347 and range: 15.60 m. 2025-10-27T03:26:50.202Z,1761535610.202 [DAT](INFO): DAT read: Rx Time:03:26:51.2714 2025-10-27T03:26:50.203Z,1761535610.203 [DAT](INFO): Rx dataTimestamp_ set to:1761535610.202110 2025-10-27T03:26:50.205Z,1761535610.205 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 2025-10-27T03:26:50.206Z,1761535610.206 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-27T03:26:50.207Z,1761535610.207 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.957571 2025-10-27T03:26:50.428Z,1761535610.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031561,-0.959872,-0.278655],[0.977681,0.087585,-0.190966],[0.207709,-0.266409,0.941214]] 2025-10-27T03:26:50.455Z,1761535610.455 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.205404 2025-10-27T03:26:50.519Z,1761535610.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504322 s, deltaX: -0.100000 m, approachRate: -0.198287 m/s, rangeRepo size: 4 2025-10-27T03:26:50.520Z,1761535610.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m. 2025-10-27T03:26:50.522Z,1761535610.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.930347 m, nav range: 14.357655 m, bearing: 73.153567 deg, approach rate: -0.553140 m/s, LOS rate: -0.510720 deg/s, cmd heading: 79.378109 deg, new cmd heading: 78.646562 deg. 2025-10-27T03:26:50.527Z,1761535610.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372641 target range: 16.930347 and range: 15.50 m. 2025-10-27T03:26:50.705Z,1761535610.705 [DAT](INFO): DAT read: Rx Time:03:26:51.7711 2025-10-27T03:26:50.705Z,1761535610.705 [DAT](INFO): Rx dataTimestamp_ set to:1761535610.704744 2025-10-27T03:26:50.707Z,1761535610.707 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-27T03:26:50.708Z,1761535610.708 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-27T03:26:50.710Z,1761535610.710 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.460178 2025-10-27T03:26:50.879Z,1761535610.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046520,-0.958787,-0.280292],[0.977053,0.102061,-0.186955],[0.207856,-0.265163,0.941533]] 2025-10-27T03:26:50.926Z,1761535610.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.502634 s, deltaX: -0.500000 m, approachRate: -0.994760 m/s, rangeRepo size: 4 2025-10-27T03:26:50.926Z,1761535610.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m. 2025-10-27T03:26:50.929Z,1761535610.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.930347 m, nav range: 14.104751 m, bearing: 72.922592 deg, approach rate: -0.615452 m/s, LOS rate: -0.572163 deg/s, cmd heading: 78.646562 deg, new cmd heading: 77.941251 deg. 2025-10-27T03:26:50.930Z,1761535610.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360331 target range: 16.930347 and range: 15.00 m. 2025-10-27T03:26:50.956Z,1761535610.956 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.707024 2025-10-27T03:26:51.209Z,1761535611.209 [DAT](INFO): DAT read: Rx Time:03:26:52.2711 2025-10-27T03:26:51.209Z,1761535611.209 [DAT](INFO): Rx dataTimestamp_ set to:1761535611.208775 2025-10-27T03:26:51.210Z,1761535611.210 [DAT](INFO): DAT read: Bearing 44.7, -24.5 (Local) 2025-10-27T03:26:51.211Z,1761535611.211 [DAT](INFO): Local bearing/azimuth received: Bearing 44.7, -24.5 (Local) 2025-10-27T03:26:51.213Z,1761535611.213 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-27T03:26:51.219Z,1761535611.219 [DAT](INFO): DAT read: 03:26:52.2711 LVL= 23728, 15633, 18882, 28211, AGC= 58, IDX= 503,-0.31,-2.914,-0.748,-2.481,-1.369, PHS=-1.443, 0.666,-1.156, RAW= 322.8, 19.0, CAL= 322.3, 23.8, ROT= 187.7, -23.8 2025-10-27T03:26:51.221Z,1761535611.221 [DAT](INFO): got valid direction response: 03:26:52.2711 LVL= 23728, 15633, 18882, 28211, AGC= 58, IDX= 503,-0.31,-2.914,-0.748,-2.481,-1.369, PHS=-1.443, 0.666,-1.156, RAW= 322.8, 19.0, CAL= 322.3, 23.8, ROT= 187.7, -23.8 2025-10-27T03:26:51.221Z,1761535611.221 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T03:26:51.222Z,1761535611.222 [DAT](INFO): direction in FSK: [-0.906710,-0.122592,0.403545] 2025-10-27T03:26:51.222Z,1761535611.222 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:51.226Z,1761535611.226 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.976789 2025-10-27T03:26:51.282Z,1761535611.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061256,-0.957702,-0.281165],[0.976174,0.116231,-0.183233],[0.208163,-0.263242,0.942004]] 2025-10-27T03:26:51.371Z,1761535611.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:26:51.373Z,1761535611.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.938615 m, bearing: 266.965415 deg, lat: 36.779383 deg, lon: -121.859514 deg, deltaT: 4.030417 s, deltaX: -1.991733 m, approachRate: -0.494175 m/s, posRepo size: 4 2025-10-27T03:26:51.374Z,1761535611.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.94 m. 2025-10-27T03:26:51.381Z,1761535611.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.938615 m, nav range: 13.470800 m, bearing: 79.283521 deg, approach rate: 0.000000 m/s, LOS rate: -0.572163 deg/s, cmd heading: 77.941249 deg, new cmd heading: 77.184049 deg. 2025-10-27T03:26:51.381Z,1761535611.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347116 target range: 14.938615 and range: 15.00 m. 2025-10-27T03:26:51.460Z,1761535611.460 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.211418 2025-10-27T03:26:51.713Z,1761535611.713 [DAT](INFO): DAT read: Rx Time:03:26:52.7708 2025-10-27T03:26:51.714Z,1761535611.714 [DAT](INFO): Rx dataTimestamp_ set to:1761535611.713610 2025-10-27T03:26:51.716Z,1761535611.716 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 2025-10-27T03:26:51.717Z,1761535611.717 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-27T03:26:51.718Z,1761535611.718 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.468971 2025-10-27T03:26:51.733Z,1761535611.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075919,-0.957151,-0.279459],[0.975066,0.129876,-0.179938],[0.208523,-0.258830,0.943146]] 2025-10-27T03:26:51.820Z,1761535611.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:51.822Z,1761535611.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504835 s, deltaX: -0.400000 m, approachRate: -0.792337 m/s, rangeRepo size: 4 2025-10-27T03:26:51.827Z,1761535611.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.94 m. 2025-10-27T03:26:51.830Z,1761535611.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.938615 m, nav range: 13.178440 m, bearing: 79.135624 deg, approach rate: -0.641922 m/s, LOS rate: -0.331934 deg/s, cmd heading: 77.184047 deg, new cmd heading: 76.730524 deg. 2025-10-27T03:26:51.833Z,1761535611.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339200 target range: 14.938615 and range: 14.60 m. 2025-10-27T03:26:51.964Z,1761535611.964 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.714949 2025-10-27T03:26:52.167Z,1761535612.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090402,-0.956273,-0.278152],[0.973755,0.143452,-0.176700],[0.208875,-0.254878,0.944144]] 2025-10-27T03:26:52.217Z,1761535612.217 [DAT](INFO): DAT read: Rx Time:03:26:53.2708 2025-10-27T03:26:52.217Z,1761535612.217 [DAT](INFO): Rx dataTimestamp_ set to:1761535612.216789 2025-10-27T03:26:52.218Z,1761535612.218 [DAT](INFO): DAT read: Bearing 287.0, -19.6 (Local) 2025-10-27T03:26:52.219Z,1761535612.219 [DAT](INFO): Local bearing/azimuth received: Bearing 287.0, -19.6 (Local) 2025-10-27T03:26:52.221Z,1761535612.221 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 2025-10-27T03:26:52.226Z,1761535612.226 [DAT](INFO): DAT read: 03:26:53.2708 LVL= 20368, 13665, 18418, 26355, AGC= 56, IDX= 498, 0.07, 2.148, 1.037,-3.134,-2.961, PHS=-1.072,-2.239,-0.217, RAW= 174.9, 35.4, CAL= 175.3, 47.0, ROT= 334.7, -47.0 2025-10-27T03:26:52.227Z,1761535612.227 [DAT](INFO): got valid direction response: 03:26:53.2708 LVL= 20368, 13665, 18418, 26355, AGC= 56, IDX= 498, 0.07, 2.148, 1.037,-3.134,-2.961, PHS=-1.072,-2.239,-0.217, RAW= 174.9, 35.4, CAL= 175.3, 47.0, ROT= 334.7, -47.0 2025-10-27T03:26:52.227Z,1761535612.227 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T03:26:52.228Z,1761535612.228 [DAT](INFO): direction in FSK: [0.616583,-0.291457,0.731354] 2025-10-27T03:26:52.228Z,1761535612.228 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:52.232Z,1761535612.232 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.983307 2025-10-27T03:26:52.237Z,1761535612.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503179 s, deltaX: -0.200001 m, approachRate: -0.397474 m/s, rangeRepo size: 4 2025-10-27T03:26:52.237Z,1761535612.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.94 m. 2025-10-27T03:26:52.244Z,1761535612.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.938615 m, nav range: 12.932909 m, bearing: 79.022953 deg, approach rate: -0.592378 m/s, LOS rate: -0.276993 deg/s, cmd heading: 76.730523 deg, new cmd heading: 76.386099 deg. 2025-10-27T03:26:52.245Z,1761535612.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.333189 target range: 14.938615 and range: 14.40 m. 2025-10-27T03:26:52.471Z,1761535612.471 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.221327 2025-10-27T03:26:52.570Z,1761535612.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104849,-0.954555,-0.278984],[0.972293,0.157330,-0.172899],[0.208934,-0.253126,0.944602]] 2025-10-27T03:26:52.701Z,1761535612.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.94 m. 2025-10-27T03:26:52.706Z,1761535612.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.938615 m, nav range: 12.630338 m, bearing: 78.859028 deg, approach rate: -0.650898 m/s, LOS rate: -0.361088 deg/s, cmd heading: 76.386097 deg, new cmd heading: 75.882552 deg. 2025-10-27T03:26:52.707Z,1761535612.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324400 target range: 14.938615 and range: 14.40 m. 2025-10-27T03:26:52.721Z,1761535612.721 [DAT](INFO): DAT read: Rx Time:03:26:53.7705 2025-10-27T03:26:52.722Z,1761535612.722 [DAT](INFO): Rx dataTimestamp_ set to:1761535612.721385 2025-10-27T03:26:52.724Z,1761535612.724 [DAT](INFO): DAT read: Bearing 287.7, -28.4 (Local) 2025-10-27T03:26:52.724Z,1761535612.724 [DAT](INFO): Local bearing/azimuth received: Bearing 287.7, -28.4 (Local) 2025-10-27T03:26:52.726Z,1761535612.726 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 2025-10-27T03:26:52.732Z,1761535612.732 [DAT](INFO): DAT read: 03:26:53.7705 LVL= 17840, 19441, 20018, 29091, AGC= 58, IDX= 496,-0.45, 0.886, 0.352, 2.167, 2.238, PHS=-1.251,-1.841,-0.116, RAW= 190.3, 36.7, CAL= 188.6, 48.0, ROT= 321.4, -48.0 2025-10-27T03:26:52.733Z,1761535612.733 [DAT](INFO): got valid direction response: 03:26:53.7705 LVL= 17840, 19441, 20018, 29091, AGC= 58, IDX= 496,-0.45, 0.886, 0.352, 2.167, 2.238, PHS=-1.251,-1.841,-0.116, RAW= 190.3, 36.7, CAL= 188.6, 48.0, ROT= 321.4, -48.0 2025-10-27T03:26:52.733Z,1761535612.733 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T03:26:52.734Z,1761535612.734 [DAT](INFO): direction in FSK: [0.522939,-0.417457,0.743145] 2025-10-27T03:26:52.734Z,1761535612.734 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:52.738Z,1761535612.738 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.489134 2025-10-27T03:26:52.973Z,1761535612.973 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.723751 2025-10-27T03:26:53.060Z,1761535613.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132581,-0.949460,-0.284515],[0.968845,0.184724,-0.164972],[0.209191,-0.253779,0.944370]] 2025-10-27T03:26:53.122Z,1761535613.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504596 s, deltaX: -0.400000 m, approachRate: -0.792713 m/s, rangeRepo size: 4 2025-10-27T03:26:53.151Z,1761535613.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.942591 m, bearing: 50.362800 deg, lat: 36.779379 deg, lon: -121.859585 deg, deltaT: 1.512610 s, deltaX: -0.996024 m, approachRate: -0.658480 m/s, posRepo size: 4 2025-10-27T03:26:53.152Z,1761535613.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.94 m. 2025-10-27T03:26:53.154Z,1761535613.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.942591 m, nav range: 6.194218 m, bearing: 71.502045 deg, approach rate: 0.000000 m/s, LOS rate: -0.361088 deg/s, cmd heading: 75.882555 deg, new cmd heading: 75.457807 deg. 2025-10-27T03:26:53.160Z,1761535613.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316987 target range: 13.942591 and range: 14.00 m. 2025-10-27T03:26:53.226Z,1761535613.226 [DAT](INFO): DAT read: Rx Time:03:26:54.2705 2025-10-27T03:26:53.228Z,1761535613.228 [DAT](INFO): Rx dataTimestamp_ set to:1761535613.226374 2025-10-27T03:26:53.229Z,1761535613.229 [DAT](INFO): DAT read: Bearing 298.5, -49.8 (Local) 2025-10-27T03:26:53.230Z,1761535613.230 [DAT](INFO): Local bearing/azimuth received: Bearing 298.5, -49.8 (Local) 2025-10-27T03:26:53.233Z,1761535613.233 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 2025-10-27T03:26:53.268Z,1761535613.268 [DAT](INFO): DAT read: 03:26:54.2705 LVL= 15088, 19953, 22242, 29907, AGC= 56, IDX= 511, 0.17, 0.559, 1.033, 2.531, 2.570, PHS=-1.909,-1.492,-0.083, RAW= 222.6, 36.6, CAL= 223.1, 46.9, ROT= 286.9, -46.9 2025-10-27T03:26:53.270Z,1761535613.270 [DAT](INFO): got valid direction response: 03:26:54.2705 LVL= 15088, 19953, 22242, 29907, AGC= 56, IDX= 511, 0.17, 0.559, 1.033, 2.531, 2.570, PHS=-1.909,-1.492,-0.083, RAW= 222.6, 36.6, CAL= 223.1, 46.9, ROT= 286.9, -46.9 2025-10-27T03:26:53.270Z,1761535613.270 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T03:26:53.303Z,1761535613.303 [DAT](INFO): direction in FSK: [0.198629,-0.653766,0.730162] 2025-10-27T03:26:53.303Z,1761535613.303 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:53.321Z,1761535613.321 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.071899 2025-10-27T03:26:53.466Z,1761535613.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145866,-0.946625,-0.287443],[0.966897,0.197900,-0.161074],[0.209362,-0.254432,0.944157]] 2025-10-27T03:26:53.477Z,1761535613.477 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.228004 2025-10-27T03:26:53.577Z,1761535613.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504989 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:26:53.578Z,1761535613.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.942574 m, bearing: 352.850369 deg, lat: 36.779379 deg, lon: -121.859603 deg, deltaT: 0.504989 s, deltaX: -0.000017 m, approachRate: -0.000034 m/s, posRepo size: 4 2025-10-27T03:26:53.585Z,1761535613.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.94 m. 2025-10-27T03:26:53.600Z,1761535613.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.942574 m, nav range: 4.445118 m, bearing: 64.219561 deg, approach rate: 0.000000 m/s, LOS rate: -0.361088 deg/s, cmd heading: 75.457806 deg, new cmd heading: 74.934737 deg. 2025-10-27T03:26:53.601Z,1761535613.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.307858 target range: 13.942574 and range: 14.00 m. 2025-10-27T03:26:53.729Z,1761535613.729 [DAT](INFO): DAT read: Rx Time:03:26:54.7702 2025-10-27T03:26:53.730Z,1761535613.730 [DAT](INFO): Rx dataTimestamp_ set to:1761535613.729215 2025-10-27T03:26:53.731Z,1761535613.731 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 2025-10-27T03:26:53.732Z,1761535613.732 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-27T03:26:53.733Z,1761535613.733 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.483690 2025-10-27T03:26:53.927Z,1761535613.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158701,-0.943721,-0.290182],[0.964845,0.210600,-0.157233],[0.209496,-0.255027,0.943966]] 2025-10-27T03:26:53.977Z,1761535613.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:53.980Z,1761535613.980 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.731052 2025-10-27T03:26:53.985Z,1761535613.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.502841 s, deltaX: -0.500000 m, approachRate: -0.994350 m/s, rangeRepo size: 4 2025-10-27T03:26:53.985Z,1761535613.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.94 m. 2025-10-27T03:26:53.992Z,1761535613.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.942574 m, nav range: 4.161365 m, bearing: 62.868752 deg, approach rate: -0.703585 m/s, LOS rate: -3.577481 deg/s, cmd heading: 74.934736 deg, new cmd heading: 70.614591 deg. 2025-10-27T03:26:53.993Z,1761535613.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232457 target range: 13.942574 and range: 13.50 m. 2025-10-27T03:26:54.232Z,1761535614.232 [DAT](INFO): DAT read: Rx Time:03:26:55.2700 2025-10-27T03:26:54.233Z,1761535614.233 [DAT](INFO): Rx dataTimestamp_ set to:1761535614.232293 2025-10-27T03:26:54.234Z,1761535614.234 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-27T03:26:54.234Z,1761535614.234 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-10-27T03:26:54.235Z,1761535614.235 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.986391 2025-10-27T03:26:54.330Z,1761535614.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170710,-0.941219,-0.291486],[0.962750,0.222290,-0.153945],[0.209690,-0.254349,0.944106]] 2025-10-27T03:26:54.356Z,1761535614.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503078 s, deltaX: -0.300000 m, approachRate: -0.596329 m/s, rangeRepo size: 4 2025-10-27T03:26:54.356Z,1761535614.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.94 m. 2025-10-27T03:26:54.359Z,1761535614.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.942574 m, nav range: 3.915895 m, bearing: 61.582226 deg, approach rate: -0.653381 m/s, LOS rate: -3.638772 deg/s, cmd heading: 70.614594 deg, new cmd heading: 66.520404 deg. 2025-10-27T03:26:54.360Z,1761535614.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161000 target range: 13.942574 and range: 13.20 m. 2025-10-27T03:26:54.484Z,1761535614.484 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.235067 2025-10-27T03:26:54.736Z,1761535614.736 [DAT](INFO): DAT read: Rx Time:03:26:55.7697 2025-10-27T03:26:54.736Z,1761535614.736 [DAT](INFO): Rx dataTimestamp_ set to:1761535614.736188 2025-10-27T03:26:54.738Z,1761535614.738 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 2025-10-27T03:26:54.738Z,1761535614.738 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-27T03:26:54.739Z,1761535614.739 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.490299 2025-10-27T03:26:54.741Z,1761535614.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181733,-0.939428,-0.290600],[0.960647,0.232740,-0.151623],[0.210073,-0.251610,0.944755]] 2025-10-27T03:26:54.820Z,1761535614.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503895 s, deltaX: -0.400000 m, approachRate: -0.793815 m/s, rangeRepo size: 4 2025-10-27T03:26:54.821Z,1761535614.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.94 m. 2025-10-27T03:26:54.828Z,1761535614.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.942574 m, nav range: 3.627095 m, bearing: 59.811842 deg, approach rate: -0.627664 m/s, LOS rate: -4.153367 deg/s, cmd heading: 66.520401 deg, new cmd heading: 60.806291 deg. 2025-10-27T03:26:54.829Z,1761535614.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061270 target range: 13.942574 and range: 12.80 m. 2025-10-27T03:26:54.988Z,1761535614.988 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.738995 2025-10-27T03:26:55.158Z,1761535615.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192312,-0.937497,-0.290027],[0.958528,0.242796,-0.149243],[0.210332,-0.249298,0.945310]] 2025-10-27T03:26:55.204Z,1761535615.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.94 m. 2025-10-27T03:26:55.211Z,1761535615.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.942574 m, nav range: 3.387966 m, bearing: 58.149706 deg, approach rate: -0.614496 m/s, LOS rate: -4.572072 deg/s, cmd heading: 60.806292 deg, new cmd heading: 55.484042 deg. 2025-10-27T03:26:55.212Z,1761535615.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968379 target range: 13.942574 and range: 12.80 m. 2025-10-27T03:26:55.241Z,1761535615.241 [DAT](INFO): DAT read: Rx Time:03:26:56.2696 2025-10-27T03:26:55.241Z,1761535615.241 [DAT](INFO): Rx dataTimestamp_ set to:1761535615.240801 2025-10-27T03:26:55.242Z,1761535615.242 [DAT](INFO): DAT read: Bearing 284.4, 35.9 (Local) 2025-10-27T03:26:55.243Z,1761535615.243 [DAT](INFO): Local bearing/azimuth received: Bearing 284.4, 35.9 (Local) 2025-10-27T03:26:55.245Z,1761535615.245 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 2025-10-27T03:26:55.249Z,1761535615.249 [DAT](INFO): DAT read: 03:26:56.2696 LVL= 27040, 26465, 32610, 32243, AGC= 64, IDX= 504, 0.07, 0.709,-1.448,-0.621, 0.311, PHS= 0.500,-1.714,-0.976, RAW= 109.1, 21.6, CAL= 109.5, 25.8, ROT= 40.5, -25.8 2025-10-27T03:26:55.251Z,1761535615.251 [DAT](INFO): got valid direction response: 03:26:56.2696 LVL= 27040, 26465, 32610, 32243, AGC= 64, IDX= 504, 0.07, 0.709,-1.448,-0.621, 0.311, PHS= 0.500,-1.714,-0.976, RAW= 109.1, 21.6, CAL= 109.5, 25.8, ROT= 40.5, -25.8 2025-10-27T03:26:55.251Z,1761535615.251 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T03:26:55.252Z,1761535615.252 [DAT](INFO): direction in FSK: [0.684608,0.584710,0.435231] 2025-10-27T03:26:55.252Z,1761535615.252 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:55.260Z,1761535615.260 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.011269 2025-10-27T03:26:55.492Z,1761535615.492 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.242884 2025-10-27T03:26:55.702Z,1761535615.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504613 s, deltaX: -0.200000 m, approachRate: -0.396343 m/s, rangeRepo size: 4 2025-10-27T03:26:55.721Z,1761535615.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.548411 m, bearing: 126.508880 deg, lat: 36.779379 deg, lon: -121.859603 deg, deltaT: 2.014427 s, deltaX: -1.394162 m, approachRate: -0.692089 m/s, posRepo size: 4 2025-10-27T03:26:55.723Z,1761535615.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.55 m. 2025-10-27T03:26:55.729Z,1761535615.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.548411 m, nav range: 3.069259 m, bearing: 55.447192 deg, approach rate: 0.000000 m/s, LOS rate: -4.572072 deg/s, cmd heading: 55.484041 deg, new cmd heading: 48.702765 deg. 2025-10-27T03:26:55.730Z,1761535615.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850024 target range: 12.548411 and range: 12.60 m. 2025-10-27T03:26:55.745Z,1761535615.745 [DAT](INFO): DAT read: Rx Time:03:26:56.7694 2025-10-27T03:26:55.745Z,1761535615.745 [DAT](INFO): Rx dataTimestamp_ set to:1761535615.744816 2025-10-27T03:26:55.746Z,1761535615.746 [DAT](INFO): DAT read: Bearing 294.9, 31.9 (Local) 2025-10-27T03:26:55.747Z,1761535615.747 [DAT](INFO): Local bearing/azimuth received: Bearing 294.9, 31.9 (Local) 2025-10-27T03:26:55.749Z,1761535615.749 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T03:26:55.753Z,1761535615.753 [DAT](INFO): DAT read: 03:26:56.7694 LVL= 26096, 22321, 30514, 30275, AGC= 62, IDX= 501, 0.26, 2.144, 0.247, 0.894, 2.024, PHS= 0.222,-1.733,-1.174, RAW= 106.1, 28.6, CAL= 104.4, 35.2, ROT= 45.6, -35.2 2025-10-27T03:26:55.755Z,1761535615.755 [DAT](INFO): got valid direction response: 03:26:56.7694 LVL= 26096, 22321, 30514, 30275, AGC= 62, IDX= 501, 0.26, 2.144, 0.247, 0.894, 2.024, PHS= 0.222,-1.733,-1.174, RAW= 106.1, 28.6, CAL= 104.4, 35.2, ROT= 45.6, -35.2 2025-10-27T03:26:55.755Z,1761535615.755 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T03:26:55.756Z,1761535615.756 [DAT](INFO): direction in FSK: [0.571726,0.583828,0.576432] 2025-10-27T03:26:55.756Z,1761535615.756 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:55.764Z,1761535615.764 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.515146 2025-10-27T03:26:55.996Z,1761535615.996 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.746996 2025-10-27T03:26:56.020Z,1761535616.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213202,-0.933488,-0.288350],[0.953984,0.262599,-0.144761],[0.210853,-0.244218,0.946519]] 2025-10-27T03:26:56.044Z,1761535616.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504015 s, deltaX: -0.100000 m, approachRate: -0.198408 m/s, rangeRepo size: 4 2025-10-27T03:26:56.046Z,1761535616.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.448820 m, bearing: 133.764987 deg, lat: 36.779379 deg, lon: -121.859585 deg, deltaT: 0.504015 s, deltaX: -0.099591 m, approachRate: -0.197596 m/s, posRepo size: 4 2025-10-27T03:26:56.047Z,1761535616.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m. 2025-10-27T03:26:56.077Z,1761535616.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.448820 m, nav range: 4.235525 m, bearing: 66.300766 deg, approach rate: 0.000000 m/s, LOS rate: -4.572072 deg/s, cmd heading: 48.702763 deg, new cmd heading: 44.019831 deg. 2025-10-27T03:26:56.078Z,1761535616.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768291 target range: 12.448820 and range: 12.50 m. 2025-10-27T03:26:56.250Z,1761535616.250 [DAT](INFO): DAT read: Rx Time:03:26:57.2693 2025-10-27T03:26:56.251Z,1761535616.251 [DAT](INFO): Rx dataTimestamp_ set to:1761535616.250483 2025-10-27T03:26:56.258Z,1761535616.258 [DAT](INFO): DAT read: Bearing 302.4, 28.9 (Local) 2025-10-27T03:26:56.258Z,1761535616.258 [DAT](INFO): Local bearing/azimuth received: Bearing 302.4, 28.9 (Local) 2025-10-27T03:26:56.260Z,1761535616.260 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 2025-10-27T03:26:56.265Z,1761535616.265 [DAT](INFO): DAT read: 03:26:57.2693 LVL= 26832, 16369, 25234, 29091, AGC= 61, IDX= 501,-0.39,-2.316, 2.386, 2.803,-2.228, PHS= 0.014,-1.624,-1.296, RAW= 100.9, 34.4, CAL= 98.7, 41.8, ROT= 51.3, -41.8 2025-10-27T03:26:56.266Z,1761535616.266 [DAT](INFO): got valid direction response: 03:26:57.2693 LVL= 26832, 16369, 25234, 29091, AGC= 61, IDX= 501,-0.39,-2.316, 2.386, 2.803,-2.228, PHS= 0.014,-1.624,-1.296, RAW= 100.9, 34.4, CAL= 98.7, 41.8, ROT= 51.3, -41.8 2025-10-27T03:26:56.267Z,1761535616.267 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T03:26:56.273Z,1761535616.273 [DAT](INFO): direction in FSK: [0.466103,0.581792,0.666532] 2025-10-27T03:26:56.273Z,1761535616.273 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:56.277Z,1761535616.277 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.028210 2025-10-27T03:26:56.418Z,1761535616.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223742,-0.930935,-0.288616],[0.951520,0.272763,-0.142159],[0.211065,-0.242817,0.946832]] 2025-10-27T03:26:56.462Z,1761535616.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.505667 s, deltaX: -0.200000 m, approachRate: -0.395517 m/s, rangeRepo size: 4 2025-10-27T03:26:56.483Z,1761535616.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.249640 m, bearing: 141.136153 deg, lat: 36.779302 deg, lon: -121.859555 deg, deltaT: 0.505667 s, deltaX: -0.199181 m, approachRate: -0.393897 m/s, posRepo size: 4 2025-10-27T03:26:56.484Z,1761535616.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.25 m. 2025-10-27T03:26:56.486Z,1761535616.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.249640 m, nav range: 9.284232 m, bearing: 137.969650 deg, approach rate: 0.000000 m/s, LOS rate: -4.572072 deg/s, cmd heading: 44.019832 deg, new cmd heading: 38.297219 deg. 2025-10-27T03:26:56.492Z,1761535616.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.668413 target range: 12.249640 and range: 12.30 m. 2025-10-27T03:26:56.500Z,1761535616.500 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.251047 2025-10-27T03:26:56.753Z,1761535616.753 [DAT](INFO): DAT read: Rx Time:03:26:57.7690 2025-10-27T03:26:56.753Z,1761535616.753 [DAT](INFO): Rx dataTimestamp_ set to:1761535616.752801 2025-10-27T03:26:56.754Z,1761535616.754 [DAT](INFO): DAT read: Bearing 308.6, 28.0 (Local) 2025-10-27T03:26:56.755Z,1761535616.755 [DAT](INFO): Local bearing/azimuth received: Bearing 308.6, 28.0 (Local) 2025-10-27T03:26:56.757Z,1761535616.757 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4 2025-10-27T03:26:56.761Z,1761535616.761 [DAT](INFO): DAT read: 03:26:57.7690 LVL= 31472, 16465, 25842, 31699, AGC= 63, IDX= 498,-0.06,-2.401, 2.547, 2.713,-2.209, PHS=-0.090,-1.482,-1.406, RAW= 92.8, 37.8, CAL= 91.4, 45.2, ROT= 58.6, -45.2 2025-10-27T03:26:56.763Z,1761535616.763 [DAT](INFO): got valid direction response: 03:26:57.7690 LVL= 31472, 16465, 25842, 31699, AGC= 63, IDX= 498,-0.06,-2.401, 2.547, 2.713,-2.209, PHS=-0.090,-1.482,-1.406, RAW= 92.8, 37.8, CAL= 91.4, 45.2, ROT= 58.6, -45.2 2025-10-27T03:26:56.763Z,1761535616.763 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T03:26:56.764Z,1761535616.764 [DAT](INFO): direction in FSK: [0.367121,0.601441,0.709571] 2025-10-27T03:26:56.764Z,1761535616.764 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:56.772Z,1761535616.772 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.523037 2025-10-27T03:26:56.822Z,1761535616.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234648,-0.927285,-0.291691],[0.948819,0.283730,-0.138709],[0.211384,-0.244214,0.946402]] 2025-10-27T03:26:56.974Z,1761535616.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.502318 s, deltaX: -0.400001 m, approachRate: -0.796309 m/s, rangeRepo size: 4 2025-10-27T03:26:56.984Z,1761535616.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.851306 m, bearing: 148.209585 deg, lat: 36.779297 deg, lon: -121.859555 deg, deltaT: 0.502318 s, deltaX: -0.398334 m, approachRate: -0.792991 m/s, posRepo size: 4 2025-10-27T03:26:56.985Z,1761535616.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.85 m. 2025-10-27T03:26:56.992Z,1761535616.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.851306 m, nav range: 9.472397 m, bearing: 141.823745 deg, approach rate: 0.000000 m/s, LOS rate: -4.572072 deg/s, cmd heading: 38.297219 deg, new cmd heading: 31.315127 deg. 2025-10-27T03:26:56.993Z,1761535616.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546552 target range: 11.851306 and range: 11.90 m. 2025-10-27T03:26:57.004Z,1761535617.004 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.755062 2025-10-27T03:26:57.227Z,1761535617.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245900,-0.923225,-0.295276],[0.945855,0.295137,-0.135102],[0.211876,-0.246067,0.945812]] 2025-10-27T03:26:57.247Z,1761535617.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:26:57.249Z,1761535617.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.85 m. 2025-10-27T03:26:57.252Z,1761535617.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.851306 m, nav range: 9.377892 m, bearing: 142.946456 deg, approach rate: -0.342812 m/s, LOS rate: 4.113383 deg/s, cmd heading: 31.315126 deg, new cmd heading: 34.712996 deg. 2025-10-27T03:26:57.253Z,1761535617.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.605856 target range: 11.851306 and range: 11.90 m. 2025-10-27T03:26:57.256Z,1761535617.256 [DAT](INFO): DAT read: Rx Time:03:26:58.2690 2025-10-27T03:26:57.257Z,1761535617.257 [DAT](INFO): Rx dataTimestamp_ set to:1761535617.256438 2025-10-27T03:26:57.258Z,1761535617.258 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4 2025-10-27T03:26:57.259Z,1761535617.259 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-10-27T03:26:57.260Z,1761535617.260 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.010544 2025-10-27T03:26:57.508Z,1761535617.508 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.258957 2025-10-27T03:26:57.737Z,1761535617.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503637 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:26:57.737Z,1761535617.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.85 m. 2025-10-27T03:26:57.740Z,1761535617.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.851306 m, nav range: 9.231471 m, bearing: 144.899463 deg, approach rate: -0.301108 m/s, LOS rate: 4.079163 deg/s, cmd heading: 34.712995 deg, new cmd heading: 40.642532 deg. 2025-10-27T03:26:57.741Z,1761535617.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.709346 target range: 11.851306 and range: 11.90 m. 2025-10-27T03:26:57.760Z,1761535617.760 [DAT](INFO): DAT read: Rx Time:03:26:58.7688 2025-10-27T03:26:57.761Z,1761535617.761 [DAT](INFO): Rx dataTimestamp_ set to:1761535617.760583 2025-10-27T03:26:57.762Z,1761535617.762 [DAT](INFO): DAT read: Bearing 331.4, 28.4 (Local) 2025-10-27T03:26:57.762Z,1761535617.762 [DAT](INFO): Local bearing/azimuth received: Bearing 331.4, 28.4 (Local) 2025-10-27T03:26:57.765Z,1761535617.765 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 2025-10-27T03:26:57.769Z,1761535617.769 [DAT](INFO): DAT read: 03:26:58.7688 LVL= 30128, 27681, 32754, 32755, AGC= 64, IDX= 511,-0.16,-0.021,-0.778,-1.325, 0.310, PHS=-0.229,-1.043,-1.678, RAW= 64.1, 39.7, CAL= 59.9, 45.8, ROT= 90.1, -45.8 2025-10-27T03:26:57.770Z,1761535617.770 [DAT](INFO): got valid direction response: 03:26:58.7688 LVL= 30128, 27681, 32754, 32755, AGC= 64, IDX= 511,-0.16,-0.021,-0.778,-1.325, 0.310, PHS=-0.229,-1.043,-1.678, RAW= 64.1, 39.7, CAL= 59.9, 45.8, ROT= 90.1, -45.8 2025-10-27T03:26:57.771Z,1761535617.771 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T03:26:57.772Z,1761535617.772 [DAT](INFO): direction in FSK: [-0.001217,0.697164,0.716911] 2025-10-27T03:26:57.772Z,1761535617.772 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:57.775Z,1761535617.775 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.526482 2025-10-27T03:26:58.012Z,1761535618.012 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.762962 2025-10-27T03:26:58.041Z,1761535618.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273289,-0.911192,-0.308290],[0.937822,0.323690,-0.125360],[0.214017,-0.254862,0.942996]] 2025-10-27T03:26:58.065Z,1761535618.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504145 s, deltaX: -0.299999 m, approachRate: -0.595065 m/s, rangeRepo size: 4 2025-10-27T03:26:58.067Z,1761535618.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.552518 m, bearing: 171.066548 deg, lat: 36.779294 deg, lon: -121.859555 deg, deltaT: 1.007782 s, deltaX: -0.298788 m, approachRate: -0.296481 m/s, posRepo size: 4 2025-10-27T03:26:58.068Z,1761535618.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m. 2025-10-27T03:26:58.070Z,1761535618.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.552518 m, nav range: 9.422113 m, bearing: 147.367382 deg, approach rate: 0.000000 m/s, LOS rate: 4.079163 deg/s, cmd heading: 40.642532 deg, new cmd heading: 44.663605 deg. 2025-10-27T03:26:58.072Z,1761535618.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779527 target range: 11.552518 and range: 11.60 m. 2025-10-27T03:26:58.265Z,1761535618.265 [DAT](INFO): DAT read: Rx Time:03:26:59.2690 2025-10-27T03:26:58.265Z,1761535618.265 [DAT](INFO): Rx dataTimestamp_ set to:1761535618.264752 2025-10-27T03:26:58.266Z,1761535618.266 [DAT](INFO): DAT read: Bearing 326.6, -53.9 (Local) 2025-10-27T03:26:58.267Z,1761535618.267 [DAT](INFO): Local bearing/azimuth received: Bearing 326.6, -53.9 (Local) 2025-10-27T03:26:58.269Z,1761535618.269 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.3 2025-10-27T03:26:58.273Z,1761535618.273 [DAT](INFO): DAT read: 03:26:59.2690 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512, 0.25,-2.789,-1.490,-1.010,-0.402, PHS=-2.285,-1.043,-0.652, RAW= 256.7, 43.6, CAL= 258.8, 51.0, ROT= 251.2, -51.0 2025-10-27T03:26:58.275Z,1761535618.275 [DAT](INFO): got valid direction response: 03:26:59.2690 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512, 0.25,-2.789,-1.490,-1.010,-0.402, PHS=-2.285,-1.043,-0.652, RAW= 256.7, 43.6, CAL= 258.8, 51.0, ROT= 251.2, -51.0 2025-10-27T03:26:58.275Z,1761535618.275 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T03:26:58.276Z,1761535618.276 [DAT](INFO): direction in FSK: [-0.202809,-0.595746,0.777146] 2025-10-27T03:26:58.276Z,1761535618.276 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:58.280Z,1761535618.280 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.031078 2025-10-27T03:26:58.438Z,1761535618.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288240,-0.904028,-0.315675],[0.933090,0.339221,-0.119463],[0.215082,-0.260119,0.941317]] 2025-10-27T03:26:58.480Z,1761535618.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504169 s, deltaX: 0.299999 m, approachRate: 0.595037 m/s, rangeRepo size: 4 2025-10-27T03:26:58.482Z,1761535618.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.851289 m, bearing: 295.870166 deg, lat: 36.779294 deg, lon: -121.859565 deg, deltaT: 0.504169 s, deltaX: 0.298771 m, approachRate: 0.592601 m/s, posRepo size: 4 2025-10-27T03:26:58.483Z,1761535618.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 11.90 m. 2025-10-27T03:26:58.483Z,1761535618.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.85 m. 2025-10-27T03:26:58.486Z,1761535618.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.851289 m, nav range: 8.914888 m, bearing: 153.902661 deg, approach rate: 0.000000 m/s, LOS rate: 4.079163 deg/s, cmd heading: 44.663604 deg, new cmd heading: 49.732652 deg. 2025-10-27T03:26:58.491Z,1761535618.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867999 target range: 11.851289 and range: 11.90 m. 2025-10-27T03:26:58.516Z,1761535618.516 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.267090 2025-10-27T03:26:58.768Z,1761535618.768 [DAT](INFO): DAT read: Rx Time:03:26:59.7688 2025-10-27T03:26:58.769Z,1761535618.769 [DAT](INFO): Rx dataTimestamp_ set to:1761535618.768303 2025-10-27T03:26:58.770Z,1761535618.770 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 2025-10-27T03:26:58.770Z,1761535618.770 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-27T03:26:58.771Z,1761535618.771 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.522400 2025-10-27T03:26:58.940Z,1761535618.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304188,-0.896070,-0.323309],[0.927828,0.355601,-0.112614],[0.215879,-0.265719,0.939569]] 2025-10-27T03:26:59.003Z,1761535619.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503551 s, deltaX: -0.299999 m, approachRate: -0.595767 m/s, rangeRepo size: 4 2025-10-27T03:26:59.004Z,1761535619.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 11.60 m. 2025-10-27T03:26:59.004Z,1761535619.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.85 m. 2025-10-27T03:26:59.007Z,1761535619.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.851289 m, nav range: 8.862285 m, bearing: 156.304584 deg, approach rate: -0.100590 m/s, LOS rate: 4.618900 deg/s, cmd heading: 49.732653 deg, new cmd heading: 56.940799 deg. 2025-10-27T03:26:59.008Z,1761535619.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993804 target range: 11.851289 and range: 11.60 m. 2025-10-27T03:26:59.020Z,1761535619.020 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.770805 2025-10-27T03:26:59.273Z,1761535619.273 [DAT](INFO): DAT read: Rx Time:03:27:00.2686 2025-10-27T03:26:59.273Z,1761535619.273 [DAT](INFO): Rx dataTimestamp_ set to:1761535619.272811 2025-10-27T03:26:59.274Z,1761535619.274 [DAT](INFO): DAT read: Bearing 5.0, -6.1 (Local) 2025-10-27T03:26:59.275Z,1761535619.275 [DAT](INFO): Local bearing/azimuth received: Bearing 5.0, -6.1 (Local) 2025-10-27T03:26:59.277Z,1761535619.277 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.1 2025-10-27T03:26:59.281Z,1761535619.281 [DAT](INFO): DAT read: 03:27:00.2686 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510,-0.18,-0.199, 1.117,-0.758, 1.323, PHS=-1.420,-0.161,-2.125, RAW= 350.7, 37.3, CAL= 349.2, 42.3, ROT= 160.8, -42.3 2025-10-27T03:26:59.282Z,1761535619.282 [DAT](INFO): got valid direction response: 03:27:00.2686 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510,-0.18,-0.199, 1.117,-0.758, 1.323, PHS=-1.420,-0.161,-2.125, RAW= 350.7, 37.3, CAL= 349.2, 42.3, ROT= 160.8, -42.3 2025-10-27T03:26:59.283Z,1761535619.283 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T03:26:59.284Z,1761535619.284 [DAT](INFO): direction in FSK: [-0.698490,0.243240,0.673013] 2025-10-27T03:26:59.284Z,1761535619.284 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:59.301Z,1761535619.301 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.051674 2025-10-27T03:26:59.497Z,1761535619.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504508 s, deltaX: -0.300000 m, approachRate: -0.594639 m/s, rangeRepo size: 4 2025-10-27T03:26:59.499Z,1761535619.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.253649 m, bearing: 224.525310 deg, lat: 36.779294 deg, lon: -121.859595 deg, deltaT: 1.008059 s, deltaX: -0.597640 m, approachRate: -0.592862 m/s, posRepo size: 4 2025-10-27T03:26:59.500Z,1761535619.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:26:59.503Z,1761535619.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253649 m, nav range: 8.235583 m, bearing: 175.989300 deg, approach rate: 0.000000 m/s, LOS rate: 4.618900 deg/s, cmd heading: 56.940798 deg, new cmd heading: 63.753688 deg. 2025-10-27T03:26:59.504Z,1761535619.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112712 target range: 11.253649 and range: 11.30 m. 2025-10-27T03:26:59.524Z,1761535619.524 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.275074 2025-10-27T03:26:59.777Z,1761535619.777 [DAT](INFO): DAT read: Rx Time:03:27:00.7684 2025-10-27T03:26:59.777Z,1761535619.777 [DAT](INFO): Rx dataTimestamp_ set to:1761535619.776871 2025-10-27T03:26:59.778Z,1761535619.778 [DAT](INFO): DAT read: Bearing 302.0, -18.8 (Local) 2025-10-27T03:26:59.779Z,1761535619.779 [DAT](INFO): Local bearing/azimuth received: Bearing 302.0, -18.8 (Local) 2025-10-27T03:26:59.781Z,1761535619.781 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.3 2025-10-27T03:26:59.788Z,1761535619.788 [DAT](INFO): DAT read: 03:27:00.7684 LVL= 31632, 24161, 23474, 32755, AGC= 65, IDX= 507, 0.20,-1.593,-1.831,-1.210,-0.107, PHS=-1.384,-1.679,-1.146, RAW= 176.5, 72.8, CAL= 176.5, 76.4, ROT= 333.5, -76.4 2025-10-27T03:26:59.790Z,1761535619.790 [DAT](INFO): got valid direction response: 03:27:00.7684 LVL= 31632, 24161, 23474, 32755, AGC= 65, IDX= 507, 0.20,-1.593,-1.831,-1.210,-0.107, PHS=-1.384,-1.679,-1.146, RAW= 176.5, 72.8, CAL= 176.5, 76.4, ROT= 333.5, -76.4 2025-10-27T03:26:59.790Z,1761535619.790 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T03:26:59.810Z,1761535619.810 [DAT](INFO): direction in FSK: [0.210437,-0.104920,0.971961] 2025-10-27T03:26:59.810Z,1761535619.810 [DAT](INFO): publishing direction and range info 2025-10-27T03:26:59.825Z,1761535619.825 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.575542 2025-10-27T03:26:59.877Z,1761535619.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352025,-0.875205,-0.331806],[0.910326,0.402583,-0.096094],[0.217681,-0.268224,0.938441]] 2025-10-27T03:26:59.964Z,1761535619.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504060 s, deltaX: -0.300000 m, approachRate: -0.595168 m/s, rangeRepo size: 4 2025-10-27T03:26:59.966Z,1761535619.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.954906 m, bearing: 160.346150 deg, lat: 36.779303 deg, lon: -121.859595 deg, deltaT: 0.504060 s, deltaX: -0.298742 m, approachRate: -0.592672 m/s, posRepo size: 4 2025-10-27T03:26:59.966Z,1761535619.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m. 2025-10-27T03:26:59.973Z,1761535619.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.954906 m, nav range: 7.414055 m, bearing: 177.722314 deg, approach rate: 0.000000 m/s, LOS rate: 4.618900 deg/s, cmd heading: 63.753689 deg, new cmd heading: 70.130876 deg. 2025-10-27T03:26:59.974Z,1761535619.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224015 target range: 10.954906 and range: 11.00 m. 2025-10-27T03:27:00.028Z,1761535620.028 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.779026 2025-10-27T03:27:00.280Z,1761535620.280 [DAT](INFO): DAT read: Rx Time:03:27:01.2684 2025-10-27T03:27:00.281Z,1761535620.281 [DAT](INFO): Rx dataTimestamp_ set to:1761535620.280635 2025-10-27T03:27:00.282Z,1761535620.282 [DAT](INFO): DAT read: Bearing 301.8, -34.8 (Local) 2025-10-27T03:27:00.282Z,1761535620.282 [DAT](INFO): Local bearing/azimuth received: Bearing 301.8, -34.8 (Local) 2025-10-27T03:27:00.285Z,1761535620.285 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.2 2025-10-27T03:27:00.289Z,1761535620.289 [DAT](INFO): DAT read: 03:27:01.2684 LVL= 19008, 18065, 18594, 27251, AGC= 63, IDX= 507, 0.07, 0.667, 0.924, 1.636, 2.469, PHS=-1.700,-1.500,-0.877, RAW= 223.5, 62.7, CAL= 223.9, 68.0, ROT= 286.1, -68.0 2025-10-27T03:27:00.290Z,1761535620.290 [DAT](INFO): got valid direction response: 03:27:01.2684 LVL= 19008, 18065, 18594, 27251, AGC= 63, IDX= 507, 0.07, 0.667, 0.924, 1.636, 2.469, PHS=-1.700,-1.500,-0.877, RAW= 223.5, 62.7, CAL= 223.9, 68.0, ROT= 286.1, -68.0 2025-10-27T03:27:00.291Z,1761535620.291 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T03:27:00.292Z,1761535620.292 [DAT](INFO): direction in FSK: [0.103884,-0.359914,0.927184] 2025-10-27T03:27:00.292Z,1761535620.292 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:00.296Z,1761535620.296 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.046741 2025-10-27T03:27:00.329Z,1761535620.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367815,-0.868495,-0.332309],[0.903927,0.417801,-0.091422],[0.218239,-0.266756,0.938729]] 2025-10-27T03:27:00.421Z,1761535620.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503764 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:00.427Z,1761535620.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.954906 m, bearing: 286.815368 deg, lat: 36.779354 deg, lon: -121.859612 deg, deltaT: 0.503764 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:27:00.428Z,1761535620.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m. 2025-10-27T03:27:00.430Z,1761535620.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.954906 m, nav range: 2.396822 m, bearing: 220.205080 deg, approach rate: 0.000000 m/s, LOS rate: 4.618900 deg/s, cmd heading: 70.130873 deg, new cmd heading: 76.500477 deg. 2025-10-27T03:27:00.440Z,1761535620.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335185 target range: 10.954906 and range: 11.00 m. 2025-10-27T03:27:00.532Z,1761535620.532 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.283054 2025-10-27T03:27:00.748Z,1761535620.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383836,-0.861864,-0.331452],[0.897202,0.432988,-0.086885],[0.218398,-0.264030,0.939463]] 2025-10-27T03:27:00.784Z,1761535620.784 [DAT](INFO): DAT read: Rx Time:03:27:01.7681 2025-10-27T03:27:00.785Z,1761535620.785 [DAT](INFO): Rx dataTimestamp_ set to:1761535620.784638 2025-10-27T03:27:00.786Z,1761535620.786 [DAT](INFO): DAT read: Bearing 290.9, -26.1 (Local) 2025-10-27T03:27:00.786Z,1761535620.786 [DAT](INFO): Local bearing/azimuth received: Bearing 290.9, -26.1 (Local) 2025-10-27T03:27:00.789Z,1761535620.789 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.2 2025-10-27T03:27:00.793Z,1761535620.793 [DAT](INFO): DAT read: 03:27:01.7681 LVL= 13792, 16609, 21586, 24483, AGC= 58, IDX= 505,-0.20,-2.905,-3.136,-2.029,-1.134, PHS=-1.669,-1.957,-0.938, RAW= 194.1, 60.6, CAL= 192.8, 66.8, ROT= 317.2, -66.8 2025-10-27T03:27:00.794Z,1761535620.794 [DAT](INFO): got valid direction response: 03:27:01.7681 LVL= 13792, 16609, 21586, 24483, AGC= 58, IDX= 505,-0.20,-2.905,-3.136,-2.029,-1.134, PHS=-1.669,-1.957,-0.938, RAW= 194.1, 60.6, CAL= 192.8, 66.8, ROT= 317.2, -66.8 2025-10-27T03:27:00.795Z,1761535620.795 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T03:27:00.796Z,1761535620.796 [DAT](INFO): direction in FSK: [0.289047,-0.267660,0.919135] 2025-10-27T03:27:00.796Z,1761535620.796 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:00.800Z,1761535620.800 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.550606 2025-10-27T03:27:00.834Z,1761535620.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504003 s, deltaX: -0.500000 m, approachRate: -0.992058 m/s, rangeRepo size: 4 2025-10-27T03:27:00.840Z,1761535620.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.456946 m, bearing: 59.813826 deg, lat: 36.779375 deg, lon: -121.859612 deg, deltaT: 0.504003 s, deltaX: -0.497960 m, approachRate: -0.988010 m/s, posRepo size: 4 2025-10-27T03:27:00.841Z,1761535620.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m. 2025-10-27T03:27:00.860Z,1761535620.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.456946 m, nav range: 1.827256 m, bearing: 280.781703 deg, approach rate: 0.000000 m/s, LOS rate: 4.618900 deg/s, cmd heading: 76.500475 deg, new cmd heading: 82.199462 deg. 2025-10-27T03:27:00.861Z,1761535620.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434651 target range: 10.456946 and range: 10.50 m. 2025-10-27T03:27:01.036Z,1761535621.036 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.787132 2025-10-27T03:27:01.197Z,1761535621.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400626,-0.854116,-0.331639],[0.889819,0.448990,-0.081427],[0.218451,-0.262477,0.939886]] 2025-10-27T03:27:01.213Z,1761535621.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:27:01.232Z,1761535621.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m. 2025-10-27T03:27:01.234Z,1761535621.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.456946 m, nav range: 2.029922 m, bearing: 276.322523 deg, approach rate: 0.508319 m/s, LOS rate: -10.057560 deg/s, cmd heading: 82.199462 deg, new cmd heading: 70.341911 deg. 2025-10-27T03:27:01.239Z,1761535621.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227698 target range: 10.456946 and range: 10.50 m. 2025-10-27T03:27:01.290Z,1761535621.290 [DAT](INFO): DAT read: Rx Time:03:27:02.2681 2025-10-27T03:27:01.290Z,1761535621.290 [DAT](INFO): Rx dataTimestamp_ set to:1761535621.289872 2025-10-27T03:27:01.292Z,1761535621.292 [DAT](INFO): DAT read: Bearing 299.8, -26.9 (Local) 2025-10-27T03:27:01.293Z,1761535621.293 [DAT](INFO): Local bearing/azimuth received: Bearing 299.8, -26.9 (Local) 2025-10-27T03:27:01.296Z,1761535621.296 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.1 2025-10-27T03:27:01.303Z,1761535621.303 [DAT](INFO): DAT read: 03:27:02.2681 LVL= 16048, 15793, 17330, 26851, AGC= 60, IDX= 505,-0.17, 0.251, 0.314, 0.919, 1.866, PHS=-1.513,-1.507,-0.991, RAW= 210.5, 69.9, CAL= 209.5, 74.1, ROT= 300.5, -74.1 2025-10-27T03:27:01.305Z,1761535621.305 [DAT](INFO): got valid direction response: 03:27:02.2681 LVL= 16048, 15793, 17330, 26851, AGC= 60, IDX= 505,-0.17, 0.251, 0.314, 0.919, 1.866, PHS=-1.513,-1.507,-0.991, RAW= 210.5, 69.9, CAL= 209.5, 74.1, ROT= 300.5, -74.1 2025-10-27T03:27:01.305Z,1761535621.305 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T03:27:01.307Z,1761535621.307 [DAT](INFO): direction in FSK: [0.139045,-0.236051,0.961741] 2025-10-27T03:27:01.330Z,1761535621.330 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:01.332Z,1761535621.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:27:01.356Z,1761535621.356 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.107304 2025-10-27T03:27:01.540Z,1761535621.540 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.290966 2025-10-27T03:27:01.701Z,1761535621.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417681,-0.845773,-0.331979],[0.882044,0.465122,-0.075231],[0.218040,-0.261398,0.940282]] 2025-10-27T03:27:01.769Z,1761535621.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.505234 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:01.772Z,1761535621.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.456920 m, bearing: 224.028077 deg, lat: 36.779368 deg, lon: -121.859594 deg, deltaT: 0.505234 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 2025-10-27T03:27:01.772Z,1761535621.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m. 2025-10-27T03:27:01.775Z,1761535621.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.456920 m, nav range: 0.895253 m, bearing: 224.028080 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 70.341912 deg, new cmd heading: 54.545565 deg. 2025-10-27T03:27:01.776Z,1761535621.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952000 target range: 10.456920 and range: 10.50 m. 2025-10-27T03:27:01.793Z,1761535621.793 [DAT](INFO): DAT read: Rx Time:03:27:02.7680 2025-10-27T03:27:01.793Z,1761535621.793 [DAT](INFO): Rx dataTimestamp_ set to:1761535621.792802 2025-10-27T03:27:01.794Z,1761535621.794 [DAT](INFO): DAT read: Bearing 325.3, -22.5 (Local) 2025-10-27T03:27:01.795Z,1761535621.795 [DAT](INFO): Local bearing/azimuth received: Bearing 325.3, -22.5 (Local) 2025-10-27T03:27:01.798Z,1761535621.798 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.1 2025-10-27T03:27:01.802Z,1761535621.802 [DAT](INFO): DAT read: 03:27:02.7680 LVL= 18656, 17137, 20338, 31187, AGC= 62, IDX= 503, 0.12, 1.186, 1.783, 1.487, 3.002, PHS=-1.714,-1.174,-1.559, RAW= 313.8, 73.0, CAL= 314.1, 74.6, ROT= 195.9, -74.6 2025-10-27T03:27:01.803Z,1761535621.803 [DAT](INFO): got valid direction response: 03:27:02.7680 LVL= 18656, 17137, 20338, 31187, AGC= 62, IDX= 503, 0.12, 1.186, 1.783, 1.487, 3.002, PHS=-1.714,-1.174,-1.559, RAW= 313.8, 73.0, CAL= 314.1, 74.6, ROT= 195.9, -74.6 2025-10-27T03:27:01.804Z,1761535621.804 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T03:27:01.805Z,1761535621.805 [DAT](INFO): direction in FSK: [-0.255396,-0.072752,0.964095] 2025-10-27T03:27:01.805Z,1761535621.805 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:01.809Z,1761535621.809 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.559734 2025-10-27T03:27:02.004Z,1761535622.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434878,-0.838124,-0.329287],[0.873825,0.481102,-0.070503],[0.217510,-0.257079,0.941594]] 2025-10-27T03:27:02.044Z,1761535622.044 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.795025 2025-10-27T03:27:02.064Z,1761535622.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.502930 s, deltaX: -0.100000 m, approachRate: -0.198836 m/s, rangeRepo size: 4 2025-10-27T03:27:02.066Z,1761535622.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.357329 m, bearing: 221.583683 deg, lat: 36.779368 deg, lon: -121.859594 deg, deltaT: 0.502930 s, deltaX: -0.099590 m, approachRate: -0.198020 m/s, posRepo size: 4 2025-10-27T03:27:02.066Z,1761535622.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.36 m. 2025-10-27T03:27:02.076Z,1761535622.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.357329 m, nav range: 1.050952 m, bearing: 226.014792 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 54.545566 deg, new cmd heading: 45.861015 deg. 2025-10-27T03:27:02.084Z,1761535622.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.800426 target range: 10.357329 and range: 10.40 m. 2025-10-27T03:27:02.297Z,1761535622.297 [DAT](INFO): DAT read: Rx Time:03:27:03.2679 2025-10-27T03:27:02.298Z,1761535622.298 [DAT](INFO): Rx dataTimestamp_ set to:1761535622.297236 2025-10-27T03:27:02.299Z,1761535622.299 [DAT](INFO): DAT read: Bearing 334.6, -17.2 (Local) 2025-10-27T03:27:02.299Z,1761535622.299 [DAT](INFO): Local bearing/azimuth received: Bearing 334.6, -17.2 (Local) 2025-10-27T03:27:02.301Z,1761535622.301 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.0 2025-10-27T03:27:02.306Z,1761535622.306 [DAT](INFO): DAT read: 03:27:03.2679 LVL= 21136, 16369, 22306, 27123, AGC= 61, IDX= 503,-0.24,-1.036,-0.197,-0.978, 0.845, PHS=-1.779,-0.997,-1.867, RAW= 335.3, 63.2, CAL= 334.8, 65.8, ROT= 175.2, -65.8 2025-10-27T03:27:02.307Z,1761535622.307 [DAT](INFO): got valid direction response: 03:27:03.2679 LVL= 21136, 16369, 22306, 27123, AGC= 61, IDX= 503,-0.24,-1.036,-0.197,-0.978, 0.845, PHS=-1.779,-0.997,-1.867, RAW= 335.3, 63.2, CAL= 334.8, 65.8, ROT= 175.2, -65.8 2025-10-27T03:27:02.308Z,1761535622.308 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T03:27:02.309Z,1761535622.309 [DAT](INFO): direction in FSK: [-0.408485,0.034302,0.912120] 2025-10-27T03:27:02.309Z,1761535622.309 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:02.326Z,1761535622.326 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.076523 2025-10-27T03:27:02.335Z,1761535622.335 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:27:02.449Z,1761535622.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452102,-0.829751,-0.327288],[0.865286,0.497061,-0.064895],[0.216529,-0.253859,0.942694]] 2025-10-27T03:27:02.513Z,1761535622.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504434 s, deltaX: -0.200000 m, approachRate: -0.396484 m/s, rangeRepo size: 4 2025-10-27T03:27:02.519Z,1761535622.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.158151 m, bearing: 217.709759 deg, lat: 36.779368 deg, lon: -121.859612 deg, deltaT: 0.504434 s, deltaX: -0.199179 m, approachRate: -0.394856 m/s, posRepo size: 4 2025-10-27T03:27:02.520Z,1761535622.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.16 m. 2025-10-27T03:27:02.522Z,1761535622.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.158151 m, nav range: 2.771496 m, bearing: 251.661608 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 45.861015 deg, new cmd heading: 32.435740 deg. 2025-10-27T03:27:02.527Z,1761535622.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566110 target range: 10.158151 and range: 10.20 m. 2025-10-27T03:27:02.548Z,1761535622.548 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.299110 2025-10-27T03:27:02.802Z,1761535622.802 [DAT](INFO): DAT read: Rx Time:03:27:03.7678 2025-10-27T03:27:02.802Z,1761535622.802 [DAT](INFO): Rx dataTimestamp_ set to:1761535622.802149 2025-10-27T03:27:02.804Z,1761535622.804 [DAT](INFO): DAT read: Bearing 325.7, -1.5 (Local) 2025-10-27T03:27:02.805Z,1761535622.805 [DAT](INFO): Local bearing/azimuth received: Bearing 325.7, -1.5 (Local) 2025-10-27T03:27:02.807Z,1761535622.807 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.0 2025-10-27T03:27:02.812Z,1761535622.812 [DAT](INFO): DAT read: 03:27:03.7678 LVL= 19232, 11505, 21330, 25235, AGC= 60, IDX= 501, 0.49,-0.702,-0.480,-1.279, 0.895, PHS=-1.495,-1.330,-2.218, RAW= 19.9, 65.3, CAL= 19.1, 68.1, ROT= 130.9, -68.1 2025-10-27T03:27:02.814Z,1761535622.814 [DAT](INFO): got valid direction response: 03:27:03.7678 LVL= 19232, 11505, 21330, 25235, AGC= 60, IDX= 501, 0.49,-0.702,-0.480,-1.279, 0.895, PHS=-1.495,-1.330,-2.218, RAW= 19.9, 65.3, CAL= 19.1, 68.1, ROT= 130.9, -68.1 2025-10-27T03:27:02.814Z,1761535622.814 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T03:27:02.815Z,1761535622.815 [DAT](INFO): direction in FSK: [-0.244210,0.281924,0.927836] 2025-10-27T03:27:02.815Z,1761535622.815 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:02.824Z,1761535622.824 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.569862 2025-10-27T03:27:02.887Z,1761535622.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469025,-0.820295,-0.327309],[0.856503,0.512873,-0.058004],[0.215449,-0.253136,0.943135]] 2025-10-27T03:27:02.999Z,1761535622.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504913 s, deltaX: -0.099999 m, approachRate: -0.198053 m/s, rangeRepo size: 4 2025-10-27T03:27:03.001Z,1761535623.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.058621 m, bearing: 190.330864 deg, lat: 36.779341 deg, lon: -121.859594 deg, deltaT: 0.504913 s, deltaX: -0.099529 m, approachRate: -0.197122 m/s, posRepo size: 4 2025-10-27T03:27:03.002Z,1761535623.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.06 m. 2025-10-27T03:27:03.009Z,1761535623.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.058621 m, nav range: 4.279634 m, bearing: 196.166154 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 32.435742 deg, new cmd heading: 18.187203 deg. 2025-10-27T03:27:03.010Z,1761535623.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317427 target range: 10.058621 and range: 10.10 m. 2025-10-27T03:27:03.053Z,1761535623.053 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.803513 2025-10-27T03:27:03.284Z,1761535623.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485861,-0.809815,-0.328844],[0.847350,0.528677,-0.049982],[0.214328,-0.254362,0.943061]] 2025-10-27T03:27:03.305Z,1761535623.305 [DAT](INFO): DAT read: Rx Time:03:27:04.2679 2025-10-27T03:27:03.305Z,1761535623.305 [DAT](INFO): Rx dataTimestamp_ set to:1761535623.304838 2025-10-27T03:27:03.306Z,1761535623.306 [DAT](INFO): DAT read: Bearing 326.3, 3.8 (Local) 2025-10-27T03:27:03.307Z,1761535623.307 [DAT](INFO): Local bearing/azimuth received: Bearing 326.3, 3.8 (Local) 2025-10-27T03:27:03.309Z,1761535623.309 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.0 2025-10-27T03:27:03.313Z,1761535623.313 [DAT](INFO): DAT read: 03:27:04.2679 LVL= 12480, 13441, 20194, 20163, AGC= 58, IDX= 502, 0.26, 1.726, 1.850, 0.908,-3.133, PHS=-1.322,-1.256,-2.286, RAW= 26.7, 59.9, CAL= 25.6, 63.2, ROT= 124.4, -63.2 2025-10-27T03:27:03.315Z,1761535623.315 [DAT](INFO): got valid direction response: 03:27:04.2679 LVL= 12480, 13441, 20194, 20163, AGC= 58, IDX= 502, 0.26, 1.726, 1.850, 0.908,-3.133, PHS=-1.322,-1.256,-2.286, RAW= 26.7, 59.9, CAL= 25.6, 63.2, ROT= 124.4, -63.2 2025-10-27T03:27:03.315Z,1761535623.315 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T03:27:03.316Z,1761535623.316 [DAT](INFO): direction in FSK: [-0.254731,0.372025,0.892586] 2025-10-27T03:27:03.316Z,1761535623.316 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:03.324Z,1761535623.324 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.075096 2025-10-27T03:27:03.350Z,1761535623.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.502689 s, deltaX: 0.099999 m, approachRate: 0.198929 m/s, rangeRepo size: 4 2025-10-27T03:27:03.356Z,1761535623.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.158211 m, bearing: 185.072205 deg, lat: 36.779329 deg, lon: -121.859594 deg, deltaT: 0.502689 s, deltaX: 0.099589 m, approachRate: 0.198113 m/s, posRepo size: 4 2025-10-27T03:27:03.357Z,1761535623.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 10.20 m. 2025-10-27T03:27:03.357Z,1761535623.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.16 m. 2025-10-27T03:27:03.372Z,1761535623.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.158211 m, nav range: 5.632090 m, bearing: 193.762195 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 18.187202 deg, new cmd heading: 7.605187 deg. 2025-10-27T03:27:03.373Z,1761535623.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.132736 target range: 10.158211 and range: 10.20 m. 2025-10-27T03:27:03.556Z,1761535623.556 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.307117 2025-10-27T03:27:03.765Z,1761535623.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501783,-0.799589,-0.329955],[0.838388,0.543455,-0.041982],[0.212884,-0.255565,0.943063]] 2025-10-27T03:27:03.809Z,1761535623.809 [DAT](INFO): DAT read: Rx Time:03:27:04.7678 2025-10-27T03:27:03.809Z,1761535623.809 [DAT](INFO): Rx dataTimestamp_ set to:1761535623.808812 2025-10-27T03:27:03.810Z,1761535623.810 [DAT](INFO): DAT read: Bearing 325.4, 6.4 (Local) 2025-10-27T03:27:03.811Z,1761535623.811 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, 6.4 (Local) 2025-10-27T03:27:03.813Z,1761535623.813 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.0 2025-10-27T03:27:03.817Z,1761535623.817 [DAT](INFO): DAT read: 03:27:04.7678 LVL= 12960, 19537, 18418, 19523, AGC= 60, IDX= 501, 0.08,-2.658,-2.608, 2.727,-1.373, PHS=-1.183,-1.190,-2.227, RAW= 30.4, 57.4, CAL= 29.1, 61.0, ROT= 120.9, -61.0 2025-10-27T03:27:03.819Z,1761535623.819 [DAT](INFO): got valid direction response: 03:27:04.7678 LVL= 12960, 19537, 18418, 19523, AGC= 60, IDX= 501, 0.08,-2.658,-2.608, 2.727,-1.373, PHS=-1.183,-1.190,-2.227, RAW= 30.4, 57.4, CAL= 29.1, 61.0, ROT= 120.9, -61.0 2025-10-27T03:27:03.819Z,1761535623.819 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T03:27:03.820Z,1761535623.820 [DAT](INFO): direction in FSK: [-0.248970,0.415998,0.874620] 2025-10-27T03:27:03.820Z,1761535623.820 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:03.832Z,1761535623.832 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.582970 2025-10-27T03:27:03.888Z,1761535623.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503974 s, deltaX: -0.099999 m, approachRate: -0.198422 m/s, rangeRepo size: 4 2025-10-27T03:27:03.890Z,1761535623.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.058653 m, bearing: 181.487481 deg, lat: 36.779319 deg, lon: -121.859594 deg, deltaT: 0.503974 s, deltaX: -0.099558 m, approachRate: -0.197546 m/s, posRepo size: 4 2025-10-27T03:27:03.900Z,1761535623.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 10.10 m. 2025-10-27T03:27:03.900Z,1761535623.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.06 m. 2025-10-27T03:27:03.902Z,1761535623.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.058653 m, nav range: 6.982009 m, bearing: 192.840112 deg, approach rate: 0.000000 m/s, LOS rate: -10.057560 deg/s, cmd heading: 7.605188 deg, new cmd heading: 352.241742 deg. 2025-10-27T03:27:03.912Z,1761535623.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147778 target range: 10.058653 and range: 10.10 m. 2025-10-27T03:27:04.061Z,1761535624.061 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.812283 2025-10-27T03:27:04.242Z,1761535624.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515942,-0.790690,-0.329564],[0.830172,0.556393,-0.035239],[0.211230,-0.255414,0.943475]] 2025-10-27T03:27:04.258Z,1761535624.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:27:04.263Z,1761535624.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 10.10 m. 2025-10-27T03:27:04.265Z,1761535624.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.06 m. 2025-10-27T03:27:04.269Z,1761535624.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.058653 m, nav range: 7.167388 m, bearing: 194.018158 deg, approach rate: 0.475469 m/s, LOS rate: 2.943141 deg/s, cmd heading: 352.241735 deg, new cmd heading: 355.680088 deg. 2025-10-27T03:27:04.270Z,1761535624.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207788 target range: 10.058653 and range: 10.10 m. 2025-10-27T03:27:04.313Z,1761535624.313 [DAT](INFO): DAT read: Rx Time:03:27:05.2680 2025-10-27T03:27:04.313Z,1761535624.313 [DAT](INFO): Rx dataTimestamp_ set to:1761535624.312767 2025-10-27T03:27:04.314Z,1761535624.314 [DAT](INFO): DAT read: Bearing 321.0, 6.3 (Local) 2025-10-27T03:27:04.315Z,1761535624.315 [DAT](INFO): Local bearing/azimuth received: Bearing 321.0, 6.3 (Local) 2025-10-27T03:27:04.317Z,1761535624.317 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.0 2025-10-27T03:27:04.321Z,1761535624.321 [DAT](INFO): DAT read: 03:27:05.2680 LVL= 15536, 16881, 17906, 19507, AGC= 60, IDX= 502, 0.12, 0.892, 0.850, 0.088, 2.118, PHS=-1.124,-1.223,-2.075, RAW= 35.5, 59.9, CAL= 34.1, 63.3, ROT= 115.9, -63.3 2025-10-27T03:27:04.323Z,1761535624.323 [DAT](INFO): got valid direction response: 03:27:05.2680 LVL= 15536, 16881, 17906, 19507, AGC= 60, IDX= 502, 0.12, 0.892, 0.850, 0.088, 2.118, PHS=-1.124,-1.223,-2.075, RAW= 35.5, 59.9, CAL= 34.1, 63.3, ROT= 115.9, -63.3 2025-10-27T03:27:04.323Z,1761535624.323 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T03:27:04.324Z,1761535624.324 [DAT](INFO): direction in FSK: [-0.196263,0.404188,0.893371] 2025-10-27T03:27:04.324Z,1761535624.324 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:04.336Z,1761535624.336 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.087463 2025-10-27T03:27:04.564Z,1761535624.564 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.314960 2025-10-27T03:27:04.777Z,1761535624.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503955 s, deltaX: 0.299999 m, approachRate: 0.595290 m/s, rangeRepo size: 4 2025-10-27T03:27:04.783Z,1761535624.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.357404 m, bearing: 177.560455 deg, lat: 36.779316 deg, lon: -121.859586 deg, deltaT: 0.503955 s, deltaX: 0.298751 m, approachRate: 0.592813 m/s, posRepo size: 4 2025-10-27T03:27:04.784Z,1761535624.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 10.40 m. 2025-10-27T03:27:04.784Z,1761535624.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.36 m. 2025-10-27T03:27:04.787Z,1761535624.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.357404 m, nav range: 7.515653 m, bearing: 189.693124 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 355.680079 deg, new cmd heading: 0.221697 deg. 2025-10-27T03:27:04.792Z,1761535624.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003869 target range: 10.357404 and range: 10.40 m. 2025-10-27T03:27:04.817Z,1761535624.817 [DAT](INFO): DAT read: Rx Time:03:27:05.7679 2025-10-27T03:27:04.817Z,1761535624.817 [DAT](INFO): Rx dataTimestamp_ set to:1761535624.816895 2025-10-27T03:27:04.818Z,1761535624.818 [DAT](INFO): DAT read: Bearing 329.3, -4.2 (Local) 2025-10-27T03:27:04.819Z,1761535624.819 [DAT](INFO): Local bearing/azimuth received: Bearing 329.3, -4.2 (Local) 2025-10-27T03:27:04.821Z,1761535624.821 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.1 2025-10-27T03:27:04.826Z,1761535624.826 [DAT](INFO): DAT read: 03:27:05.7679 LVL= 17984, 14545, 20322, 25667, AGC= 57, IDX= 502,-0.36, 2.508, 2.982, 2.132,-2.392, PHS=-1.282,-0.865,-1.804, RAW= 3.7, 59.7, CAL= 2.7, 62.8, ROT= 147.3, -62.8 2025-10-27T03:27:04.828Z,1761535624.828 [DAT](INFO): got valid direction response: 03:27:05.7679 LVL= 17984, 14545, 20322, 25667, AGC= 57, IDX= 502,-0.36, 2.508, 2.982, 2.132,-2.392, PHS=-1.282,-0.865,-1.804, RAW= 3.7, 59.7, CAL= 2.7, 62.8, ROT= 147.3, -62.8 2025-10-27T03:27:04.828Z,1761535624.828 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T03:27:04.829Z,1761535624.829 [DAT](INFO): direction in FSK: [-0.384653,0.246943,0.889416] 2025-10-27T03:27:04.830Z,1761535624.830 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:04.833Z,1761535624.833 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.584312 2025-10-27T03:27:05.069Z,1761535625.069 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.820068 2025-10-27T03:27:05.156Z,1761535625.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542778,-0.780933,-0.309089],[0.814212,0.579544,-0.034452],[0.206036,-0.232964,0.950409]] 2025-10-27T03:27:05.189Z,1761535625.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504128 s, deltaX: -0.200000 m, approachRate: -0.396724 m/s, rangeRepo size: 4 2025-10-27T03:27:05.207Z,1761535625.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.158223 m, bearing: 196.524750 deg, lat: 36.779316 deg, lon: -121.859586 deg, deltaT: 0.504128 s, deltaX: -0.199181 m, approachRate: -0.395099 m/s, posRepo size: 4 2025-10-27T03:27:05.208Z,1761535625.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 10.20 m. 2025-10-27T03:27:05.208Z,1761535625.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.16 m. 2025-10-27T03:27:05.215Z,1761535625.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.158223 m, nav range: 7.685484 m, bearing: 190.876422 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 0.221697 deg, new cmd heading: 3.856258 deg. 2025-10-27T03:27:05.216Z,1761535625.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067304 target range: 10.158223 and range: 10.20 m. 2025-10-27T03:27:05.322Z,1761535625.322 [DAT](INFO): DAT read: Rx Time:03:27:06.2680 2025-10-27T03:27:05.323Z,1761535625.323 [DAT](INFO): Rx dataTimestamp_ set to:1761535625.322190 2025-10-27T03:27:05.325Z,1761535625.325 [DAT](INFO): DAT read: Bearing 344.1, -32.6 (Local) 2025-10-27T03:27:05.325Z,1761535625.325 [DAT](INFO): Local bearing/azimuth received: Bearing 344.1, -32.6 (Local) 2025-10-27T03:27:05.329Z,1761535625.329 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.1 2025-10-27T03:27:05.333Z,1761535625.333 [DAT](INFO): DAT read: 03:27:06.2680 LVL= 12416, 13649, 17266, 20851, AGC= 58, IDX= 503,-0.04,-1.681,-0.493,-1.096,-0.151, PHS=-1.428,-0.297,-0.989, RAW= 307.3, 44.2, CAL= 308.6, 48.6, ROT= 201.4, -48.6 2025-10-27T03:27:05.335Z,1761535625.335 [DAT](INFO): got valid direction response: 03:27:06.2680 LVL= 12416, 13649, 17266, 20851, AGC= 58, IDX= 503,-0.04,-1.681,-0.493,-1.096,-0.151, PHS=-1.428,-0.297,-0.989, RAW= 307.3, 44.2, CAL= 308.6, 48.6, ROT= 201.4, -48.6 2025-10-27T03:27:05.335Z,1761535625.335 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T03:27:05.336Z,1761535625.336 [DAT](INFO): direction in FSK: [-0.615718,-0.241297,0.750111] 2025-10-27T03:27:05.336Z,1761535625.336 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:05.341Z,1761535625.341 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.091560 2025-10-27T03:27:05.543Z,1761535625.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545935,-0.783583,-0.296567],[0.812361,0.581679,-0.041467],[0.205000,-0.218281,0.954111]] 2025-10-27T03:27:05.570Z,1761535625.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.505295 s, deltaX: 0.200000 m, approachRate: 0.395808 m/s, rangeRepo size: 4 2025-10-27T03:27:05.572Z,1761535625.572 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.323120 2025-10-27T03:27:05.573Z,1761535625.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.357384 m, bearing: 241.181503 deg, lat: 36.779316 deg, lon: -121.859586 deg, deltaT: 0.505295 s, deltaX: 0.199161 m, approachRate: 0.394147 m/s, posRepo size: 4 2025-10-27T03:27:05.576Z,1761535625.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.36 m. 2025-10-27T03:27:05.585Z,1761535625.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.357384 m, nav range: 7.842445 m, bearing: 191.894743 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 3.856258 deg, new cmd heading: 7.212839 deg. 2025-10-27T03:27:05.589Z,1761535625.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125888 target range: 10.357384 and range: 10.40 m. 2025-10-27T03:27:05.825Z,1761535625.825 [DAT](INFO): DAT read: Rx Time:03:27:06.7679 2025-10-27T03:27:05.825Z,1761535625.825 [DAT](INFO): Rx dataTimestamp_ set to:1761535625.824798 2025-10-27T03:27:05.826Z,1761535625.826 [DAT](INFO): DAT read: Bearing 333.1, -24.3 (Local) 2025-10-27T03:27:05.827Z,1761535625.827 [DAT](INFO): Local bearing/azimuth received: Bearing 333.1, -24.3 (Local) 2025-10-27T03:27:05.829Z,1761535625.829 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.1 2025-10-27T03:27:05.834Z,1761535625.834 [DAT](INFO): DAT read: 03:27:06.7679 LVL= 10864, 14001, 16562, 18035, AGC= 59, IDX= 502,-0.07,-2.595,-1.507,-2.179,-0.740, PHS=-1.752,-0.722,-1.483, RAW= 315.4, 56.5, CAL= 315.8, 59.8, ROT= 194.2, -59.8 2025-10-27T03:27:05.835Z,1761535625.835 [DAT](INFO): got valid direction response: 03:27:06.7679 LVL= 10864, 14001, 16562, 18035, AGC= 59, IDX= 502,-0.07,-2.595,-1.507,-2.179,-0.740, PHS=-1.752,-0.722,-1.483, RAW= 315.4, 56.5, CAL= 315.8, 59.8, ROT= 194.2, -59.8 2025-10-27T03:27:05.835Z,1761535625.835 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T03:27:05.836Z,1761535625.836 [DAT](INFO): direction in FSK: [-0.487650,-0.123394,0.864275] 2025-10-27T03:27:05.837Z,1761535625.837 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:05.840Z,1761535625.840 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.591377 2025-10-27T03:27:05.946Z,1761535625.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547280,-0.786939,-0.284976],[0.811574,0.582185,-0.049076],[0.204529,-0.204421,0.957277]] 2025-10-27T03:27:06.030Z,1761535626.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.502608 s, deltaX: -0.200000 m, approachRate: -0.397924 m/s, rangeRepo size: 4 2025-10-27T03:27:06.034Z,1761535626.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.158204 m, bearing: 230.792260 deg, lat: 36.779322 deg, lon: -121.859593 deg, deltaT: 0.502608 s, deltaX: -0.199180 m, approachRate: -0.396292 m/s, posRepo size: 4 2025-10-27T03:27:06.034Z,1761535626.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 10.20 m. 2025-10-27T03:27:06.035Z,1761535626.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.16 m. 2025-10-27T03:27:06.045Z,1761535626.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.158204 m, nav range: 7.543954 m, bearing: 198.780928 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 7.212839 deg, new cmd heading: 11.270648 deg. 2025-10-27T03:27:06.046Z,1761535626.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.196710 target range: 10.158204 and range: 10.20 m. 2025-10-27T03:27:06.079Z,1761535626.079 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.829308 2025-10-27T03:27:06.329Z,1761535626.329 [DAT](INFO): DAT read: Rx Time:03:27:07.2681 2025-10-27T03:27:06.329Z,1761535626.329 [DAT](INFO): Rx dataTimestamp_ set to:1761535626.328772 2025-10-27T03:27:06.330Z,1761535626.330 [DAT](INFO): DAT read: Bearing 323.9, -20.7 (Local) 2025-10-27T03:27:06.331Z,1761535626.331 [DAT](INFO): Local bearing/azimuth received: Bearing 323.9, -20.7 (Local) 2025-10-27T03:27:06.333Z,1761535626.333 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.1 2025-10-27T03:27:06.341Z,1761535626.341 [DAT](INFO): DAT read: 03:27:07.2681 LVL= 11760, 16033, 26866, 16099, AGC= 59, IDX= 503, 0.29, 1.691, 2.573, 2.063,-2.553, PHS=-1.937,-1.112,-1.711, RAW= 314.6, 66.3, CAL= 315.0, 68.6, ROT= 195.0, -68.6 2025-10-27T03:27:06.343Z,1761535626.343 [DAT](INFO): got valid direction response: 03:27:07.2681 LVL= 11760, 16033, 26866, 16099, AGC= 59, IDX= 503, 0.29, 1.691, 2.573, 2.063,-2.553, PHS=-1.937,-1.112,-1.711, RAW= 314.6, 66.3, CAL= 315.0, 68.6, ROT= 195.0, -68.6 2025-10-27T03:27:06.343Z,1761535626.343 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T03:27:06.344Z,1761535626.344 [DAT](INFO): direction in FSK: [-0.352444,-0.094437,0.931056] 2025-10-27T03:27:06.344Z,1761535626.344 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:06.358Z,1761535626.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547977,-0.789451,-0.276565],[0.811023,0.582380,-0.055461],[0.204850,-0.193909,0.959393]] 2025-10-27T03:27:06.360Z,1761535626.360 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.111122 2025-10-27T03:27:06.411Z,1761535626.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503974 s, deltaX: 0.300000 m, approachRate: 0.595269 m/s, rangeRepo size: 4 2025-10-27T03:27:06.413Z,1761535626.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.456975 m, bearing: 226.222453 deg, lat: 36.779348 deg, lon: -121.859609 deg, deltaT: 0.503974 s, deltaX: 0.298771 m, approachRate: 0.592830 m/s, posRepo size: 4 2025-10-27T03:27:06.414Z,1761535626.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 10.50 m. 2025-10-27T03:27:06.414Z,1761535626.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m. 2025-10-27T03:27:06.417Z,1761535626.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.456975 m, nav range: 5.975991 m, bearing: 223.374690 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 11.270648 deg, new cmd heading: 14.609894 deg. 2025-10-27T03:27:06.418Z,1761535626.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254991 target range: 10.456975 and range: 10.50 m. 2025-10-27T03:27:06.589Z,1761535626.589 [DAT](INFO): DAT read: Rx Time:03:27:07.7680 2025-10-27T03:27:06.590Z,1761535626.590 [DAT](INFO): Rx dataTimestamp_ set to:1761535626.589690 2025-10-27T03:27:06.593Z,1761535626.593 [DAT](INFO): DAT read: Bearing 321.3, -22.5 (Local) 2025-10-27T03:27:06.594Z,1761535626.594 [DAT](INFO): Local bearing/azimuth received: Bearing 321.3, -22.5 (Local) 2025-10-27T03:27:06.596Z,1761535626.596 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.346783 2025-10-27T03:27:06.782Z,1761535626.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549431,-0.789807,-0.272635],[0.809831,0.583698,-0.058915],[0.205668,-0.188419,0.960312]] 2025-10-27T03:27:06.834Z,1761535626.834 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.1 2025-10-27T03:27:06.838Z,1761535626.838 [DAT](INFO): DAT read: 03:27:07.7680 LVL= 10512, 14353, 22306, 14419, AGC= 57, IDX= 503,-0.07,-0.326, 0.615, 0.194, 1.940, PHS=-2.164,-1.281,-1.790, RAW= 305.1, 67.5, CAL= 305.9, 69.7, ROT= 204.1, -69.7 2025-10-27T03:27:06.843Z,1761535626.843 [DAT](INFO): got valid direction response: 03:27:07.7680 LVL= 10512, 14353, 22306, 14419, AGC= 57, IDX= 503,-0.07,-0.326, 0.615, 0.194, 1.940, PHS=-2.164,-1.281,-1.790, RAW= 305.1, 67.5, CAL= 305.9, 69.7, ROT= 204.1, -69.7 2025-10-27T03:27:06.844Z,1761535626.844 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T03:27:06.845Z,1761535626.845 [DAT](INFO): direction in FSK: [-0.316695,-0.141664,0.937889] 2025-10-27T03:27:06.845Z,1761535626.845 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:06.849Z,1761535626.849 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.599754 2025-10-27T03:27:06.874Z,1761535626.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.502701 s, deltaX: -0.100000 m, approachRate: -0.198926 m/s, rangeRepo size: 4 2025-10-27T03:27:06.880Z,1761535626.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.357414 m, bearing: 231.138398 deg, lat: 36.779351 deg, lon: -121.859609 deg, deltaT: 0.502701 s, deltaX: -0.099561 m, approachRate: -0.198052 m/s, posRepo size: 4 2025-10-27T03:27:06.881Z,1761535626.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 10.40 m. 2025-10-27T03:27:06.881Z,1761535626.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.36 m. 2025-10-27T03:27:06.888Z,1761535626.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.357414 m, nav range: 6.095117 m, bearing: 225.880670 deg, approach rate: 0.000000 m/s, LOS rate: 2.943141 deg/s, cmd heading: 14.609894 deg, new cmd heading: 18.713209 deg. 2025-10-27T03:27:06.889Z,1761535626.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326607 target range: 10.357414 and range: 10.40 m. 2025-10-27T03:27:07.088Z,1761535627.088 [DAT](INFO): DAT read: Rx Time:03:27:08.2682 2025-10-27T03:27:07.090Z,1761535627.090 [DAT](INFO): Rx dataTimestamp_ set to:1761535627.088552 2025-10-27T03:27:07.092Z,1761535627.092 [DAT](INFO): DAT read: Bearing 320.5, -23.6 (Local) 2025-10-27T03:27:07.093Z,1761535627.093 [DAT](INFO): Local bearing/azimuth received: Bearing 320.5, -23.6 (Local) 2025-10-27T03:27:07.100Z,1761535627.100 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.845581 2025-10-27T03:27:07.286Z,1761535627.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552676,-0.786747,-0.274913],[0.807321,0.587286,-0.057687],[0.206838,-0.190061,0.959737]] 2025-10-27T03:27:07.302Z,1761535627.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:27:07.304Z,1761535627.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 10.40 m. 2025-10-27T03:27:07.305Z,1761535627.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.36 m. 2025-10-27T03:27:07.308Z,1761535627.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.357414 m, nav range: 6.374595 m, bearing: 226.511572 deg, approach rate: 0.648575 m/s, LOS rate: 1.399891 deg/s, cmd heading: 18.713209 deg, new cmd heading: 20.522297 deg. 2025-10-27T03:27:07.309Z,1761535627.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.358182 target range: 10.357414 and range: 10.40 m. 2025-10-27T03:27:07.338Z,1761535627.338 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.1 2025-10-27T03:27:07.342Z,1761535627.342 [DAT](INFO): DAT read: 03:27:08.2682 LVL= 10368, 12081, 21666, 14723, AGC= 56, IDX= 505,-0.38, 0.445, 1.449, 1.055, 2.841, PHS=-2.294,-1.347,-1.830, RAW= 300.7, 67.0, CAL= 301.7, 69.3, ROT= 208.3, -69.3 2025-10-27T03:27:07.344Z,1761535627.344 [DAT](INFO): got valid direction response: 03:27:08.2682 LVL= 10368, 12081, 21666, 14723, AGC= 56, IDX= 505,-0.38, 0.445, 1.449, 1.055, 2.841, PHS=-2.294,-1.347,-1.830, RAW= 300.7, 67.0, CAL= 301.7, 69.3, ROT= 208.3, -69.3 2025-10-27T03:27:07.344Z,1761535627.344 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T03:27:07.345Z,1761535627.345 [DAT](INFO): direction in FSK: [-0.311227,-0.167578,0.935444] 2025-10-27T03:27:07.345Z,1761535627.345 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:07.349Z,1761535627.349 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.099823 2025-10-27T03:27:07.592Z,1761535627.592 [DAT](INFO): DAT read: Rx Time:03:27:08.7681 2025-10-27T03:27:07.592Z,1761535627.592 [DAT](INFO): Rx dataTimestamp_ set to:1761535627.591695 2025-10-27T03:27:07.593Z,1761535627.593 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.2 2025-10-27T03:27:07.594Z,1761535627.594 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-27T03:27:07.595Z,1761535627.595 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.345692 2025-10-27T03:27:07.692Z,1761535627.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557381,-0.781342,-0.280770],[0.803752,0.592562,-0.053416],[0.208110,-0.195897,0.958287]] 2025-10-27T03:27:07.818Z,1761535627.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.760222 s, deltaX: 0.100000 m, approachRate: 0.131541 m/s, rangeRepo size: 4 2025-10-27T03:27:07.828Z,1761535627.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.457099 m, bearing: 232.617767 deg, lat: 36.779352 deg, lon: -121.859609 deg, deltaT: 0.760222 s, deltaX: 0.099685 m, approachRate: 0.131126 m/s, posRepo size: 4 2025-10-27T03:27:07.829Z,1761535627.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m. 2025-10-27T03:27:07.840Z,1761535627.840 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.590992 2025-10-27T03:27:07.841Z,1761535627.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.457099 m, nav range: 6.574115 m, bearing: 228.113027 deg, approach rate: 0.000000 m/s, LOS rate: 1.399891 deg/s, cmd heading: 20.522297 deg, new cmd heading: 22.675203 deg. 2025-10-27T03:27:07.842Z,1761535627.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395757 target range: 10.457099 and range: 10.50 m. 2025-10-27T03:27:08.093Z,1761535628.093 [DAT](INFO): DAT read: Rx Time:03:27:09.2683 2025-10-27T03:27:08.093Z,1761535628.093 [DAT](INFO): Rx dataTimestamp_ set to:1761535628.092907 2025-10-27T03:27:08.094Z,1761535628.094 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.2 2025-10-27T03:27:08.095Z,1761535628.095 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-27T03:27:08.096Z,1761535628.096 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.847023 2025-10-27T03:27:08.112Z,1761535628.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563245,-0.774086,-0.289042],[0.799318,0.599083,-0.046809],[0.209394,-0.204672,0.956171]] 2025-10-27T03:27:08.216Z,1761535628.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.501212 s, deltaX: 0.300000 m, approachRate: 0.598549 m/s, rangeRepo size: 4 2025-10-27T03:27:08.217Z,1761535628.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 10.80 m. 2025-10-27T03:27:08.217Z,1761535628.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m. 2025-10-27T03:27:08.236Z,1761535628.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.457099 m, nav range: 6.853357 m, bearing: 228.722364 deg, approach rate: 0.701029 m/s, LOS rate: 1.467369 deg/s, cmd heading: 22.675204 deg, new cmd heading: 24.428152 deg. 2025-10-27T03:27:08.237Z,1761535628.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426352 target range: 10.457099 and range: 10.80 m. 2025-10-27T03:27:08.346Z,1761535628.346 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.097008 2025-10-27T03:27:08.516Z,1761535628.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570104,-0.764982,-0.299639],[0.794002,0.606711,-0.038243],[0.211049,-0.216111,0.953286]] 2025-10-27T03:27:08.538Z,1761535628.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m. 2025-10-27T03:27:08.541Z,1761535628.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.457099 m, nav range: 7.080222 m, bearing: 229.165486 deg, approach rate: 0.703207 m/s, LOS rate: 1.329506 deg/s, cmd heading: 24.428151 deg, new cmd heading: 25.714691 deg. 2025-10-27T03:27:08.542Z,1761535628.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448806 target range: 10.457099 and range: 10.80 m. 2025-10-27T03:27:08.620Z,1761535628.620 [DAT](INFO): DAT read: Rx Time:03:27:09.7682 2025-10-27T03:27:08.621Z,1761535628.621 [DAT](INFO): Rx dataTimestamp_ set to:1761535628.620496 2025-10-27T03:27:08.639Z,1761535628.639 [DAT](INFO): DAT read: Bearing 315.0, -1.6 (Local) 2025-10-27T03:27:08.640Z,1761535628.640 [DAT](INFO): Local bearing/azimuth received: Bearing 315.0, -1.6 (Local) 2025-10-27T03:27:08.652Z,1761535628.652 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.2 2025-10-27T03:27:08.696Z,1761535628.696 [DAT](INFO): DAT read: 03:27:09.7682 LVL= 14304, 20017, 27106, 22771, AGC= 60, IDX= 508, 0.23, 0.175, 0.358,-0.308, 1.944, PHS=-1.666,-1.540,-2.296, RAW= 21.0, 70.2, CAL= 20.4, 72.4, ROT= 129.6, -72.4 2025-10-27T03:27:08.698Z,1761535628.698 [DAT](INFO): got valid direction response: 03:27:09.7682 LVL= 14304, 20017, 27106, 22771, AGC= 60, IDX= 508, 0.23, 0.175, 0.358,-0.308, 1.944, PHS=-1.666,-1.540,-2.296, RAW= 21.0, 70.2, CAL= 20.4, 72.4, ROT= 129.6, -72.4 2025-10-27T03:27:08.698Z,1761535628.698 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T03:27:08.725Z,1761535628.725 [DAT](INFO): direction in FSK: [-0.192738,0.232980,0.953191] 2025-10-27T03:27:08.726Z,1761535628.726 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:08.774Z,1761535628.774 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.524921 2025-10-27T03:27:08.852Z,1761535628.852 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.603062 2025-10-27T03:27:08.918Z,1761535628.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578845,-0.754246,-0.309922],[0.787138,0.616085,-0.029196],[0.212960,-0.227052,0.950314]] 2025-10-27T03:27:08.969Z,1761535628.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.527589 s, deltaX: -0.100000 m, approachRate: -0.189542 m/s, rangeRepo size: 4 2025-10-27T03:27:08.971Z,1761535628.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.656291 m, bearing: 183.535800 deg, lat: 36.779352 deg, lon: -121.859606 deg, deltaT: 1.028801 s, deltaX: 0.199192 m, approachRate: 0.193616 m/s, posRepo size: 4 2025-10-27T03:27:08.972Z,1761535628.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.66 m. 2025-10-27T03:27:08.974Z,1761535628.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.656291 m, nav range: 7.179692 m, bearing: 228.272581 deg, approach rate: 0.000000 m/s, LOS rate: 1.329506 deg/s, cmd heading: 25.714691 deg, new cmd heading: 27.428832 deg. 2025-10-27T03:27:08.976Z,1761535628.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478723 target range: 10.656291 and range: 10.70 m. 2025-10-27T03:27:09.105Z,1761535629.105 [DAT](INFO): DAT read: Rx Time:03:27:10.2683 2025-10-27T03:27:09.105Z,1761535629.105 [DAT](INFO): Rx dataTimestamp_ set to:1761535629.104985 2025-10-27T03:27:09.106Z,1761535629.106 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.2 2025-10-27T03:27:09.108Z,1761535629.108 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-27T03:27:09.109Z,1761535629.109 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.859627 2025-10-27T03:27:09.356Z,1761535629.356 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.107479 2025-10-27T03:27:09.410Z,1761535629.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588544,-0.742962,-0.318785],[0.779350,0.626248,-0.020691],[0.215011,-0.236267,0.947601]] 2025-10-27T03:27:09.434Z,1761535629.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:27:09.437Z,1761535629.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.484489 s, deltaX: 0.100000 m, approachRate: 0.206404 m/s, rangeRepo size: 4 2025-10-27T03:27:09.438Z,1761535629.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 10.80 m. 2025-10-27T03:27:09.438Z,1761535629.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.66 m. 2025-10-27T03:27:09.441Z,1761535629.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.656291 m, nav range: 7.529850 m, bearing: 228.934012 deg, approach rate: 0.747283 m/s, LOS rate: 1.345911 deg/s, cmd heading: 27.428832 deg, new cmd heading: 29.320123 deg. 2025-10-27T03:27:09.442Z,1761535629.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511733 target range: 10.656291 and range: 10.80 m. 2025-10-27T03:27:09.608Z,1761535629.608 [DAT](INFO): DAT read: Rx Time:03:27:10.7683 2025-10-27T03:27:09.609Z,1761535629.609 [DAT](INFO): Rx dataTimestamp_ set to:1761535629.608260 2025-10-27T03:27:09.610Z,1761535629.610 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.3 2025-10-27T03:27:09.610Z,1761535629.610 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-27T03:27:09.611Z,1761535629.611 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.362431 2025-10-27T03:27:09.860Z,1761535629.860 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.610966 2025-10-27T03:27:09.928Z,1761535629.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610541,-0.716491,-0.337462],[0.761030,0.648716,-0.000472],[0.219255,-0.256531,0.941339]] 2025-10-27T03:27:09.966Z,1761535629.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503275 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:09.966Z,1761535629.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 10.80 m. 2025-10-27T03:27:09.966Z,1761535629.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.66 m. 2025-10-27T03:27:09.985Z,1761535629.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.656291 m, nav range: 7.925983 m, bearing: 229.542968 deg, approach rate: 0.750004 m/s, LOS rate: 1.095299 deg/s, cmd heading: 29.320124 deg, new cmd heading: 31.055123 deg. 2025-10-27T03:27:09.986Z,1761535629.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542014 target range: 10.656291 and range: 10.80 m. 2025-10-27T03:27:10.129Z,1761535630.129 [DAT](INFO): DAT read: Rx Time:03:27:11.2685 2025-10-27T03:27:10.132Z,1761535630.132 [DAT](INFO): Rx dataTimestamp_ set to:1761535630.130127 2025-10-27T03:27:10.137Z,1761535630.137 [DAT](INFO): DAT read: Bearing 308.1, -1.8 (Local) 2025-10-27T03:27:10.138Z,1761535630.138 [DAT](INFO): Local bearing/azimuth received: Bearing 308.1, -1.8 (Local) 2025-10-27T03:27:10.150Z,1761535630.150 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 2025-10-27T03:27:10.175Z,1761535630.175 [DAT](INFO): DAT read: 03:27:11.2685 LVL= 30192, 15329, 27442, 32755, AGC= 66, IDX= 508, 0.49,-2.469,-2.456,-2.981,-0.898, PHS=-1.469,-1.513,-2.127, RAW= 33.5, 70.6, CAL= 32.6, 72.8, ROT= 117.4, -72.8 2025-10-27T03:27:10.176Z,1761535630.176 [DAT](INFO): got valid direction response: 03:27:11.2685 LVL= 30192, 15329, 27442, 32755, AGC= 66, IDX= 508, 0.49,-2.469,-2.456,-2.981,-0.898, PHS=-1.469,-1.513,-2.127, RAW= 33.5, 70.6, CAL= 32.6, 72.8, ROT= 117.4, -72.8 2025-10-27T03:27:10.177Z,1761535630.177 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T03:27:10.178Z,1761535630.178 [DAT](INFO): direction in FSK: [-0.136085,0.262534,0.955278] 2025-10-27T03:27:10.178Z,1761535630.178 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:10.190Z,1761535630.190 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.940948 2025-10-27T03:27:10.347Z,1761535630.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622561,-0.702883,-0.344053],[0.750635,0.660662,0.008570],[0.221279,-0.263593,0.938911]] 2025-10-27T03:27:10.372Z,1761535630.372 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.123062 2025-10-27T03:27:10.373Z,1761535630.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.521867 s, deltaX: 0.300000 m, approachRate: 0.574859 m/s, rangeRepo size: 4 2025-10-27T03:27:10.375Z,1761535630.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.054646 m, bearing: 172.427949 deg, lat: 36.779352 deg, lon: -121.859601 deg, deltaT: 1.509631 s, deltaX: 0.398355 m, approachRate: 0.263875 m/s, posRepo size: 4 2025-10-27T03:27:10.376Z,1761535630.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 11.10 m. 2025-10-27T03:27:10.376Z,1761535630.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.05 m. 2025-10-27T03:27:10.379Z,1761535630.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.054646 m, nav range: 7.905650 m, bearing: 227.938796 deg, approach rate: 0.000000 m/s, LOS rate: 1.095299 deg/s, cmd heading: 31.055122 deg, new cmd heading: 32.388637 deg. 2025-10-27T03:27:10.380Z,1761535630.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565288 target range: 11.054646 and range: 11.10 m. 2025-10-27T03:27:10.629Z,1761535630.629 [DAT](INFO): DAT read: Rx Time:03:27:11.7685 2025-10-27T03:27:10.631Z,1761535630.631 [DAT](INFO): Rx dataTimestamp_ set to:1761535630.629789 2025-10-27T03:27:10.636Z,1761535630.636 [DAT](INFO): DAT read: Bearing 338.7, -14.0 (Local) 2025-10-27T03:27:10.637Z,1761535630.637 [DAT](INFO): Local bearing/azimuth received: Bearing 338.7, -14.0 (Local) 2025-10-27T03:27:10.656Z,1761535630.656 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.2 2025-10-27T03:27:10.673Z,1761535630.673 [DAT](INFO): DAT read: 03:27:11.7685 LVL= 20192, 7249, 18402, 27123, AGC= 58, IDX= 508, 0.40, 2.031,-3.093, 1.908,-2.729, PHS=-1.421,-0.319,-1.690, RAW= 340.7, 43.9, CAL= 339.6, 48.3, ROT= 170.4, -48.3 2025-10-27T03:27:10.674Z,1761535630.674 [DAT](INFO): got valid direction response: 03:27:11.7685 LVL= 20192, 7249, 18402, 27123, AGC= 58, IDX= 508, 0.40, 2.031,-3.093, 1.908,-2.729, PHS=-1.421,-0.319,-1.690, RAW= 340.7, 43.9, CAL= 339.6, 48.3, ROT= 170.4, -48.3 2025-10-27T03:27:10.676Z,1761535630.676 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T03:27:10.677Z,1761535630.677 [DAT](INFO): direction in FSK: [-0.655914,0.110940,0.746638] 2025-10-27T03:27:10.677Z,1761535630.677 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:10.698Z,1761535630.698 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.448811 2025-10-27T03:27:10.867Z,1761535630.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635120,-0.689374,-0.348404],[0.739573,0.672867,0.016821],[0.222833,-0.268353,0.937194]] 2025-10-27T03:27:10.876Z,1761535630.876 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.627129 2025-10-27T03:27:10.934Z,1761535630.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.499662 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:10.937Z,1761535630.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.054620 m, bearing: 207.846100 deg, lat: 36.779340 deg, lon: -121.859581 deg, deltaT: 0.499662 s, deltaX: -0.000026 m, approachRate: -0.000052 m/s, posRepo size: 4 2025-10-27T03:27:10.937Z,1761535630.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 11.10 m. 2025-10-27T03:27:10.938Z,1761535630.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.05 m. 2025-10-27T03:27:10.941Z,1761535630.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.054620 m, nav range: 8.126024 m, bearing: 212.771382 deg, approach rate: 0.000000 m/s, LOS rate: 1.095299 deg/s, cmd heading: 32.388638 deg, new cmd heading: 34.238245 deg. 2025-10-27T03:27:10.941Z,1761535630.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.597570 target range: 11.054620 and range: 11.10 m. 2025-10-27T03:27:11.133Z,1761535631.133 [DAT](INFO): DAT read: Rx Time:03:27:12.2686 2025-10-27T03:27:11.137Z,1761535631.137 [DAT](INFO): Rx dataTimestamp_ set to:1761535631.134018 2025-10-27T03:27:11.145Z,1761535631.145 [DAT](INFO): DAT read: Bearing 303.6, -32.9 (Local) 2025-10-27T03:27:11.146Z,1761535631.146 [DAT](INFO): Local bearing/azimuth received: Bearing 303.6, -32.9 (Local) 2025-10-27T03:27:11.155Z,1761535631.155 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.2 2025-10-27T03:27:11.173Z,1761535631.173 [DAT](INFO): DAT read: 03:27:12.2686 LVL= 18032, 11569, 20770, 21907, AGC= 56, IDX= 511,-0.38,-0.986,-0.117,-0.143, 1.393, PHS=-2.277,-1.465,-1.581, RAW= 277.6, 68.0, CAL= 278.8, 71.1, ROT= 231.2, -71.1 2025-10-27T03:27:11.175Z,1761535631.175 [DAT](INFO): got valid direction response: 03:27:12.2686 LVL= 18032, 11569, 20770, 21907, AGC= 56, IDX= 511,-0.38,-0.986,-0.117,-0.143, 1.393, PHS=-2.277,-1.465,-1.581, RAW= 277.6, 68.0, CAL= 278.8, 71.1, ROT= 231.2, -71.1 2025-10-27T03:27:11.184Z,1761535631.184 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T03:27:11.185Z,1761535631.185 [DAT](INFO): direction in FSK: [-0.202968,-0.252441,0.946085] 2025-10-27T03:27:11.185Z,1761535631.185 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:11.207Z,1761535631.207 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.958488 2025-10-27T03:27:11.269Z,1761535631.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648303,-0.675234,-0.351799],[0.727637,0.685501,0.025173],[0.224161,-0.272301,0.935737]] 2025-10-27T03:27:11.321Z,1761535631.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504229 s, deltaX: 0.200000 m, approachRate: 0.396645 m/s, rangeRepo size: 4 2025-10-27T03:27:11.327Z,1761535631.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.253801 m, bearing: 225.287008 deg, lat: 36.779340 deg, lon: -121.859566 deg, deltaT: 0.504229 s, deltaX: 0.199182 m, approachRate: 0.395022 m/s, posRepo size: 4 2025-10-27T03:27:11.328Z,1761535631.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:11.335Z,1761535631.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 7.740106 m, bearing: 205.576126 deg, approach rate: 0.000000 m/s, LOS rate: 1.095299 deg/s, cmd heading: 34.238246 deg, new cmd heading: 35.508530 deg. 2025-10-27T03:27:11.336Z,1761535631.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.619741 target range: 11.253801 and range: 11.30 m. 2025-10-27T03:27:11.381Z,1761535631.381 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.131397 2025-10-27T03:27:11.632Z,1761535631.632 [DAT](INFO): DAT read: Rx Time:03:27:12.7686 2025-10-27T03:27:11.633Z,1761535631.633 [DAT](INFO): Rx dataTimestamp_ set to:1761535631.632335 2025-10-27T03:27:11.634Z,1761535631.634 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.3 2025-10-27T03:27:11.635Z,1761535631.635 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T03:27:11.637Z,1761535631.637 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.388130 2025-10-27T03:27:11.676Z,1761535631.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661797,-0.661041,-0.353624],[0.715120,0.698216,0.033128],[0.225007,-0.274808,0.934801]] 2025-10-27T03:27:11.737Z,1761535631.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:27:11.744Z,1761535631.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.498317 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:11.744Z,1761535631.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:11.753Z,1761535631.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 8.023771 m, bearing: 206.777490 deg, approach rate: 0.678166 m/s, LOS rate: 2.770392 deg/s, cmd heading: 35.508531 deg, new cmd heading: 38.980698 deg. 2025-10-27T03:27:11.753Z,1761535631.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.680342 target range: 11.253801 and range: 11.30 m. 2025-10-27T03:27:11.885Z,1761535631.885 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.635429 2025-10-27T03:27:12.130Z,1761535632.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674680,-0.647659,-0.354041],[0.702748,0.710326,0.039771],[0.225726,-0.275634,0.934384]] 2025-10-27T03:27:12.138Z,1761535632.138 [DAT](INFO): DAT read: Rx Time:03:27:13.2690 2025-10-27T03:27:12.138Z,1761535632.138 [DAT](INFO): Rx dataTimestamp_ set to:1761535632.137909 2025-10-27T03:27:12.141Z,1761535632.141 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4 2025-10-27T03:27:12.142Z,1761535632.142 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-27T03:27:12.145Z,1761535632.145 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.895592 2025-10-27T03:27:12.237Z,1761535632.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.505574 s, deltaX: 0.599999 m, approachRate: 1.186769 m/s, rangeRepo size: 4 2025-10-27T03:27:12.238Z,1761535632.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:12.244Z,1761535632.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 8.337661 m, bearing: 207.808348 deg, approach rate: 0.630963 m/s, LOS rate: 1.994052 deg/s, cmd heading: 38.980699 deg, new cmd heading: 41.954012 deg. 2025-10-27T03:27:12.245Z,1761535632.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732236 target range: 11.253801 and range: 11.90 m. 2025-10-27T03:27:12.389Z,1761535632.389 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.139694 2025-10-27T03:27:12.530Z,1761535632.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688450,-0.632526,-0.354892],[0.689080,0.723097,0.047956],[0.226288,-0.277564,0.933677]] 2025-10-27T03:27:12.553Z,1761535632.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:12.555Z,1761535632.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 8.547284 m, bearing: 208.416773 deg, approach rate: 0.662853 m/s, LOS rate: 1.876690 deg/s, cmd heading: 41.954014 deg, new cmd heading: 43.733917 deg. 2025-10-27T03:27:12.556Z,1761535632.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763301 target range: 11.253801 and range: 11.90 m. 2025-10-27T03:27:12.643Z,1761535632.643 [DAT](INFO): DAT read: Rx Time:03:27:13.7691 2025-10-27T03:27:12.644Z,1761535632.644 [DAT](INFO): Rx dataTimestamp_ set to:1761535632.643023 2025-10-27T03:27:12.646Z,1761535632.646 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 2025-10-27T03:27:12.647Z,1761535632.647 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-27T03:27:12.649Z,1761535632.649 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.400074 2025-10-27T03:27:12.892Z,1761535632.892 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.642933 2025-10-27T03:27:12.934Z,1761535632.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701752,-0.619010,-0.352661],[0.675558,0.735361,0.053532],[0.226196,-0.275809,0.934219]] 2025-10-27T03:27:12.993Z,1761535632.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.505114 s, deltaX: 0.100000 m, approachRate: 0.197976 m/s, rangeRepo size: 4 2025-10-27T03:27:12.993Z,1761535632.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:12.996Z,1761535632.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 8.829520 m, bearing: 209.008332 deg, approach rate: 0.642110 m/s, LOS rate: 1.302802 deg/s, cmd heading: 43.733916 deg, new cmd heading: 45.451322 deg. 2025-10-27T03:27:12.997Z,1761535632.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793275 target range: 11.253801 and range: 12.00 m. 2025-10-27T03:27:13.146Z,1761535633.146 [DAT](INFO): DAT read: Rx Time:03:27:14.2692 2025-10-27T03:27:13.148Z,1761535633.148 [DAT](INFO): Rx dataTimestamp_ set to:1761535633.147351 2025-10-27T03:27:13.149Z,1761535633.149 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.4 2025-10-27T03:27:13.151Z,1761535633.151 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-27T03:27:13.153Z,1761535633.153 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.903316 2025-10-27T03:27:13.337Z,1761535633.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715123,-0.605575,-0.349110],[0.661627,0.747540,0.058587],[0.225495,-0.272877,0.935249]] 2025-10-27T03:27:13.382Z,1761535633.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504328 s, deltaX: 0.200000 m, approachRate: 0.396567 m/s, rangeRepo size: 4 2025-10-27T03:27:13.382Z,1761535633.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:13.390Z,1761535633.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 9.075043 m, bearing: 209.458463 deg, approach rate: 0.630909 m/s, LOS rate: 1.125378 deg/s, cmd heading: 45.451323 deg, new cmd heading: 46.764939 deg. 2025-10-27T03:27:13.396Z,1761535633.396 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.147182 2025-10-27T03:27:13.399Z,1761535633.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816202 target range: 11.253801 and range: 12.20 m. 2025-10-27T03:27:13.649Z,1761535633.649 [DAT](INFO): DAT read: Rx Time:03:27:14.7693 2025-10-27T03:27:13.650Z,1761535633.650 [DAT](INFO): Rx dataTimestamp_ set to:1761535633.649321 2025-10-27T03:27:13.652Z,1761535633.652 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4 2025-10-27T03:27:13.653Z,1761535633.653 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-27T03:27:13.655Z,1761535633.655 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.405739 2025-10-27T03:27:13.742Z,1761535633.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727280,-0.595057,-0.342010],[0.648677,0.758752,0.059266],[0.224234,-0.264957,0.937826]] 2025-10-27T03:27:13.784Z,1761535633.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:27:13.787Z,1761535633.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.501970 s, deltaX: 0.100000 m, approachRate: 0.199216 m/s, rangeRepo size: 4 2025-10-27T03:27:13.788Z,1761535633.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:13.790Z,1761535633.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 9.330652 m, bearing: 209.871028 deg, approach rate: 0.631270 m/s, LOS rate: 0.990975 deg/s, cmd heading: 46.764939 deg, new cmd heading: 47.968538 deg. 2025-10-27T03:27:13.793Z,1761535633.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837209 target range: 11.253801 and range: 12.30 m. 2025-10-27T03:27:13.900Z,1761535633.900 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.651314 2025-10-27T03:27:14.153Z,1761535634.153 [DAT](INFO): DAT read: Rx Time:03:27:15.2696 2025-10-27T03:27:14.154Z,1761535634.154 [DAT](INFO): Rx dataTimestamp_ set to:1761535634.153654 2025-10-27T03:27:14.157Z,1761535634.157 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.4 2025-10-27T03:27:14.158Z,1761535634.158 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-27T03:27:14.160Z,1761535634.160 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.910820 2025-10-27T03:27:14.312Z,1761535634.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748296,-0.578698,-0.324288],[0.625632,0.778179,0.054972],[0.220542,-0.244020,0.944360]] 2025-10-27T03:27:14.366Z,1761535634.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504333 s, deltaX: 0.300000 m, approachRate: 0.594845 m/s, rangeRepo size: 4 2025-10-27T03:27:14.366Z,1761535634.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:14.370Z,1761535634.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 9.687985 m, bearing: 210.216460 deg, approach rate: 0.617073 m/s, LOS rate: 0.574517 deg/s, cmd heading: 47.968538 deg, new cmd heading: 48.966507 deg. 2025-10-27T03:27:14.379Z,1761535634.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.854627 target range: 11.253801 and range: 12.60 m. 2025-10-27T03:27:14.404Z,1761535634.404 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.155079 2025-10-27T03:27:14.658Z,1761535634.658 [DAT](INFO): DAT read: Rx Time:03:27:15.7695 2025-10-27T03:27:14.659Z,1761535634.659 [DAT](INFO): Rx dataTimestamp_ set to:1761535634.657922 2025-10-27T03:27:14.661Z,1761535634.661 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-27T03:27:14.662Z,1761535634.662 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-27T03:27:14.663Z,1761535634.663 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.414490 2025-10-27T03:27:14.737Z,1761535634.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758131,-0.569265,-0.318081],[0.614365,0.787051,0.055736],[0.218617,-0.237673,0.946424]] 2025-10-27T03:27:14.756Z,1761535634.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504268 s, deltaX: -0.100000 m, approachRate: -0.198308 m/s, rangeRepo size: 4 2025-10-27T03:27:14.757Z,1761535634.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:14.760Z,1761535634.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 9.938733 m, bearing: 210.421279 deg, approach rate: 0.641917 m/s, LOS rate: 0.511108 deg/s, cmd heading: 48.966507 deg, new cmd heading: 49.565437 deg. 2025-10-27T03:27:14.761Z,1761535634.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865080 target range: 11.253801 and range: 12.50 m. 2025-10-27T03:27:14.909Z,1761535634.909 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.659851 2025-10-27T03:27:15.111Z,1761535635.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767477,-0.558948,-0.313936],[0.603406,0.795228,0.059277],[0.216518,-0.234925,0.947592]] 2025-10-27T03:27:15.162Z,1761535635.162 [DAT](INFO): DAT read: Rx Time:03:27:16.2697 2025-10-27T03:27:15.163Z,1761535635.163 [DAT](INFO): Rx dataTimestamp_ set to:1761535635.162343 2025-10-27T03:27:15.164Z,1761535635.164 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 2025-10-27T03:27:15.165Z,1761535635.165 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-27T03:27:15.165Z,1761535635.165 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.916466 2025-10-27T03:27:15.203Z,1761535635.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504421 s, deltaX: 0.300000 m, approachRate: 0.594742 m/s, rangeRepo size: 4 2025-10-27T03:27:15.204Z,1761535635.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:15.211Z,1761535635.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 10.200128 m, bearing: 210.511475 deg, approach rate: 0.595990 m/s, LOS rate: 0.200380 deg/s, cmd heading: 49.565436 deg, new cmd heading: 49.829088 deg. 2025-10-27T03:27:15.220Z,1761535635.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869682 target range: 11.253801 and range: 12.80 m. 2025-10-27T03:27:15.412Z,1761535635.412 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.163055 2025-10-27T03:27:15.607Z,1761535635.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775552,-0.549604,-0.310571],[0.593822,0.802090,0.063455],[0.214231,-0.233637,0.948430]] 2025-10-27T03:27:15.648Z,1761535635.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:15.658Z,1761535635.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 10.472319 m, bearing: 210.581421 deg, approach rate: 0.600229 m/s, LOS rate: 0.150235 deg/s, cmd heading: 49.829088 deg, new cmd heading: 50.033473 deg. 2025-10-27T03:27:15.664Z,1761535635.664 [DAT](INFO): DAT read: Rx Time:03:27:16.7698 2025-10-27T03:27:15.665Z,1761535635.665 [DAT](INFO): Rx dataTimestamp_ set to:1761535635.664403 2025-10-27T03:27:15.666Z,1761535635.666 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.6 2025-10-27T03:27:15.666Z,1761535635.666 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-27T03:27:15.668Z,1761535635.668 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.418541 2025-10-27T03:27:15.669Z,1761535635.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873249 target range: 11.253801 and range: 12.80 m. 2025-10-27T03:27:15.916Z,1761535635.916 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.667023 2025-10-27T03:27:16.015Z,1761535636.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781531,-0.544122,-0.305190],[0.586838,0.807201,0.063619],[0.211733,-0.228818,0.950164]] 2025-10-27T03:27:16.068Z,1761535636.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:27:16.070Z,1761535636.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.502060 s, deltaX: 0.099999 m, approachRate: 0.199178 m/s, rangeRepo size: 4 2025-10-27T03:27:16.071Z,1761535636.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:16.074Z,1761535636.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 10.725679 m, bearing: 210.633441 deg, approach rate: 0.600891 m/s, LOS rate: 0.120459 deg/s, cmd heading: 50.033472 deg, new cmd heading: 50.185843 deg. 2025-10-27T03:27:16.075Z,1761535636.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875908 target range: 11.253801 and range: 12.90 m. 2025-10-27T03:27:16.169Z,1761535636.169 [DAT](INFO): DAT read: Rx Time:03:27:17.2701 2025-10-27T03:27:16.170Z,1761535636.170 [DAT](INFO): Rx dataTimestamp_ set to:1761535636.169544 2025-10-27T03:27:16.172Z,1761535636.172 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.5 2025-10-27T03:27:16.173Z,1761535636.173 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-27T03:27:16.174Z,1761535636.174 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.925167 2025-10-27T03:27:16.420Z,1761535636.420 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.171040 2025-10-27T03:27:16.421Z,1761535636.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784935,-0.543817,-0.296886],[0.583163,0.810315,0.057537],[0.209281,-0.218296,0.953178]] 2025-10-27T03:27:16.440Z,1761535636.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.505141 s, deltaX: 0.500000 m, approachRate: 0.989823 m/s, rangeRepo size: 4 2025-10-27T03:27:16.440Z,1761535636.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:16.443Z,1761535636.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 10.957312 m, bearing: 210.671794 deg, approach rate: 0.627094 m/s, LOS rate: 0.101640 deg/s, cmd heading: 50.185843 deg, new cmd heading: 50.298472 deg. 2025-10-27T03:27:16.444Z,1761535636.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877874 target range: 11.253801 and range: 13.40 m. 2025-10-27T03:27:16.672Z,1761535636.672 [DAT](INFO): DAT read: Rx Time:03:27:17.7702 2025-10-27T03:27:16.673Z,1761535636.673 [DAT](INFO): Rx dataTimestamp_ set to:1761535636.672545 2025-10-27T03:27:16.677Z,1761535636.677 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.5 2025-10-27T03:27:16.680Z,1761535636.680 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T03:27:16.681Z,1761535636.681 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.431686 2025-10-27T03:27:16.849Z,1761535636.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785672,-0.548474,-0.286174],[0.582967,0.811206,0.045759],[0.207049,-0.202782,0.957084]] 2025-10-27T03:27:16.914Z,1761535636.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503001 s, deltaX: 0.100000 m, approachRate: 0.198808 m/s, rangeRepo size: 4 2025-10-27T03:27:16.919Z,1761535636.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:16.922Z,1761535636.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 11.236012 m, bearing: 210.713383 deg, approach rate: 0.586887 m/s, LOS rate: 0.085406 deg/s, cmd heading: 50.298473 deg, new cmd heading: 50.420144 deg. 2025-10-27T03:27:16.924Z,1761535636.924 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.675140 2025-10-27T03:27:16.927Z,1761535636.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.879998 target range: 11.253801 and range: 13.50 m. 2025-10-27T03:27:17.176Z,1761535637.176 [DAT](INFO): DAT read: Rx Time:03:27:18.2704 2025-10-27T03:27:17.177Z,1761535637.177 [DAT](INFO): Rx dataTimestamp_ set to:1761535637.176260 2025-10-27T03:27:17.178Z,1761535637.178 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.5 2025-10-27T03:27:17.178Z,1761535637.178 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-27T03:27:17.179Z,1761535637.179 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.930389 2025-10-27T03:27:17.234Z,1761535637.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784508,-0.555695,-0.275228],[0.585312,0.810150,0.032650],[0.204833,-0.186708,0.960824]] 2025-10-27T03:27:17.296Z,1761535637.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503715 s, deltaX: 0.300000 m, approachRate: 0.595575 m/s, rangeRepo size: 4 2025-10-27T03:27:17.297Z,1761535637.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:17.300Z,1761535637.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 11.469117 m, bearing: 210.773298 deg, approach rate: 0.610605 m/s, LOS rate: 0.153753 deg/s, cmd heading: 50.420146 deg, new cmd heading: 50.596236 deg. 2025-10-27T03:27:17.301Z,1761535637.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.883071 target range: 11.253801 and range: 13.80 m. 2025-10-27T03:27:17.428Z,1761535637.428 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.179066 2025-10-27T03:27:17.640Z,1761535637.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781957,-0.564228,-0.264934],[0.589406,0.807597,0.019706],[0.202841,-0.171563,0.964065]] 2025-10-27T03:27:17.667Z,1761535637.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:17.670Z,1761535637.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 11.691360 m, bearing: 210.832022 deg, approach rate: 0.598547 m/s, LOS rate: 0.155150 deg/s, cmd heading: 50.596235 deg, new cmd heading: 50.769058 deg. 2025-10-27T03:27:17.671Z,1761535637.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.886087 target range: 11.253801 and range: 13.80 m. 2025-10-27T03:27:17.680Z,1761535637.680 [DAT](INFO): DAT read: Rx Time:03:27:18.7704 2025-10-27T03:27:17.681Z,1761535637.681 [DAT](INFO): Rx dataTimestamp_ set to:1761535637.680412 2025-10-27T03:27:17.682Z,1761535637.682 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4 2025-10-27T03:27:17.683Z,1761535637.683 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-27T03:27:17.684Z,1761535637.684 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.435081 2025-10-27T03:27:17.932Z,1761535637.932 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.682953 2025-10-27T03:27:18.114Z,1761535638.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:27:18.121Z,1761535638.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504152 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:18.121Z,1761535638.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:18.134Z,1761535638.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 11.949759 m, bearing: 210.952712 deg, approach rate: 0.570113 m/s, LOS rate: 0.260524 deg/s, cmd heading: 50.769059 deg, new cmd heading: 51.123295 deg. 2025-10-27T03:27:18.136Z,1761535638.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.892270 target range: 11.253801 and range: 13.80 m. 2025-10-27T03:27:18.184Z,1761535638.184 [DAT](INFO): DAT read: Rx Time:03:27:19.2707 2025-10-27T03:27:18.185Z,1761535638.185 [DAT](INFO): Rx dataTimestamp_ set to:1761535638.184490 2025-10-27T03:27:18.186Z,1761535638.186 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 2025-10-27T03:27:18.187Z,1761535638.187 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-27T03:27:18.188Z,1761535638.188 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.938625 2025-10-27T03:27:18.436Z,1761535638.436 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.187454 2025-10-27T03:27:18.465Z,1761535638.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770589,-0.590926,-0.238744],[0.605431,0.795748,-0.015456],[0.199113,-0.132633,0.970960]] 2025-10-27T03:27:18.484Z,1761535638.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504078 s, deltaX: 0.500000 m, approachRate: 0.991910 m/s, rangeRepo size: 4 2025-10-27T03:27:18.485Z,1761535638.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m. 2025-10-27T03:27:18.488Z,1761535638.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.253801 m, nav range: 12.192704 m, bearing: 211.080114 deg, approach rate: 0.669187 m/s, LOS rate: 0.343931 deg/s, cmd heading: 51.123293 deg, new cmd heading: 51.497876 deg. 2025-10-27T03:27:18.488Z,1761535638.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.898807 target range: 11.253801 and range: 14.30 m. 2025-10-27T03:27:18.689Z,1761535638.689 [DAT](INFO): DAT read: Rx Time:03:27:19.7708 2025-10-27T03:27:18.690Z,1761535638.690 [DAT](INFO): Rx dataTimestamp_ set to:1761535638.689207 2025-10-27T03:27:18.692Z,1761535638.692 [DAT](INFO): DAT read: Bearing 306.6, 71.2 (Local) 2025-10-27T03:27:18.692Z,1761535638.692 [DAT](INFO): Local bearing/azimuth received: Bearing 306.6, 71.2 (Local) 2025-10-27T03:27:18.695Z,1761535638.695 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4 2025-10-27T03:27:18.702Z,1761535638.702 [DAT](INFO): DAT read: 03:27:19.7708 LVL= 30752, 23121, 32754, 32755, AGC= 63, IDX= 500,-0.16, 1.547, 0.243,-0.570, 0.729, PHS= 0.920,-0.441,-1.344, RAW= 66.7, 8.8, CAL= 65.1, 10.6, ROT= 84.9, -10.6 2025-10-27T03:27:18.705Z,1761535638.705 [DAT](INFO): got valid direction response: 03:27:19.7708 LVL= 30752, 23121, 32754, 32755, AGC= 63, IDX= 500,-0.16, 1.547, 0.243,-0.570, 0.729, PHS= 0.920,-0.441,-1.344, RAW= 66.7, 8.8, CAL= 65.1, 10.6, ROT= 84.9, -10.6 2025-10-27T03:27:18.705Z,1761535638.705 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T03:27:18.707Z,1761535638.707 [DAT](INFO): direction in FSK: [0.087377,0.979044,0.183951] 2025-10-27T03:27:18.708Z,1761535638.708 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:18.713Z,1761535638.713 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.464073 2025-10-27T03:27:18.906Z,1761535638.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761515,-0.609026,-0.221769],[0.617397,0.785743,-0.037791],[0.197269,-0.108141,0.974367]] 2025-10-27T03:27:18.940Z,1761535638.940 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.691051 2025-10-27T03:27:18.990Z,1761535638.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504717 s, deltaX: 0.099999 m, approachRate: 0.198130 m/s, rangeRepo size: 4 2025-10-27T03:27:18.996Z,1761535638.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.340998 m, bearing: 124.950957 deg, lat: 36.779340 deg, lon: -121.859550 deg, deltaT: 7.555189 s, deltaX: 3.087196 m, approachRate: 0.408619 m/s, posRepo size: 4 2025-10-27T03:27:18.997Z,1761535638.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.34 m. 2025-10-27T03:27:19.004Z,1761535639.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.340998 m, nav range: 11.815064 m, bearing: 205.391584 deg, approach rate: 0.000000 m/s, LOS rate: 0.343931 deg/s, cmd heading: 51.497874 deg, new cmd heading: 52.020385 deg. 2025-10-27T03:27:19.005Z,1761535639.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907927 target range: 14.340998 and range: 14.40 m. 2025-10-27T03:27:19.015Z,1761535639.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 60.091053 m. 2025-10-27T03:27:19.193Z,1761535639.193 [DAT](INFO): DAT read: Rx Time:03:27:20.2710 2025-10-27T03:27:19.193Z,1761535639.193 [DAT](INFO): Rx dataTimestamp_ set to:1761535639.192853 2025-10-27T03:27:19.194Z,1761535639.194 [DAT](INFO): DAT read: Bearing 332.8, 22.5 (Local) 2025-10-27T03:27:19.195Z,1761535639.195 [DAT](INFO): Local bearing/azimuth received: Bearing 332.8, 22.5 (Local) 2025-10-27T03:27:19.197Z,1761535639.197 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.5 2025-10-27T03:27:19.202Z,1761535639.202 [DAT](INFO): DAT read: 03:27:20.2710 LVL= 20816, 22913, 32754, 32755, AGC= 62, IDX= 503,-0.29, 1.874, 2.227, 1.030, 2.440, PHS=-0.463,-0.167,-1.453, RAW= 17.3, 32.3, CAL= 15.6, 38.2, ROT= 134.4, -38.2 2025-10-27T03:27:19.203Z,1761535639.203 [DAT](INFO): got valid direction response: 03:27:20.2710 LVL= 20816, 22913, 32754, 32755, AGC= 62, IDX= 503,-0.29, 1.874, 2.227, 1.030, 2.440, PHS=-0.463,-0.167,-1.453, RAW= 17.3, 32.3, CAL= 15.6, 38.2, ROT= 134.4, -38.2 2025-10-27T03:27:19.203Z,1761535639.203 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T03:27:19.204Z,1761535639.204 [DAT](INFO): direction in FSK: [-0.549835,0.561473,0.618408] 2025-10-27T03:27:19.205Z,1761535639.205 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:19.208Z,1761535639.208 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.959377 2025-10-27T03:27:19.345Z,1761535639.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750303,-0.628580,-0.204776],[0.631544,0.773086,-0.059076],[0.195443,-0.085001,0.977024]] 2025-10-27T03:27:19.369Z,1761535639.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503646 s, deltaX: 0.500000 m, approachRate: 0.992761 m/s, rangeRepo size: 4 2025-10-27T03:27:19.371Z,1761535639.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.838949 m, bearing: 176.773582 deg, lat: 36.779340 deg, lon: -121.859526 deg, deltaT: 0.503646 s, deltaX: 0.497952 m, approachRate: 0.988693 m/s, posRepo size: 4 2025-10-27T03:27:19.372Z,1761535639.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.84 m. 2025-10-27T03:27:19.374Z,1761535639.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.838949 m, nav range: 11.289604 m, bearing: 195.612943 deg, approach rate: 0.000000 m/s, LOS rate: 0.343931 deg/s, cmd heading: 52.020384 deg, new cmd heading: 52.410883 deg. 2025-10-27T03:27:19.375Z,1761535639.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.914742 target range: 14.838949 and range: 14.90 m. 2025-10-27T03:27:19.445Z,1761535639.445 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.195690 2025-10-27T03:27:19.697Z,1761535639.697 [DAT](INFO): DAT read: Rx Time:03:27:20.7711 2025-10-27T03:27:19.698Z,1761535639.698 [DAT](INFO): Rx dataTimestamp_ set to:1761535639.697647 2025-10-27T03:27:19.700Z,1761535639.700 [DAT](INFO): DAT read: Bearing 340.9, 6.5 (Local) 2025-10-27T03:27:19.701Z,1761535639.701 [DAT](INFO): Local bearing/azimuth received: Bearing 340.9, 6.5 (Local) 2025-10-27T03:27:19.704Z,1761535639.704 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.5 2025-10-27T03:27:19.711Z,1761535639.711 [DAT](INFO): DAT read: 03:27:20.7711 LVL= 18992, 20401, 32530, 26867, AGC= 61, IDX= 504,-0.41, 0.848, 1.863, 0.335, 1.899, PHS=-0.948, 0.009,-1.607, RAW= 353.9, 32.6, CAL= 352.5, 37.8, ROT= 157.5, -37.8 2025-10-27T03:27:19.713Z,1761535639.713 [DAT](INFO): got valid direction response: 03:27:20.7711 LVL= 18992, 20401, 32530, 26867, AGC= 61, IDX= 504,-0.41, 0.848, 1.863, 0.335, 1.899, PHS=-0.948, 0.009,-1.607, RAW= 353.9, 32.6, CAL= 352.5, 37.8, ROT= 157.5, -37.8 2025-10-27T03:27:19.713Z,1761535639.713 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T03:27:19.715Z,1761535639.715 [DAT](INFO): direction in FSK: [-0.730008,0.302379,0.612907] 2025-10-27T03:27:19.715Z,1761535639.715 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:19.721Z,1761535639.721 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.472412 2025-10-27T03:27:19.747Z,1761535639.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737885,-0.647672,-0.189861],[0.646522,0.759038,-0.076625],[0.193739,-0.066209,0.978816]] 2025-10-27T03:27:19.813Z,1761535639.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504794 s, deltaX: 0.100000 m, approachRate: 0.198101 m/s, rangeRepo size: 4 2025-10-27T03:27:19.819Z,1761535639.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.938525 m, bearing: 198.785063 deg, lat: 36.779327 deg, lon: -121.859538 deg, deltaT: 0.504794 s, deltaX: 0.099576 m, approachRate: 0.197261 m/s, posRepo size: 4 2025-10-27T03:27:19.820Z,1761535639.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.94 m. 2025-10-27T03:27:19.822Z,1761535639.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.938525 m, nav range: 13.297371 m, bearing: 198.973601 deg, approach rate: 0.000000 m/s, LOS rate: 0.343931 deg/s, cmd heading: 52.410883 deg, new cmd heading: 52.868976 deg. 2025-10-27T03:27:19.827Z,1761535639.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.922738 target range: 14.938525 and range: 15.00 m. 2025-10-27T03:27:19.949Z,1761535639.949 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.699791 2025-10-27T03:27:20.200Z,1761535640.200 [DAT](INFO): DAT read: Rx Time:03:27:21.2714 2025-10-27T03:27:20.201Z,1761535640.201 [DAT](INFO): Rx dataTimestamp_ set to:1761535640.200628 2025-10-27T03:27:20.202Z,1761535640.202 [DAT](INFO): DAT read: Bearing 350.0, 20.5 (Local) 2025-10-27T03:27:20.203Z,1761535640.203 [DAT](INFO): Local bearing/azimuth received: Bearing 350.0, 20.5 (Local) 2025-10-27T03:27:20.205Z,1761535640.205 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.4 2025-10-27T03:27:20.209Z,1761535640.209 [DAT](INFO): DAT read: 03:27:21.2714 LVL= 18976, 21873, 24402, 22803, AGC= 61, IDX= 506, 0.33,-1.171,-0.233,-2.347,-0.428, PHS=-0.641, 0.240,-1.963, RAW= 6.6, 23.5, CAL= 6.0, 28.3, ROT= 144.0, -28.3 2025-10-27T03:27:20.210Z,1761535640.210 [DAT](INFO): got valid direction response: 03:27:21.2714 LVL= 18976, 21873, 24402, 22803, AGC= 61, IDX= 506, 0.33,-1.171,-0.233,-2.347,-0.428, PHS=-0.641, 0.240,-1.963, RAW= 6.6, 23.5, CAL= 6.0, 28.3, ROT= 144.0, -28.3 2025-10-27T03:27:20.211Z,1761535640.211 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T03:27:20.212Z,1761535640.212 [DAT](INFO): direction in FSK: [-0.712321,0.517532,0.474088] 2025-10-27T03:27:20.212Z,1761535640.212 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:20.217Z,1761535640.217 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.967766 2025-10-27T03:27:20.297Z,1761535640.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710406,-0.685941,-0.157508],[0.677684,0.727093,-0.109908],[0.189913,-0.028661,0.981382]] 2025-10-27T03:27:20.390Z,1761535640.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502981 s, deltaX: 0.500000 m, approachRate: 0.994073 m/s, rangeRepo size: 4 2025-10-27T03:27:20.423Z,1761535640.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.436477 m, bearing: 189.616604 deg, lat: 36.779326 deg, lon: -121.859514 deg, deltaT: 0.502981 s, deltaX: 0.497952 m, approachRate: 0.990001 m/s, posRepo size: 4 2025-10-27T03:27:20.424Z,1761535640.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.44 m. 2025-10-27T03:27:20.427Z,1761535640.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.436477 m, nav range: 13.207701 m, bearing: 190.678369 deg, approach rate: 0.000000 m/s, LOS rate: 0.343931 deg/s, cmd heading: 52.868977 deg, new cmd heading: 53.464830 deg. 2025-10-27T03:27:20.432Z,1761535640.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.933137 target range: 15.436477 and range: 15.50 m. 2025-10-27T03:27:20.452Z,1761535640.452 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.203022 2025-10-27T03:27:20.705Z,1761535640.705 [DAT](INFO): DAT read: Rx Time:03:27:21.7715 2025-10-27T03:27:20.706Z,1761535640.706 [DAT](INFO): Rx dataTimestamp_ set to:1761535640.705440 2025-10-27T03:27:20.708Z,1761535640.708 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.5 2025-10-27T03:27:20.709Z,1761535640.709 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-27T03:27:20.710Z,1761535640.710 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.461124 2025-10-27T03:27:20.821Z,1761535640.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:27:20.824Z,1761535640.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504812 s, deltaX: 0.100000 m, approachRate: 0.198094 m/s, rangeRepo size: 4 2025-10-27T03:27:20.825Z,1761535640.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.44 m. 2025-10-27T03:27:20.828Z,1761535640.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.436477 m, nav range: 13.455793 m, bearing: 191.414446 deg, approach rate: 0.571537 m/s, LOS rate: 1.664406 deg/s, cmd heading: 53.464829 deg, new cmd heading: 55.631252 deg. 2025-10-27T03:27:20.829Z,1761535640.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970949 target range: 15.436477 and range: 15.60 m. 2025-10-27T03:27:20.956Z,1761535640.956 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.707088 2025-10-27T03:27:21.202Z,1761535641.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681790,-0.719209,-0.133790],[0.707225,0.694772,-0.130858],[0.187067,-0.005402,0.982332]] 2025-10-27T03:27:21.209Z,1761535641.209 [DAT](INFO): DAT read: Rx Time:03:27:22.2717 2025-10-27T03:27:21.209Z,1761535641.209 [DAT](INFO): Rx dataTimestamp_ set to:1761535641.208801 2025-10-27T03:27:21.210Z,1761535641.210 [DAT](INFO): DAT read: Bearing 23.0, 43.9 (Local) 2025-10-27T03:27:21.211Z,1761535641.211 [DAT](INFO): Local bearing/azimuth received: Bearing 23.0, 43.9 (Local) 2025-10-27T03:27:21.213Z,1761535641.213 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.5 2025-10-27T03:27:21.218Z,1761535641.218 [DAT](INFO): DAT read: 03:27:22.2717 LVL= 16224, 16801, 27970, 22771, AGC= 63, IDX= 509, 0.11, 0.539, 0.845,-1.350, 0.146, PHS= 0.495, 0.745,-1.540, RAW= 24.3, 2.8, CAL= 24.5, 1.1, ROT= 125.5, -1.1 2025-10-27T03:27:21.219Z,1761535641.219 [DAT](INFO): got valid direction response: 03:27:22.2717 LVL= 16224, 16801, 27970, 22771, AGC= 63, IDX= 509, 0.11, 0.539, 0.845,-1.350, 0.146, PHS= 0.495, 0.745,-1.540, RAW= 24.3, 2.8, CAL= 24.5, 1.1, ROT= 125.5, -1.1 2025-10-27T03:27:21.219Z,1761535641.219 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T03:27:21.220Z,1761535641.220 [DAT](INFO): direction in FSK: [-0.580596,0.813965,0.019197] 2025-10-27T03:27:21.220Z,1761535641.220 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:21.228Z,1761535641.228 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.979092 2025-10-27T03:27:21.329Z,1761535641.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503361 s, deltaX: 0.299999 m, approachRate: 0.595992 m/s, rangeRepo size: 4 2025-10-27T03:27:21.336Z,1761535641.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.834921 m, bearing: 171.194742 deg, lat: 36.779319 deg, lon: -121.859483 deg, deltaT: 1.008173 s, deltaX: 0.398444 m, approachRate: 0.395214 m/s, posRepo size: 4 2025-10-27T03:27:21.336Z,1761535641.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.83 m. 2025-10-27T03:27:21.343Z,1761535641.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.834921 m, nav range: 14.140546 m, bearing: 180.722526 deg, approach rate: 0.000000 m/s, LOS rate: 1.664406 deg/s, cmd heading: 55.631252 deg, new cmd heading: 58.151232 deg. 2025-10-27T03:27:21.344Z,1761535641.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.014930 target range: 15.834921 and range: 15.90 m. 2025-10-27T03:27:21.460Z,1761535641.460 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.211277 2025-10-27T03:27:21.683Z,1761535641.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667912,-0.733344,-0.126884],[0.720657,0.679857,-0.135822],[0.185867,-0.000722,0.982575]] 2025-10-27T03:27:21.714Z,1761535641.714 [DAT](INFO): DAT read: Rx Time:03:27:22.7718 2025-10-27T03:27:21.714Z,1761535641.714 [DAT](INFO): Rx dataTimestamp_ set to:1761535641.713820 2025-10-27T03:27:21.717Z,1761535641.717 [DAT](INFO): DAT read: Bearing 22.9, 45.0 (Local) 2025-10-27T03:27:21.718Z,1761535641.718 [DAT](INFO): Local bearing/azimuth received: Bearing 22.9, 45.0 (Local) 2025-10-27T03:27:21.721Z,1761535641.721 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.5 2025-10-27T03:27:21.727Z,1761535641.727 [DAT](INFO): DAT read: 03:27:22.7718 LVL= 13872, 16353, 28418, 26563, AGC= 63, IDX= 510, 0.07,-0.358,-0.120,-2.132,-0.708, PHS= 0.451, 0.633,-1.469, RAW= 25.5, 3.9, CAL= 25.6, 2.5, ROT= 124.4, -2.5 2025-10-27T03:27:21.728Z,1761535641.728 [DAT](INFO): got valid direction response: 03:27:22.7718 LVL= 13872, 16353, 28418, 26563, AGC= 63, IDX= 510, 0.07,-0.358,-0.120,-2.132,-0.708, PHS= 0.451, 0.633,-1.469, RAW= 25.5, 3.9, CAL= 25.6, 2.5, ROT= 124.4, -2.5 2025-10-27T03:27:21.728Z,1761535641.728 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T03:27:21.729Z,1761535641.729 [DAT](INFO): direction in FSK: [-0.564429,0.824328,0.043619] 2025-10-27T03:27:21.730Z,1761535641.730 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:21.761Z,1761535641.761 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.512486 2025-10-27T03:27:21.764Z,1761535641.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.505019 s, deltaX: 0.200001 m, approachRate: 0.396026 m/s, rangeRepo size: 4 2025-10-27T03:27:21.766Z,1761535641.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.034111 m, bearing: 171.487103 deg, lat: 36.779312 deg, lon: -121.859483 deg, deltaT: 0.505019 s, deltaX: 0.199190 m, approachRate: 0.394421 m/s, posRepo size: 4 2025-10-27T03:27:21.766Z,1761535641.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.03 m. 2025-10-27T03:27:21.777Z,1761535641.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.034111 m, nav range: 15.059057 m, bearing: 181.522733 deg, approach rate: 0.000000 m/s, LOS rate: 1.664406 deg/s, cmd heading: 58.151233 deg, new cmd heading: 60.298286 deg. 2025-10-27T03:27:21.778Z,1761535641.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.052404 target range: 16.034111 and range: 16.10 m. 2025-10-27T03:27:21.969Z,1761535641.969 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.719070 2025-10-27T03:27:22.217Z,1761535642.217 [DAT](INFO): DAT read: Rx Time:03:27:23.2721 2025-10-27T03:27:22.217Z,1761535642.217 [DAT](INFO): Rx dataTimestamp_ set to:1761535642.216803 2025-10-27T03:27:22.218Z,1761535642.218 [DAT](INFO): DAT read: Bearing 12.4, 69.3 (Local) 2025-10-27T03:27:22.219Z,1761535642.219 [DAT](INFO): Local bearing/azimuth received: Bearing 12.4, 69.3 (Local) 2025-10-27T03:27:22.221Z,1761535642.221 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.8 2025-10-27T03:27:22.226Z,1761535642.226 [DAT](INFO): DAT read: 03:27:23.2721 LVL= 11648, 14545, 26754, 25459, AGC= 62, IDX= 513, 0.13,-1.599,-2.081,-2.908,-2.029, PHS= 0.531,-0.007,-0.923, RAW= 51.5, 6.3, CAL= 50.3, 5.7, ROT= 99.7, -5.7 2025-10-27T03:27:22.227Z,1761535642.227 [DAT](INFO): got valid direction response: 03:27:23.2721 LVL= 11648, 14545, 26754, 25459, AGC= 62, IDX= 513, 0.13,-1.599,-2.081,-2.908,-2.029, PHS= 0.531,-0.007,-0.923, RAW= 51.5, 6.3, CAL= 50.3, 5.7, ROT= 99.7, -5.7 2025-10-27T03:27:22.227Z,1761535642.227 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T03:27:22.228Z,1761535642.228 [DAT](INFO): direction in FSK: [-0.167656,0.980830,0.099320] 2025-10-27T03:27:22.228Z,1761535642.228 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:22.232Z,1761535642.232 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.983467 2025-10-27T03:27:22.312Z,1761535642.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641018,-0.758722,-0.115920],[0.746529,0.651415,-0.135474],[0.178299,0.000303,0.983976]] 2025-10-27T03:27:22.439Z,1761535642.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.502983 s, deltaX: 0.400000 m, approachRate: 0.795255 m/s, rangeRepo size: 4 2025-10-27T03:27:22.441Z,1761535642.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.432474 m, bearing: 149.902249 deg, lat: 36.779312 deg, lon: -121.859454 deg, deltaT: 0.502983 s, deltaX: 0.398363 m, approachRate: 0.792001 m/s, posRepo size: 4 2025-10-27T03:27:22.442Z,1761535642.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.43 m. 2025-10-27T03:27:22.449Z,1761535642.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.432474 m, nav range: 15.452933 m, bearing: 173.328535 deg, approach rate: 0.000000 m/s, LOS rate: 1.664406 deg/s, cmd heading: 60.298283 deg, new cmd heading: 63.646305 deg. 2025-10-27T03:27:22.449Z,1761535642.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110838 target range: 16.432474 and range: 16.50 m. 2025-10-27T03:27:22.468Z,1761535642.468 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.219051 2025-10-27T03:27:22.721Z,1761535642.721 [DAT](INFO): DAT read: Rx Time:03:27:23.7722 2025-10-27T03:27:22.722Z,1761535642.722 [DAT](INFO): Rx dataTimestamp_ set to:1761535642.721478 2025-10-27T03:27:22.724Z,1761535642.724 [DAT](INFO): DAT read: Bearing 13.9, 27.4 (Local) 2025-10-27T03:27:22.724Z,1761535642.724 [DAT](INFO): Local bearing/azimuth received: Bearing 13.9, 27.4 (Local) 2025-10-27T03:27:22.726Z,1761535642.726 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.5 2025-10-27T03:27:22.731Z,1761535642.731 [DAT](INFO): DAT read: 03:27:23.7722 LVL= 13920, 17697, 23970, 25187, AGC= 64, IDX= 498, 0.15,-0.393, 0.407,-1.488,-0.121, PHS=-0.171, 0.572,-1.412, RAW= 8.2, 11.6, CAL= 8.2, 13.5, ROT= 141.8, -13.5 2025-10-27T03:27:22.732Z,1761535642.732 [DAT](INFO): got valid direction response: 03:27:23.7722 LVL= 13920, 17697, 23970, 25187, AGC= 64, IDX= 498, 0.15,-0.393, 0.407,-1.488,-0.121, PHS=-0.171, 0.572,-1.412, RAW= 8.2, 11.6, CAL= 8.2, 13.5, ROT= 141.8, -13.5 2025-10-27T03:27:22.733Z,1761535642.733 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T03:27:22.734Z,1761535642.734 [DAT](INFO): direction in FSK: [-0.764144,0.601322,0.233445] 2025-10-27T03:27:22.734Z,1761535642.734 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:22.738Z,1761535642.738 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.489002 2025-10-27T03:27:22.908Z,1761535642.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627717,-0.770576,-0.110377],[0.759047,0.637348,-0.132802],[0.172683,-0.000420,0.984977]] 2025-10-27T03:27:22.975Z,1761535642.975 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.725697 2025-10-27T03:27:23.001Z,1761535643.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504675 s, deltaX: 0.200001 m, approachRate: 0.396296 m/s, rangeRepo size: 4 2025-10-27T03:27:23.007Z,1761535643.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.631643 m, bearing: 193.230383 deg, lat: 36.779308 deg, lon: -121.859454 deg, deltaT: 0.504675 s, deltaX: 0.199169 m, approachRate: 0.394648 m/s, posRepo size: 4 2025-10-27T03:27:23.008Z,1761535643.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.63 m. 2025-10-27T03:27:23.009Z,1761535643.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 16.70 m. Rolling out. 2025-10-27T03:27:23.009Z,1761535643.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T03:27:23.035Z,1761535643.035 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:27:23.224Z,1761535643.224 [DAT](INFO): DAT read: Rx Time:03:27:24.2725 2025-10-27T03:27:23.225Z,1761535643.225 [DAT](INFO): Rx dataTimestamp_ set to:1761535643.224662 2025-10-27T03:27:23.226Z,1761535643.226 [DAT](INFO): DAT read: Bearing 11.9, 22.7 (Local) 2025-10-27T03:27:23.227Z,1761535643.227 [DAT](INFO): Local bearing/azimuth received: Bearing 11.9, 22.7 (Local) 2025-10-27T03:27:23.229Z,1761535643.229 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.8 2025-10-27T03:27:23.234Z,1761535643.234 [DAT](INFO): DAT read: 03:27:24.2725 LVL= 13984, 15345, 25122, 28003, AGC= 62, IDX= 501, 0.18, 1.284, 2.242, 0.348, 1.726, PHS=-0.340, 0.561,-1.423, RAW= 3.0, 13.9, CAL= 3.3, 16.9, ROT= 146.7, -16.9 2025-10-27T03:27:23.241Z,1761535643.241 [DAT](INFO): got valid direction response: 03:27:24.2725 LVL= 13984, 15345, 25122, 28003, AGC= 62, IDX= 501, 0.18, 1.284, 2.242, 0.348, 1.726, PHS=-0.340, 0.561,-1.423, RAW= 3.0, 13.9, CAL= 3.3, 16.9, ROT= 146.7, -16.9 2025-10-27T03:27:23.241Z,1761535643.241 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T03:27:23.242Z,1761535643.242 [DAT](INFO): direction in FSK: [-0.799712,0.525313,0.290702] 2025-10-27T03:27:23.242Z,1761535643.242 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:23.246Z,1761535643.246 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.997185 2025-10-27T03:27:23.322Z,1761535643.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614629,-0.781887,-0.104324],[0.771094,0.623419,-0.129470],[0.166269,-0.000868,0.986080]] 2025-10-27T03:27:23.404Z,1761535643.404 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T03:27:23.405Z,1761535643.405 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T03:27:23.405Z,1761535643.405 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T03:27:23.406Z,1761535643.406 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 16.700001 m (mode 5.000000 count ). 2025-10-27T03:27:23.406Z,1761535643.406 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T03:27:23.406Z,1761535643.406 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T03:27:23.411Z,1761535643.411 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T03:27:23.411Z,1761535643.411 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T03:27:23.411Z,1761535643.411 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T03:27:23.413Z,1761535643.413 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 16.700001 m (mode 5.000000 count ). 2025-10-27T03:27:23.413Z,1761535643.413 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T03:27:23.413Z,1761535643.413 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T03:27:23.429Z,1761535643.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503184 s, deltaX: 0.400000 m, approachRate: 0.794937 m/s, rangeRepo size: 4 2025-10-27T03:27:23.431Z,1761535643.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.030006 m, bearing: 199.311603 deg, lat: 36.779308 deg, lon: -121.859454 deg, deltaT: 0.503184 s, deltaX: 0.398363 m, approachRate: 0.791685 m/s, posRepo size: 4 2025-10-27T03:27:23.436Z,1761535643.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.03 m. 2025-10-27T03:27:23.438Z,1761535643.438 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T03:27:23.438Z,1761535643.438 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T03:27:23.438Z,1761535643.438 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T03:27:23.438Z,1761535643.438 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T03:27:23.476Z,1761535643.476 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.227131 2025-10-27T03:27:23.703Z,1761535643.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600714,-0.793320,-0.098919],[0.783427,0.608799,-0.124922],[0.159325,-0.002453,0.987223]] 2025-10-27T03:27:23.729Z,1761535643.729 [DAT](INFO): DAT read: Rx Time:03:27:24.7726 2025-10-27T03:27:23.729Z,1761535643.729 [DAT](INFO): Rx dataTimestamp_ set to:1761535643.728735 2025-10-27T03:27:23.730Z,1761535643.730 [DAT](INFO): DAT read: Bearing 13.2, 18.6 (Local) 2025-10-27T03:27:23.731Z,1761535643.731 [DAT](INFO): Local bearing/azimuth received: Bearing 13.2, 18.6 (Local) 2025-10-27T03:27:23.733Z,1761535643.733 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.7 2025-10-27T03:27:23.737Z,1761535643.737 [DAT](INFO): DAT read: 03:27:24.7726 LVL= 17376, 26369, 30962, 32755, AGC= 59, IDX= 486, 0.25,-0.061, 1.132,-0.926, 0.521, PHS=-0.480, 0.656,-1.491, RAW= 358.1, 14.0, CAL= 358.5, 17.3, ROT= 151.5, -17.3 2025-10-27T03:27:23.738Z,1761535643.738 [DAT](INFO): got valid direction response: 03:27:24.7726 LVL= 17376, 26369, 30962, 32755, AGC= 59, IDX= 486, 0.25,-0.061, 1.132,-0.926, 0.521, PHS=-0.480, 0.656,-1.491, RAW= 358.1, 14.0, CAL= 358.5, 17.3, ROT= 151.5, -17.3 2025-10-27T03:27:23.739Z,1761535643.739 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T03:27:23.740Z,1761535643.740 [DAT](INFO): direction in FSK: [-0.839060,0.455572,0.297375] 2025-10-27T03:27:23.740Z,1761535643.740 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:23.744Z,1761535643.744 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.495029 2025-10-27T03:27:23.761Z,1761535643.761 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T03:27:23.761Z,1761535643.761 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T03:27:23.761Z,1761535643.761 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T03:27:23.761Z,1761535643.761 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T03:27:23.777Z,1761535643.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504073 s, deltaX: 0.199999 m, approachRate: 0.396766 m/s, rangeRepo size: 4 2025-10-27T03:27:23.778Z,1761535643.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.229265 m, bearing: 204.992409 deg, lat: 36.779311 deg, lon: -121.859513 deg, deltaT: 0.504073 s, deltaX: 0.199259 m, approachRate: 0.395298 m/s, posRepo size: 4 2025-10-27T03:27:23.795Z,1761535643.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.23 m. 2025-10-27T03:27:23.983Z,1761535643.983 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.733307 2025-10-27T03:27:24.145Z,1761535644.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586308,-0.804932,-0.091252],[0.795534,0.593367,-0.122646],[0.152868,-0.000686,0.988246]] 2025-10-27T03:27:24.190Z,1761535644.190 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T03:27:24.190Z,1761535644.190 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T03:27:24.191Z,1761535644.191 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T03:27:24.191Z,1761535644.191 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T03:27:24.193Z,1761535644.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.23 m. 2025-10-27T03:27:24.232Z,1761535644.232 [DAT](INFO): DAT read: Rx Time:03:27:25.2729 2025-10-27T03:27:24.233Z,1761535644.233 [DAT](INFO): Rx dataTimestamp_ set to:1761535644.232603 2025-10-27T03:27:24.234Z,1761535644.234 [DAT](INFO): DAT read: Bearing 11.3, 21.4 (Local) 2025-10-27T03:27:24.234Z,1761535644.234 [DAT](INFO): Local bearing/azimuth received: Bearing 11.3, 21.4 (Local) 2025-10-27T03:27:24.237Z,1761535644.237 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.7 2025-10-27T03:27:24.241Z,1761535644.241 [DAT](INFO): DAT read: 03:27:25.2729 LVL= 15696, 21745, 32082, 32755, AGC= 57, IDX= 505, 0.28, 0.959, 2.016, 0.051, 1.517, PHS=-0.456, 0.544,-1.510, RAW= 0.9, 15.8, CAL= 1.3, 19.9, ROT= 148.7, -19.9 2025-10-27T03:27:24.242Z,1761535644.242 [DAT](INFO): got valid direction response: 03:27:25.2729 LVL= 15696, 21745, 32082, 32755, AGC= 57, IDX= 505, 0.28, 0.959, 2.016, 0.051, 1.517, PHS=-0.456, 0.544,-1.510, RAW= 0.9, 15.8, CAL= 1.3, 19.9, ROT= 148.7, -19.9 2025-10-27T03:27:24.243Z,1761535644.243 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T03:27:24.244Z,1761535644.244 [DAT](INFO): direction in FSK: [-0.803437,0.488498,0.340380] 2025-10-27T03:27:24.244Z,1761535644.244 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:24.248Z,1761535644.248 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.998619 2025-10-27T03:27:24.484Z,1761535644.484 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.234997 2025-10-27T03:27:24.506Z,1761535644.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570230,-0.817891,-0.076762],[0.808326,0.575299,-0.125059],[0.146446,0.009264,0.989175]] 2025-10-27T03:27:24.521Z,1761535644.521 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T03:27:24.522Z,1761535644.522 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T03:27:24.522Z,1761535644.522 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T03:27:24.522Z,1761535644.522 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T03:27:24.522Z,1761535644.522 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T03:27:24.523Z,1761535644.523 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T03:27:24.523Z,1761535644.523 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T03:27:24.523Z,1761535644.523 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T03:27:24.530Z,1761535644.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503868 s, deltaX: 0.400002 m, approachRate: 0.793862 m/s, rangeRepo size: 4 2025-10-27T03:27:24.546Z,1761535644.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.627632 m, bearing: 204.938591 deg, lat: 36.779316 deg, lon: -121.859530 deg, deltaT: 0.503868 s, deltaX: 0.398367 m, approachRate: 0.790618 m/s, posRepo size: 4 2025-10-27T03:27:24.547Z,1761535644.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.63 m. 2025-10-27T03:27:24.737Z,1761535644.737 [DAT](INFO): DAT read: Rx Time:03:27:25.7730 2025-10-27T03:27:24.737Z,1761535644.737 [DAT](INFO): Rx dataTimestamp_ set to:1761535644.736937 2025-10-27T03:27:24.738Z,1761535644.738 [DAT](INFO): DAT read: Bearing 15.3, 20.0 (Local) 2025-10-27T03:27:24.739Z,1761535644.739 [DAT](INFO): Local bearing/azimuth received: Bearing 15.3, 20.0 (Local) 2025-10-27T03:27:24.741Z,1761535644.741 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.5 2025-10-27T03:27:24.746Z,1761535644.746 [DAT](INFO): DAT read: 03:27:25.7730 LVL= 17648, 22113, 30946, 30547, AGC= 57, IDX= 506, 0.34,-1.083, 0.088,-1.946,-0.498, PHS=-0.483, 0.631,-1.492, RAW= 358.4, 14.5, CAL= 358.9, 18.0, ROT= 151.1, -18.0 2025-10-27T03:27:24.747Z,1761535644.747 [DAT](INFO): got valid direction response: 03:27:25.7730 LVL= 17648, 22113, 30946, 30547, AGC= 57, IDX= 506, 0.34,-1.083, 0.088,-1.946,-0.498, PHS=-0.483, 0.631,-1.492, RAW= 358.4, 14.5, CAL= 358.9, 18.0, ROT= 151.1, -18.0 2025-10-27T03:27:24.748Z,1761535644.748 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T03:27:24.749Z,1761535644.749 [DAT](INFO): direction in FSK: [-0.832616,0.459629,0.309017] 2025-10-27T03:27:24.749Z,1761535644.749 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:24.758Z,1761535644.758 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.509026 2025-10-27T03:27:24.913Z,1761535644.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554702,-0.829646,-0.063187],[0.820365,0.558015,-0.124980],[0.138949,0.017490,0.990145]] 2025-10-27T03:27:24.991Z,1761535644.991 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.741524 2025-10-27T03:27:25.026Z,1761535645.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504334 s, deltaX: 0.199999 m, approachRate: 0.396560 m/s, rangeRepo size: 4 2025-10-27T03:27:25.032Z,1761535645.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.826975 m, bearing: 208.334440 deg, lat: 36.779316 deg, lon: -121.859542 deg, deltaT: 0.504334 s, deltaX: 0.199343 m, approachRate: 0.395259 m/s, posRepo size: 4 2025-10-27T03:27:25.033Z,1761535645.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.83 m. 2025-10-27T03:27:25.242Z,1761535645.242 [DAT](INFO): DAT read: Rx Time:03:27:26.2732 2025-10-27T03:27:25.242Z,1761535645.242 [DAT](INFO): Rx dataTimestamp_ set to:1761535645.241739 2025-10-27T03:27:25.244Z,1761535645.244 [DAT](INFO): DAT read: Bearing 14.2, 22.4 (Local) 2025-10-27T03:27:25.245Z,1761535645.245 [DAT](INFO): Local bearing/azimuth received: Bearing 14.2, 22.4 (Local) 2025-10-27T03:27:25.252Z,1761535645.252 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.6 2025-10-27T03:27:25.268Z,1761535645.268 [DAT](INFO): DAT read: 03:27:26.2732 LVL= 20512, 21713, 32754, 32755, AGC= 56, IDX= 508, 0.33,-1.725,-0.673,-2.601,-1.159, PHS=-0.465, 0.531,-1.486, RAW= 0.4, 16.0, CAL= 0.9, 20.2, ROT= 149.1, -20.2 2025-10-27T03:27:25.270Z,1761535645.270 [DAT](INFO): got valid direction response: 03:27:26.2732 LVL= 20512, 21713, 32754, 32755, AGC= 56, IDX= 508, 0.33,-1.725,-0.673,-2.601,-1.159, PHS=-0.465, 0.531,-1.486, RAW= 0.4, 16.0, CAL= 0.9, 20.2, ROT= 149.1, -20.2 2025-10-27T03:27:25.271Z,1761535645.271 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T03:27:25.280Z,1761535645.280 [DAT](INFO): direction in FSK: [-0.805288,0.481955,0.345298] 2025-10-27T03:27:25.281Z,1761535645.281 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:25.285Z,1761535645.285 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:27:25.285Z,1761535645.285 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:27:25.286Z,1761535645.286 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:27:25.449Z,1761535645.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539612,-0.840421,-0.050116],[0.831608,0.541347,-0.123981],[0.131327,0.025225,0.991018]] 2025-10-27T03:27:25.492Z,1761535645.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:27:25.506Z,1761535645.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504802 s, deltaX: 0.300001 m, approachRate: 0.594295 m/s, rangeRepo size: 4 2025-10-27T03:27:25.524Z,1761535645.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.125751 m, bearing: 207.789607 deg, lat: 36.779318 deg, lon: -121.859545 deg, deltaT: 0.504802 s, deltaX: 0.298777 m, approachRate: 0.591869 m/s, posRepo size: 4 2025-10-27T03:27:25.525Z,1761535645.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.13 m. 2025-10-27T03:27:25.749Z,1761535645.749 [DAT](INFO): DAT read: Rx Time:03:27:26.7733 2025-10-27T03:27:25.750Z,1761535645.750 [DAT](INFO): Rx dataTimestamp_ set to:1761535645.749601 2025-10-27T03:27:25.752Z,1761535645.752 [DAT](INFO): DAT read: Bearing 15.8, 21.1 (Local) 2025-10-27T03:27:25.752Z,1761535645.752 [DAT](INFO): Local bearing/azimuth received: Bearing 15.8, 21.1 (Local) 2025-10-27T03:27:25.754Z,1761535645.754 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.5 2025-10-27T03:27:25.762Z,1761535645.762 [DAT](INFO): DAT read: 03:27:26.7733 LVL= 17968, 24641, 32754, 32755, AGC= 54, IDX= 509, 0.30, 2.911,-2.258, 2.110,-2.759, PHS=-0.511, 0.546,-1.458, RAW= 358.2, 16.2, CAL= 358.7, 20.4, ROT= 151.3, -20.4 2025-10-27T03:27:25.764Z,1761535645.764 [DAT](INFO): got valid direction response: 03:27:26.7733 LVL= 17968, 24641, 32754, 32755, AGC= 54, IDX= 509, 0.30, 2.911,-2.258, 2.110,-2.759, PHS=-0.511, 0.546,-1.458, RAW= 358.2, 16.2, CAL= 358.7, 20.4, ROT= 151.3, -20.4 2025-10-27T03:27:25.764Z,1761535645.764 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:27:25.765Z,1761535645.765 [DAT](INFO): direction in FSK: [-0.822133,0.450105,0.348572] 2025-10-27T03:27:25.766Z,1761535645.766 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:25.770Z,1761535645.770 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:27:25.770Z,1761535645.770 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:27:25.842Z,1761535645.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525150,-0.850139,-0.038471],[0.841898,0.525594,-0.122303],[0.124194,0.031839,0.991747]] 2025-10-27T03:27:25.919Z,1761535645.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.507862 s, deltaX: 0.099998 m, approachRate: 0.196901 m/s, rangeRepo size: 4 2025-10-27T03:27:25.921Z,1761535645.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.225174 m, bearing: 211.041486 deg, lat: 36.779321 deg, lon: -121.859546 deg, deltaT: 0.507862 s, deltaX: 0.099422 m, approachRate: 0.195767 m/s, posRepo size: 4 2025-10-27T03:27:25.922Z,1761535645.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.23 m. 2025-10-27T03:27:26.002Z,1761535646.002 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:27:26.241Z,1761535646.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511484,-0.858708,-0.031680],[0.851169,0.511362,-0.118408],[0.117878,0.033598,0.992460]] 2025-10-27T03:27:26.252Z,1761535646.252 [DAT](INFO): DAT read: Rx Time:03:27:27.2736 2025-10-27T03:27:26.253Z,1761535646.253 [DAT](INFO): Rx dataTimestamp_ set to:1761535646.252617 2025-10-27T03:27:26.254Z,1761535646.254 [DAT](INFO): DAT read: Bearing 278.7, 35.1 (Local) 2025-10-27T03:27:26.254Z,1761535646.254 [DAT](INFO): Local bearing/azimuth received: Bearing 278.7, 35.1 (Local) 2025-10-27T03:27:26.257Z,1761535646.257 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 2025-10-27T03:27:26.261Z,1761535646.261 [DAT](INFO): DAT read: 03:27:27.2736 LVL= 18400, 27105, 32754, 32755, AGC= 55, IDX= 512, 0.23, 0.281,-0.751,-0.374, 0.536, PHS=-0.153,-1.242,-0.953, RAW= 104.8, 40.3, CAL= 102.6, 47.0, ROT= 47.4, -47.0 2025-10-27T03:27:26.262Z,1761535646.262 [DAT](INFO): got valid direction response: 03:27:27.2736 LVL= 18400, 27105, 32754, 32755, AGC= 55, IDX= 512, 0.23, 0.281,-0.751,-0.374, 0.536, PHS=-0.153,-1.242,-0.953, RAW= 104.8, 40.3, CAL= 102.6, 47.0, ROT= 47.4, -47.0 2025-10-27T03:27:26.263Z,1761535646.263 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:27:26.264Z,1761535646.264 [DAT](INFO): direction in FSK: [0.461628,0.502017,0.731354] 2025-10-27T03:27:26.264Z,1761535646.264 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:26.267Z,1761535646.267 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:27:26.268Z,1761535646.268 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:27:26.373Z,1761535646.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503016 s, deltaX: 0.500000 m, approachRate: 0.994004 m/s, rangeRepo size: 4 2025-10-27T03:27:26.379Z,1761535646.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.723129 m, bearing: 111.178055 deg, lat: 36.779321 deg, lon: -121.859545 deg, deltaT: 0.503016 s, deltaX: 0.497955 m, approachRate: 0.989939 m/s, posRepo size: 4 2025-10-27T03:27:26.380Z,1761535646.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T03:27:26.504Z,1761535646.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:27:26.722Z,1761535646.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488296,-0.872145,-0.030490],[0.866011,0.488580,-0.106364],[0.107661,0.025532,0.993860]] 2025-10-27T03:27:26.756Z,1761535646.756 [DAT](INFO): DAT read: Rx Time:03:27:27.7737 2025-10-27T03:27:26.757Z,1761535646.757 [DAT](INFO): Rx dataTimestamp_ set to:1761535646.756426 2025-10-27T03:27:26.758Z,1761535646.758 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.5 2025-10-27T03:27:26.759Z,1761535646.759 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T03:27:26.759Z,1761535646.759 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:27:26.760Z,1761535646.760 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:27:26.766Z,1761535646.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503809 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:26.766Z,1761535646.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T03:27:27.010Z,1761535647.010 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:27:27.147Z,1761535647.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478662,-0.877335,-0.034150],[0.871892,0.479553,-0.099159],[0.103373,0.017689,0.994485]] 2025-10-27T03:27:27.190Z,1761535647.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T03:27:27.260Z,1761535647.260 [DAT](INFO): DAT read: Rx Time:03:27:28.2740 2025-10-27T03:27:27.261Z,1761535647.261 [DAT](INFO): Rx dataTimestamp_ set to:1761535647.260671 2025-10-27T03:27:27.262Z,1761535647.262 [DAT](INFO): DAT read: Bearing 16.5, 19.2 (Local) 2025-10-27T03:27:27.263Z,1761535647.263 [DAT](INFO): Local bearing/azimuth received: Bearing 16.5, 19.2 (Local) 2025-10-27T03:27:27.265Z,1761535647.265 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.5 2025-10-27T03:27:27.269Z,1761535647.269 [DAT](INFO): DAT read: 03:27:28.2740 LVL= 16016, 23185, 27026, 27635, AGC= 58, IDX= 4,-0.07, 1.995, 3.125, 1.313, 2.697, PHS=-0.600, 0.473,-1.429, RAW= 355.8, 18.4, CAL= 356.0, 22.8, ROT= 154.0, -22.8 2025-10-27T03:27:27.270Z,1761535647.270 [DAT](INFO): got valid direction response: 03:27:28.2740 LVL= 16016, 23185, 27026, 27635, AGC= 58, IDX= 4,-0.07, 1.995, 3.125, 1.313, 2.697, PHS=-0.600, 0.473,-1.429, RAW= 355.8, 18.4, CAL= 356.0, 22.8, ROT= 154.0, -22.8 2025-10-27T03:27:27.271Z,1761535647.271 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:27:27.272Z,1761535647.272 [DAT](INFO): direction in FSK: [-0.828565,0.404118,0.387516] 2025-10-27T03:27:27.272Z,1761535647.272 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:27.276Z,1761535647.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:27:27.276Z,1761535647.276 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:27:27.512Z,1761535647.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:27:27.523Z,1761535647.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470590,-0.881451,-0.039868],[0.876727,0.472206,-0.091499],[0.099478,0.008106,0.995007]] 2025-10-27T03:27:27.568Z,1761535647.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504245 s, deltaX: 0.400002 m, approachRate: 0.793268 m/s, rangeRepo size: 4 2025-10-27T03:27:27.570Z,1761535647.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.121475 m, bearing: 216.863876 deg, lat: 36.779326 deg, lon: -121.859550 deg, deltaT: 1.008054 s, deltaX: 0.398346 m, approachRate: 0.395163 m/s, posRepo size: 4 2025-10-27T03:27:27.575Z,1761535647.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T03:27:27.764Z,1761535647.764 [DAT](INFO): DAT read: user:344> 2025-10-27T03:27:27.764Z,1761535647.764 [DAT](INFO): DAT read: 0 2025-10-27T03:27:27.765Z,1761535647.765 [DAT](INFO): unknown deviceResponse_: 0 2025-10-27T03:27:27.765Z,1761535647.765 [DAT](INFO): DAT read: Ok 2025-10-27T03:27:27.765Z,1761535647.765 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T03:27:27.766Z,1761535647.766 [DAT](INFO): DAT read: user:345> 2025-10-27T03:27:27.766Z,1761535647.766 [DAT](INFO): DAT read: Tx time:03:27:29.2128 2025-10-27T03:27:27.767Z,1761535647.767 [DAT](INFO): Ping request sent. 2025-10-27T03:27:27.768Z,1761535647.768 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:27:27.768Z,1761535647.768 [DAT](INFO): publishing transmit ping time 2025-10-27T03:27:27.768Z,1761535647.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001651 2025-10-27T03:27:27.929Z,1761535647.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464172,-0.884525,-0.046480],[0.880529,0.466489,-0.084000],[0.095982,-0.001936,0.995381]] 2025-10-27T03:27:27.964Z,1761535647.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T03:27:28.019Z,1761535648.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251357 2025-10-27T03:27:28.268Z,1761535648.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501153 2025-10-27T03:27:28.331Z,1761535648.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459075,-0.886898,-0.051594],[0.883550,0.461858,-0.077625],[0.092675,-0.009950,0.995647]] 2025-10-27T03:27:28.370Z,1761535648.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T03:27:28.520Z,1761535648.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753141 2025-10-27T03:27:28.767Z,1761535648.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T03:27:28.772Z,1761535648.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005548 2025-10-27T03:27:29.027Z,1761535649.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259582 2025-10-27T03:27:29.148Z,1761535649.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453227,-0.889182,-0.062781],[0.887252,0.456783,-0.064286],[0.085839,-0.026567,0.995955]] 2025-10-27T03:27:29.194Z,1761535649.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T03:27:29.277Z,1761535649.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509995 2025-10-27T03:27:29.528Z,1761535649.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761162 2025-10-27T03:27:29.546Z,1761535649.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452283,-0.888930,-0.072416],[0.888048,0.456368,-0.055663],[0.082528,-0.039134,0.995820]] 2025-10-27T03:27:29.565Z,1761535649.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T03:27:29.780Z,1761535649.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013263 2025-10-27T03:27:29.954Z,1761535649.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451645,-0.888505,-0.081093],[0.888646,0.456087,-0.047879],[0.079526,-0.050439,0.995556]] 2025-10-27T03:27:29.990Z,1761535649.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T03:27:30.035Z,1761535650.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267447 2025-10-27T03:27:30.285Z,1761535650.285 [DAT](INFO): DAT read: Rx Time:03:27:31.3686 2025-10-27T03:27:30.285Z,1761535650.285 [DAT](INFO): Rx dataTimestamp_ set to:1761535650.284954 2025-10-27T03:27:30.287Z,1761535650.287 [DAT](INFO): DAT read: Bearing 17.2, 25.7 (Local) 2025-10-27T03:27:30.287Z,1761535650.287 [DAT](INFO): Local bearing/azimuth received: Bearing 17.2, 25.7 (Local) 2025-10-27T03:27:30.294Z,1761535650.294 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.5 2025-10-27T03:27:30.299Z,1761535650.299 [DAT](INFO): DAT read: 03:27:31.3686 LVL= 19360, 18769, 32754, 32755, AGC= 64, IDX= 157,-0.32, 1.864, 2.783, 0.967, 2.367, PHS=-0.401, 0.461,-1.444, RAW= 3.2, 16.5, CAL= 3.4, 20.6, ROT= 146.6, -20.6 2025-10-27T03:27:30.300Z,1761535650.300 [DAT](INFO): got valid direction response: 03:27:31.3686 LVL= 19360, 18769, 32754, 32755, AGC= 64, IDX= 157,-0.32, 1.864, 2.783, 0.967, 2.367, PHS=-0.401, 0.461,-1.444, RAW= 3.2, 16.5, CAL= 3.4, 20.6, ROT= 146.6, -20.6 2025-10-27T03:27:30.300Z,1761535650.300 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:27:30.301Z,1761535650.301 [DAT](INFO): direction in FSK: [-0.781467,0.515283,0.351842] 2025-10-27T03:27:30.301Z,1761535650.301 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:30.305Z,1761535650.305 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.538343 2025-10-27T03:27:30.386Z,1761535650.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451499,-0.887864,-0.088576],[0.888973,0.456137,-0.040831],[0.076655,-0.060307,0.995232]] 2025-10-27T03:27:30.511Z,1761535650.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 3.024283 s, deltaX: 0.799999 m, approachRate: 0.264525 m/s, rangeRepo size: 4 2025-10-27T03:27:30.513Z,1761535650.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.918285 m, bearing: 209.393282 deg, lat: 36.779326 deg, lon: -121.859545 deg, deltaT: 3.024283 s, deltaX: 0.796810 m, approachRate: 0.263471 m/s, posRepo size: 4 2025-10-27T03:27:30.514Z,1761535650.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m. 2025-10-27T03:27:30.536Z,1761535650.536 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769307 2025-10-27T03:27:30.789Z,1761535650.789 [DAT](INFO): DAT read: Rx Time:03:27:31.8686 2025-10-27T03:27:30.789Z,1761535650.789 [DAT](INFO): Rx dataTimestamp_ set to:1761535650.788807 2025-10-27T03:27:30.790Z,1761535650.790 [DAT](INFO): DAT read: Bearing 17.7, 28.0 (Local) 2025-10-27T03:27:30.791Z,1761535650.791 [DAT](INFO): Local bearing/azimuth received: Bearing 17.7, 28.0 (Local) 2025-10-27T03:27:30.793Z,1761535650.793 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.4 2025-10-27T03:27:30.797Z,1761535650.797 [DAT](INFO): DAT read: 03:27:31.8686 LVL= 24096, 20497, 32754, 32755, AGC= 60, IDX= 509, 0.23, 2.991,-2.423, 2.008,-2.854, PHS=-0.336, 0.476,-1.465, RAW= 5.4, 15.5, CAL= 5.5, 19.3, ROT= 144.5, -19.3 2025-10-27T03:27:30.799Z,1761535650.799 [DAT](INFO): got valid direction response: 03:27:31.8686 LVL= 24096, 20497, 32754, 32755, AGC= 60, IDX= 509, 0.23, 2.991,-2.423, 2.008,-2.854, PHS=-0.336, 0.476,-1.465, RAW= 5.4, 15.5, CAL= 5.5, 19.3, ROT= 144.5, -19.3 2025-10-27T03:27:30.799Z,1761535650.799 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T03:27:30.800Z,1761535650.800 [DAT](INFO): direction in FSK: [-0.768363,0.548068,0.330514] 2025-10-27T03:27:30.800Z,1761535650.800 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:30.804Z,1761535650.804 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037571 2025-10-27T03:27:30.905Z,1761535650.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451689,-0.887413,-0.092066],[0.889119,0.456272,-0.035807],[0.073783,-0.065684,0.995109]] 2025-10-27T03:27:30.956Z,1761535650.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503853 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:30.958Z,1761535650.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.918316 m, bearing: 207.251023 deg, lat: 36.779326 deg, lon: -121.859529 deg, deltaT: 0.503853 s, deltaX: 0.000031 m, approachRate: 0.000061 m/s, posRepo size: 4 2025-10-27T03:27:30.958Z,1761535650.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m. 2025-10-27T03:27:31.044Z,1761535651.044 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.276974 2025-10-27T03:27:31.293Z,1761535651.293 [DAT](INFO): DAT read: Rx Time:03:27:32.3689 2025-10-27T03:27:31.293Z,1761535651.293 [DAT](INFO): Rx dataTimestamp_ set to:1761535651.292821 2025-10-27T03:27:31.294Z,1761535651.294 [DAT](INFO): DAT read: Bearing 11.7, 24.7 (Local) 2025-10-27T03:27:31.295Z,1761535651.295 [DAT](INFO): Local bearing/azimuth received: Bearing 11.7, 24.7 (Local) 2025-10-27T03:27:31.297Z,1761535651.297 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.4 2025-10-27T03:27:31.302Z,1761535651.302 [DAT](INFO): DAT read: 03:27:32.3689 LVL= 24816, 20353, 32754, 32755, AGC= 61, IDX= 512,-0.02,-0.374, 0.555,-1.343, 0.262, PHS=-0.535, 0.338,-1.649, RAW= 4.0, 20.7, CAL= 3.8, 25.2, ROT= 146.2, -25.2 2025-10-27T03:27:31.303Z,1761535651.303 [DAT](INFO): got valid direction response: 03:27:32.3689 LVL= 24816, 20353, 32754, 32755, AGC= 61, IDX= 512,-0.02,-0.374, 0.555,-1.343, 0.262, PHS=-0.535, 0.338,-1.649, RAW= 4.0, 20.7, CAL= 3.8, 25.2, ROT= 146.2, -25.2 2025-10-27T03:27:31.304Z,1761535651.304 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T03:27:31.305Z,1761535651.305 [DAT](INFO): direction in FSK: [-0.751897,0.503351,0.425779] 2025-10-27T03:27:31.305Z,1761535651.305 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:31.317Z,1761535651.317 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.550294 2025-10-27T03:27:31.326Z,1761535651.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451893,-0.887135,-0.093718],[0.889224,0.456346,-0.032080],[0.071227,-0.068839,0.995082]] 2025-10-27T03:27:31.454Z,1761535651.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504014 s, deltaX: 0.400000 m, approachRate: 0.793628 m/s, rangeRepo size: 4 2025-10-27T03:27:31.460Z,1761535651.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.316681 m, bearing: 208.711665 deg, lat: 36.779325 deg, lon: -121.859522 deg, deltaT: 0.504014 s, deltaX: 0.398365 m, approachRate: 0.790385 m/s, posRepo size: 4 2025-10-27T03:27:31.460Z,1761535651.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.32 m. 2025-10-27T03:27:31.544Z,1761535651.544 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777281 2025-10-27T03:27:31.796Z,1761535651.796 [DAT](INFO): DAT read: Rx Time:03:27:32.8690 2025-10-27T03:27:31.796Z,1761535651.796 [DAT](INFO): Rx dataTimestamp_ set to:1761535651.796118 2025-10-27T03:27:31.798Z,1761535651.798 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.4 2025-10-27T03:27:31.798Z,1761535651.798 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-27T03:27:31.799Z,1761535651.799 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.032460 2025-10-27T03:27:31.857Z,1761535651.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452364,-0.886812,-0.094504],[0.889179,0.456647,-0.028867],[0.068754,-0.070973,0.995106]] 2025-10-27T03:27:31.906Z,1761535651.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503297 s, deltaX: 0.200001 m, approachRate: 0.397381 m/s, rangeRepo size: 4 2025-10-27T03:27:31.906Z,1761535651.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.32 m. 2025-10-27T03:27:32.051Z,1761535652.051 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283501 2025-10-27T03:27:32.301Z,1761535652.301 [DAT](INFO): DAT read: Rx Time:03:27:33.3691 2025-10-27T03:27:32.301Z,1761535652.301 [DAT](INFO): Rx dataTimestamp_ set to:1761535652.300804 2025-10-27T03:27:32.302Z,1761535652.302 [DAT](INFO): DAT read: Bearing 18.6, 29.5 (Local) 2025-10-27T03:27:32.303Z,1761535652.303 [DAT](INFO): Local bearing/azimuth received: Bearing 18.6, 29.5 (Local) 2025-10-27T03:27:32.305Z,1761535652.305 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.4 2025-10-27T03:27:32.310Z,1761535652.310 [DAT](INFO): DAT read: 03:27:33.3691 LVL= 19520, 18481, 30370, 26419, AGC= 66, IDX= 2, 0.22,-2.888,-2.029, 2.344,-2.491, PHS=-0.295, 0.507,-1.492, RAW= 6.5, 14.6, CAL= 6.6, 17.8, ROT= 143.4, -17.8 2025-10-27T03:27:32.311Z,1761535652.311 [DAT](INFO): got valid direction response: 03:27:33.3691 LVL= 19520, 18481, 30370, 26419, AGC= 66, IDX= 2, 0.22,-2.888,-2.029, 2.344,-2.491, PHS=-0.295, 0.507,-1.492, RAW= 6.5, 14.6, CAL= 6.6, 17.8, ROT= 143.4, -17.8 2025-10-27T03:27:32.311Z,1761535652.311 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T03:27:32.312Z,1761535652.312 [DAT](INFO): direction in FSK: [-0.764386,0.567683,0.305695] 2025-10-27T03:27:32.312Z,1761535652.312 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:32.320Z,1761535652.320 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.553293 2025-10-27T03:27:32.321Z,1761535652.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453417,-0.886435,-0.092981],[0.888996,0.457272,-0.024259],[0.064022,-0.071660,0.995372]] 2025-10-27T03:27:32.435Z,1761535652.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504686 s, deltaX: 0.100000 m, approachRate: 0.198144 m/s, rangeRepo size: 4 2025-10-27T03:27:32.437Z,1761535652.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.615410 m, bearing: 205.948754 deg, lat: 36.779323 deg, lon: -121.859522 deg, deltaT: 1.007983 s, deltaX: 0.298729 m, approachRate: 0.296363 m/s, posRepo size: 4 2025-10-27T03:27:32.438Z,1761535652.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.62 m. 2025-10-27T03:27:32.455Z,1761535652.455 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:27:32.552Z,1761535652.552 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785293 2025-10-27T03:27:32.805Z,1761535652.805 [DAT](INFO): DAT read: Rx Time:03:27:33.8692 2025-10-27T03:27:32.805Z,1761535652.805 [DAT](INFO): Rx dataTimestamp_ set to:1761535652.804838 2025-10-27T03:27:32.806Z,1761535652.806 [DAT](INFO): DAT read: Bearing 17.4, 28.2 (Local) 2025-10-27T03:27:32.807Z,1761535652.807 [DAT](INFO): Local bearing/azimuth received: Bearing 17.4, 28.2 (Local) 2025-10-27T03:27:32.809Z,1761535652.809 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.4 2025-10-27T03:27:32.814Z,1761535652.814 [DAT](INFO): DAT read: 03:27:33.8692 LVL= 25712, 22977, 32754, 32755, AGC= 62, IDX= 499,-0.06, 1.106, 1.997, 0.102, 1.553, PHS=-0.345, 0.489,-1.495, RAW= 5.3, 15.5, CAL= 5.4, 19.2, ROT= 144.6, -19.2 2025-10-27T03:27:32.815Z,1761535652.815 [DAT](INFO): got valid direction response: 03:27:33.8692 LVL= 25712, 22977, 32754, 32755, AGC= 62, IDX= 499,-0.06, 1.106, 1.997, 0.102, 1.553, PHS=-0.345, 0.489,-1.495, RAW= 5.3, 15.5, CAL= 5.4, 19.2, ROT= 144.6, -19.2 2025-10-27T03:27:32.815Z,1761535652.815 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T03:27:32.816Z,1761535652.816 [DAT](INFO): direction in FSK: [-0.769788,0.547059,0.328867] 2025-10-27T03:27:32.816Z,1761535652.816 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:32.825Z,1761535652.825 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.058015 2025-10-27T03:27:32.839Z,1761535652.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453680,-0.886621,-0.089876],[0.889032,0.457259,-0.023140],[0.061613,-0.069404,0.995684]] 2025-10-27T03:27:32.926Z,1761535652.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504034 s, deltaX: 0.199999 m, approachRate: 0.396796 m/s, rangeRepo size: 4 2025-10-27T03:27:32.932Z,1761535652.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.814623 m, bearing: 207.088686 deg, lat: 36.779320 deg, lon: -121.859520 deg, deltaT: 0.504034 s, deltaX: 0.199213 m, approachRate: 0.395237 m/s, posRepo size: 4 2025-10-27T03:27:32.933Z,1761535652.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m. 2025-10-27T03:27:33.056Z,1761535653.056 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289215 2025-10-27T03:27:33.290Z,1761535653.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453582,-0.887084,-0.085703],[0.889248,0.456869,-0.022567],[0.059174,-0.065975,0.996065]] 2025-10-27T03:27:33.309Z,1761535653.309 [DAT](INFO): DAT read: Rx Time:03:27:34.3695 2025-10-27T03:27:33.309Z,1761535653.309 [DAT](INFO): Rx dataTimestamp_ set to:1761535653.308760 2025-10-27T03:27:33.310Z,1761535653.310 [DAT](INFO): DAT read: Bearing 17.6, 28.1 (Local) 2025-10-27T03:27:33.311Z,1761535653.311 [DAT](INFO): Local bearing/azimuth received: Bearing 17.6, 28.1 (Local) 2025-10-27T03:27:33.313Z,1761535653.313 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.4 2025-10-27T03:27:33.317Z,1761535653.317 [DAT](INFO): DAT read: 03:27:34.3695 LVL= 24928, 22113, 32754, 32755, AGC= 62, IDX= 502,-0.42, 1.862, 2.769, 0.867, 2.319, PHS=-0.355, 0.495,-1.496, RAW= 4.8, 15.5, CAL= 5.0, 19.3, ROT= 145.0, -19.3 2025-10-27T03:27:33.319Z,1761535653.319 [DAT](INFO): got valid direction response: 03:27:34.3695 LVL= 24928, 22113, 32754, 32755, AGC= 62, IDX= 502,-0.42, 1.862, 2.769, 0.867, 2.319, PHS=-0.355, 0.495,-1.496, RAW= 4.8, 15.5, CAL= 5.0, 19.3, ROT= 145.0, -19.3 2025-10-27T03:27:33.339Z,1761535653.339 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T03:27:33.340Z,1761535653.340 [DAT](INFO): direction in FSK: [-0.773116,0.541342,0.330514] 2025-10-27T03:27:33.340Z,1761535653.340 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:33.348Z,1761535653.348 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.581533 2025-10-27T03:27:33.405Z,1761535653.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503922 s, deltaX: 0.400000 m, approachRate: 0.793773 m/s, rangeRepo size: 4 2025-10-27T03:27:33.411Z,1761535653.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.212988 m, bearing: 207.518365 deg, lat: 36.779317 deg, lon: -121.859515 deg, deltaT: 0.503922 s, deltaX: 0.398365 m, approachRate: 0.790529 m/s, posRepo size: 4 2025-10-27T03:27:33.412Z,1761535653.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.21 m. 2025-10-27T03:27:33.460Z,1761535653.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:27:33.560Z,1761535653.560 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793357 2025-10-27T03:27:33.749Z,1761535653.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453474,-0.887612,-0.080663],[0.889469,0.456450,-0.022304],[0.056616,-0.061633,0.996492]] 2025-10-27T03:27:33.767Z,1761535653.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.21 m. 2025-10-27T03:27:33.812Z,1761535653.812 [DAT](INFO): DAT read: Rx Time:03:27:34.8695 2025-10-27T03:27:33.813Z,1761535653.813 [DAT](INFO): Rx dataTimestamp_ set to:1761535653.812585 2025-10-27T03:27:33.814Z,1761535653.814 [DAT](INFO): DAT read: Bearing 19.5, 27.7 (Local) 2025-10-27T03:27:33.814Z,1761535653.814 [DAT](INFO): Local bearing/azimuth received: Bearing 19.5, 27.7 (Local) 2025-10-27T03:27:33.817Z,1761535653.817 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.4 2025-10-27T03:27:33.821Z,1761535653.821 [DAT](INFO): DAT read: 03:27:34.8695 LVL= 26656, 22049, 32754, 32755, AGC= 61, IDX= 502, 0.15, 2.176, 3.127, 1.212, 2.631, PHS=-0.353, 0.540,-1.463, RAW= 3.6, 14.5, CAL= 3.8, 17.9, ROT= 146.2, -17.9 2025-10-27T03:27:33.822Z,1761535653.822 [DAT](INFO): got valid direction response: 03:27:34.8695 LVL= 26656, 22049, 32754, 32755, AGC= 61, IDX= 502, 0.15, 2.176, 3.127, 1.212, 2.631, PHS=-0.353, 0.540,-1.463, RAW= 3.6, 14.5, CAL= 3.8, 17.9, ROT= 146.2, -17.9 2025-10-27T03:27:33.823Z,1761535653.823 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T03:27:33.824Z,1761535653.824 [DAT](INFO): direction in FSK: [-0.790760,0.529368,0.307357] 2025-10-27T03:27:33.824Z,1761535653.824 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:33.828Z,1761535653.828 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.060858 2025-10-27T03:27:34.066Z,1761535654.066 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299354 2025-10-27T03:27:34.146Z,1761535654.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453629,-0.887828,-0.077341],[0.889567,0.456330,-0.020800],[0.053760,-0.059364,0.996788]] 2025-10-27T03:27:34.266Z,1761535654.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:34.269Z,1761535654.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.213032 m, bearing: 208.779941 deg, lat: 36.779317 deg, lon: -121.859515 deg, deltaT: 0.503825 s, deltaX: 0.000044 m, approachRate: 0.000087 m/s, posRepo size: 4 2025-10-27T03:27:34.269Z,1761535654.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.21 m. 2025-10-27T03:27:34.321Z,1761535654.321 [DAT](INFO): DAT read: Rx Time:03:27:35.3698 2025-10-27T03:27:34.321Z,1761535654.321 [DAT](INFO): Rx dataTimestamp_ set to:1761535654.320889 2025-10-27T03:27:34.322Z,1761535654.322 [DAT](INFO): DAT read: Bearing 19.0, 26.6 (Local) 2025-10-27T03:27:34.323Z,1761535654.323 [DAT](INFO): Local bearing/azimuth received: Bearing 19.0, 26.6 (Local) 2025-10-27T03:27:34.325Z,1761535654.325 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.4 2025-10-27T03:27:34.333Z,1761535654.333 [DAT](INFO): DAT read: 03:27:35.3698 LVL= 25008, 19441, 32754, 32755, AGC= 61, IDX= 505,-0.12, 1.194, 2.180, 0.272, 1.688, PHS=-0.392, 0.538,-1.460, RAW= 2.3, 15.0, CAL= 2.6, 18.7, ROT= 147.4, -18.7 2025-10-27T03:27:34.335Z,1761535654.335 [DAT](INFO): got valid direction response: 03:27:35.3698 LVL= 25008, 19441, 32754, 32755, AGC= 61, IDX= 505,-0.12, 1.194, 2.180, 0.272, 1.688, PHS=-0.392, 0.538,-1.460, RAW= 2.3, 15.0, CAL= 2.6, 18.7, ROT= 147.4, -18.7 2025-10-27T03:27:34.336Z,1761535654.336 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T03:27:34.337Z,1761535654.337 [DAT](INFO): direction in FSK: [-0.797979,0.510329,0.320613] 2025-10-27T03:27:34.337Z,1761535654.337 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:34.349Z,1761535654.349 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.582075 2025-10-27T03:27:34.572Z,1761535654.572 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.805103 2025-10-27T03:27:34.759Z,1761535654.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.508304 s, deltaX: 0.500000 m, approachRate: 0.983663 m/s, rangeRepo size: 4 2025-10-27T03:27:34.761Z,1761535654.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.711020 m, bearing: 209.935944 deg, lat: 36.779317 deg, lon: -121.859515 deg, deltaT: 0.508304 s, deltaX: 0.497988 m, approachRate: 0.979705 m/s, posRepo size: 4 2025-10-27T03:27:34.762Z,1761535654.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m. 2025-10-27T03:27:34.824Z,1761535654.824 [DAT](INFO): DAT read: Rx Time:03:27:35.8698 2025-10-27T03:27:34.825Z,1761535654.825 [DAT](INFO): Rx dataTimestamp_ set to:1761535654.824676 2025-10-27T03:27:34.826Z,1761535654.826 [DAT](INFO): DAT read: Bearing 20.0, 25.8 (Local) 2025-10-27T03:27:34.826Z,1761535654.826 [DAT](INFO): Local bearing/azimuth received: Bearing 20.0, 25.8 (Local) 2025-10-27T03:27:34.828Z,1761535654.828 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip ti CAL= 1.3, 18.0, ROT= 148.7, -18.0 2025-10-27T03:27:34.829Z,1761535654.829 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-27T03:27:34.829Z,1761535654.829 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.062694 2025-10-27T03:27:35.079Z,1761535655.079 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.311833 2025-10-27T03:27:35.277Z,1761535655.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503787 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:35.278Z,1761535655.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m. 2025-10-27T03:27:35.329Z,1761535655.329 [DAT](INFO): DAT read: Rx Time:03:27:36.3701 2025-10-27T03:27:35.329Z,1761535655.329 [DAT](INFO): Rx dataTimestamp_ set to:1761535655.328832 2025-10-27T03:27:35.330Z,1761535655.330 [DAT](INFO): DAT read: Bearing 20.4, 24.4 (Local) 2025-10-27T03:27:35.331Z,1761535655.331 [DAT](INFO): Local bearing/azimuth received: Bearing 20.4, 24.4 (Local) 2025-10-27T03:27:35.333Z,1761535655.333 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.4 2025-10-27T03:27:35.338Z,1761535655.338 [DAT](INFO): DAT read: 03:27:36.3701 LVL= 21392, 19393, 32354, 32755, AGC= 60, IDX= 508, 0.06, 2.592,-2.614, 1.772, 3.133, PHS=-0.439, 0.582,-1.404, RAW= 359.1, 14.5, CAL= 359.6, 18.0, ROT= 150.4, -18.0 2025-10-27T03:27:35.339Z,1761535655.339 [DAT](INFO): got valid direction response: 03:27:36.3701 LVL= 21392, 19393, 32354, 32755, AGC= 60, IDX= 508, 0.06, 2.592,-2.614, 1.772, 3.133, PHS=-0.439, 0.582,-1.404, RAW= 359.1, 14.5, CAL= 359.6, 18.0, ROT= 150.4, -18.0 2025-10-27T03:27:35.339Z,1761535655.339 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T03:27:35.340Z,1761535655.340 [DAT](INFO): direction in FSK: [-0.826939,0.469767,0.309017] 2025-10-27T03:27:35.340Z,1761535655.340 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:35.344Z,1761535655.344 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.577425 2025-10-27T03:27:35.580Z,1761535655.580 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813127 2025-10-27T03:27:35.665Z,1761535655.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454579,-0.887753,-0.072472],[0.889765,0.456333,-0.008863],[0.040939,-0.060454,0.997331]] 2025-10-27T03:27:35.729Z,1761535655.729 [CTD_Seabird](ERROR): Failed to parse device response: 61.66,11 61.69,11.3383,3.79741,2990.36 2025-10-27T03:27:35.751Z,1761535655.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504156 s, deltaX: 0.400002 m, approachRate: 0.793408 m/s, rangeRepo size: 4 2025-10-27T03:27:35.753Z,1761535655.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.109388 m, bearing: 212.735323 deg, lat: 36.779319 deg, lon: -121.859516 deg, deltaT: 1.007943 s, deltaX: 0.398369 m, approachRate: 0.395230 m/s, posRepo size: 4 2025-10-27T03:27:35.754Z,1761535655.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.11 m. 2025-10-27T03:27:35.833Z,1761535655.833 [DAT](INFO): DAT read: Rx Time:03:27:36.8702 2025-10-27T03:27:35.833Z,1761535655.833 [DAT](INFO): Rx dataTimestamp_ set to:1761535655.832916 2025-10-27T03:27:35.834Z,1761535655.834 [DAT](INFO): DAT read: Bearing 21.1, 23.7 (Local) 2025-10-27T03:27:35.835Z,1761535655.835 [DAT](INFO): Local bearing/azimuth received: Bearing 21.1, 23.7 (Local) 2025-10-27T03:27:35.837Z,1761535655.837 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.4 2025-10-27T03:27:35.842Z,1761535655.842 [DAT](INFO): DAT read: 03:27:36.8702 LVL= 20592, 19377, 32658, 31475, AGC= 60, IDX= 509,-0.28,-0.721, 0.387,-1.506,-0.171, PHS=-0.448, 0.603,-1.379, RAW= 358.0, 14.1, CAL= 358.5, 17.5, ROT= 151.5, -17.5 2025-10-27T03:27:35.843Z,1761535655.843 [DAT](INFO): got valid direction response: 03:27:36.8702 LVL= 20592, 19377, 32658, 31475, AGC= 60, IDX= 509,-0.28,-0.721, 0.387,-1.506,-0.171, PHS=-0.448, 0.603,-1.379, RAW= 358.0, 14.1, CAL= 358.5, 17.5, ROT= 151.5, -17.5 2025-10-27T03:27:35.843Z,1761535655.843 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T03:27:35.844Z,1761535655.844 [DAT](INFO): direction in FSK: [-0.838143,0.455074,0.300706] 2025-10-27T03:27:35.845Z,1761535655.845 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:35.849Z,1761535655.849 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081776 2025-10-27T03:27:36.084Z,1761535656.084 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317194 2025-10-27T03:27:36.183Z,1761535656.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454851,-0.887710,-0.071280],[0.889784,0.456350,-0.005438],[0.037356,-0.060951,0.997442]] 2025-10-27T03:27:36.275Z,1761535656.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504084 s, deltaX: 0.199999 m, approachRate: 0.396757 m/s, rangeRepo size: 4 2025-10-27T03:27:36.277Z,1761535656.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.308571 m, bearing: 213.786761 deg, lat: 36.779319 deg, lon: -121.859520 deg, deltaT: 0.504084 s, deltaX: 0.199183 m, approachRate: 0.395138 m/s, posRepo size: 4 2025-10-27T03:27:36.277Z,1761535656.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m. 2025-10-27T03:27:36.337Z,1761535656.337 [DAT](INFO): DAT read: Rx Time:03:27:37.3703 2025-10-27T03:27:36.337Z,1761535656.337 [DAT](INFO): Rx dataTimestamp_ set to:1761535656.336969 2025-10-27T03:27:36.339Z,1761535656.339 [DAT](INFO): DAT read: Bearing 22.6, 22.2 (Local) 2025-10-27T03:27:36.339Z,1761535656.339 [DAT](INFO): Local bearing/azimuth received: Bearing 22.6, 22.2 (Local) 2025-10-27T03:27:36.341Z,1761535656.341 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.4 2025-10-27T03:27:36.346Z,1761535656.346 [DAT](INFO): DAT read: 03:27:37.3703 LVL= 20832, 17697, 31730, 32755, AGC= 58, IDX= 510, 0.18, 0.953, 2.122, 0.226, 1.523, PHS=-0.469, 0.644,-1.341, RAW= 356.0, 13.5, CAL= 356.4, 16.4, ROT= 153.6, -16.4 2025-10-27T03:27:36.347Z,1761535656.347 [DAT](INFO): got valid direction response: 03:27:37.3703 LVL= 20832, 17697, 31730, 32755, AGC= 58, IDX= 510, 0.18, 0.953, 2.122, 0.226, 1.523, PHS=-0.469, 0.644,-1.341, RAW= 356.0, 13.5, CAL= 356.4, 16.4, ROT= 153.6, -16.4 2025-10-27T03:27:36.347Z,1761535656.347 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T03:27:36.348Z,1761535656.348 [DAT](INFO): direction in FSK: [-0.859269,0.426545,0.282341] 2025-10-27T03:27:36.349Z,1761535656.349 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:36.353Z,1761535656.353 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.586150 2025-10-27T03:27:36.588Z,1761535656.588 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821143 2025-10-27T03:27:36.672Z,1761535656.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455216,-0.887631,-0.069921],[0.889742,0.456459,-0.002036],[0.033723,-0.061285,0.997550]] 2025-10-27T03:27:36.822Z,1761535656.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504053 s, deltaX: 0.100000 m, approachRate: 0.198393 m/s, rangeRepo size: 4 2025-10-27T03:27:36.825Z,1761535656.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.408163 m, bearing: 215.847239 deg, lat: 36.779323 deg, lon: -121.859527 deg, deltaT: 0.504053 s, deltaX: 0.099592 m, approachRate: 0.197583 m/s, posRepo size: 4 2025-10-27T03:27:36.825Z,1761535656.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m. 2025-10-27T03:27:36.841Z,1761535656.841 [DAT](INFO): DAT read: Rx Time:03:27:37.8704 2025-10-27T03:27:36.841Z,1761535656.841 [DAT](INFO): Rx dataTimestamp_ set to:1761535656.840754 2025-10-27T03:27:36.842Z,1761535656.842 [DAT](INFO): DAT read: Bearing 23.2, 21.8 (Local) 2025-10-27T03:27:36.843Z,1761535656.843 [DAT](INFO): Local bearing/azimuth received: Bearing 23.2, 21.8 (Local) 2025-10-27T03:27:36.845Z,1761535656.845 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.4 2025-10-27T03:27:36.849Z,1761535656.849 [DAT](INFO): DAT read: 03:27:37.8704 LVL= 21056, 18849, 29682, 28739, AGC= 58, IDX= 511,-0.24,-2.346,-1.171,-3.038,-1.776, PHS=-0.468, 0.650,-1.305, RAW= 355.3, 13.1, CAL= 355.7, 16.0, ROT= 154.3, -16.0 2025-10-27T03:27:36.851Z,1761535656.851 [DAT](INFO): got valid direction response: 03:27:37.8704 LVL= 21056, 18849, 29682, 28739, AGC= 58, IDX= 511,-0.24,-2.346,-1.171,-3.038,-1.776, PHS=-0.468, 0.650,-1.305, RAW= 355.3, 13.1, CAL= 355.7, 16.0, ROT= 154.3, -16.0 2025-10-27T03:27:36.851Z,1761535656.851 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T03:27:36.852Z,1761535656.852 [DAT](INFO): direction in FSK: [-0.866171,0.416860,0.275637] 2025-10-27T03:27:36.852Z,1761535656.852 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:36.884Z,1761535656.884 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.117095 2025-10-27T03:27:37.093Z,1761535657.093 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.326229 2025-10-27T03:27:37.301Z,1761535657.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503785 s, deltaX: 0.200001 m, approachRate: 0.396996 m/s, rangeRepo size: 4 2025-10-27T03:27:37.303Z,1761535657.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.607347 m, bearing: 216.553210 deg, lat: 36.779324 deg, lon: -121.859530 deg, deltaT: 0.503785 s, deltaX: 0.199184 m, approachRate: 0.395376 m/s, posRepo size: 4 2025-10-27T03:27:37.304Z,1761535657.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.61 m. 2025-10-27T03:27:37.345Z,1761535657.345 [DAT](INFO): DAT read: Rx Time:03:27:38.3706 2025-10-27T03:27:37.345Z,1761535657.345 [DAT](INFO): Rx dataTimestamp_ set to:1761535657.344801 2025-10-27T03:27:37.346Z,1761535657.346 [DAT](INFO): DAT read: Bearing 37.2, 23.1 (Local) 2025-10-27T03:27:37.347Z,1761535657.347 [DAT](INFO): Local bearing/azimuth received: Bearing 37.2, 23.1 (Local) 2025-10-27T03:27:37.349Z,1761535657.349 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.4 2025-10-27T03:27:37.353Z,1761535657.353 [DAT](INFO): DAT read: 03:27:38.3706 LVL= 21792, 17329, 32626, 32179, AGC= 58, IDX= 513, 0.11,-1.660,-0.219,-2.544,-1.272, PHS=-0.286, 1.098,-1.317, RAW= 355.2, 4.9, CAL= 354.9, 3.0, ROT= 155.1, -3.0 2025-10-27T03:27:37.355Z,1761535657.355 [DAT](INFO): got valid direction response: 03:27:38.3706 LVL= 21792, 17329, 32626, 32179, AGC= 58, IDX= 513, 0.11,-1.660,-0.219,-2.544,-1.272, PHS=-0.286, 1.098,-1.317, RAW= 355.2, 4.9, CAL= 354.9, 3.0, ROT= 155.1, -3.0 2025-10-27T03:27:37.355Z,1761535657.355 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T03:27:37.356Z,1761535657.356 [DAT](INFO): direction in FSK: [-0.905801,0.420459,0.052336] 2025-10-27T03:27:37.356Z,1761535657.356 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:37.361Z,1761535657.361 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.593892 2025-10-27T03:27:37.597Z,1761535657.597 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.830133 2025-10-27T03:27:37.637Z,1761535657.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456718,-0.887404,-0.062626],[0.889322,0.457232,0.006716],[0.022675,-0.058762,0.998014]] 2025-10-27T03:27:37.681Z,1761535657.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504047 s, deltaX: 0.299999 m, approachRate: 0.595181 m/s, rangeRepo size: 4 2025-10-27T03:27:37.698Z,1761535657.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.906263 m, bearing: 217.804227 deg, lat: 36.779326 deg, lon: -121.859536 deg, deltaT: 0.504047 s, deltaX: 0.298916 m, approachRate: 0.593032 m/s, posRepo size: 4 2025-10-27T03:27:37.704Z,1761535657.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.91 m. 2025-10-27T03:27:37.849Z,1761535657.849 [DAT](INFO): DAT read: Rx Time:03:27:38.8707 2025-10-27T03:27:37.849Z,1761535657.849 [DAT](INFO): Rx dataTimestamp_ set to:1761535657.848738 2025-10-27T03:27:37.851Z,1761535657.851 [DAT](INFO): DAT read: Bearing 25.3, 20.0 (Local) 2025-10-27T03:27:37.852Z,1761535657.852 [DAT](INFO): Local bearing/azimuth received: Bearing 25.3, 20.0 (Local) 2025-10-27T03:27:37.854Z,1761535657.854 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.4 2025-10-27T03:27:37.861Z,1761535657.861 [DAT](INFO): DAT read: 03:27:38.8707 LVL= 13552, 13521, 22562, 22003, AGC= 62, IDX= 2,-0.44,-1.764,-0.513,-2.377,-1.171, PHS=-0.491, 0.703,-1.250, RAW= 352.7, 12.2, CAL= 353.0, 14.4, ROT= 157.0, -14.4 2025-10-27T03:27:37.862Z,1761535657.862 [DAT](INFO): got valid direction response: 03:27:38.8707 LVL= 13552, 13521, 22562, 22003, AGC= 62, IDX= 2,-0.44,-1.764,-0.513,-2.377,-1.171, PHS=-0.491, 0.703,-1.250, RAW= 352.7, 12.2, CAL= 353.0, 14.4, ROT= 157.0, -14.4 2025-10-27T03:27:37.862Z,1761535657.862 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T03:27:37.868Z,1761535657.868 [DAT](INFO): direction in FSK: [-0.891585,0.378456,0.248690] 2025-10-27T03:27:37.868Z,1761535657.868 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:37.876Z,1761535657.876 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.109555 2025-10-27T03:27:38.026Z,1761535658.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456831,-0.887419,-0.061586],[0.889353,0.457102,0.010447],[0.018880,-0.059544,0.998047]] 2025-10-27T03:27:38.077Z,1761535658.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503937 s, deltaX: 0.100000 m, approachRate: 0.198438 m/s, rangeRepo size: 4 2025-10-27T03:27:38.079Z,1761535658.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.005856 m, bearing: 219.143323 deg, lat: 36.779328 deg, lon: -121.859538 deg, deltaT: 0.503937 s, deltaX: 0.099592 m, approachRate: 0.197628 m/s, posRepo size: 4 2025-10-27T03:27:38.083Z,1761535658.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.01 m. 2025-10-27T03:27:38.101Z,1761535658.101 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333898 2025-10-27T03:27:38.352Z,1761535658.352 [DAT](INFO): DAT read: Rx Time:03:27:39.3708 2025-10-27T03:27:38.353Z,1761535658.353 [DAT](INFO): Rx dataTimestamp_ set to:1761535658.352628 2025-10-27T03:27:38.354Z,1761535658.354 [DAT](INFO): DAT read: Bearing 26.7, 19.4 (Local) 2025-10-27T03:27:38.354Z,1761535658.355 [DAT](INFO): Local bearing/azimuth received: Bearing 26.7, 19.4 (Local) 2025-10-27T03:27:38.357Z,1761535658.357 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.4 2025-10-27T03:27:38.362Z,1761535658.362 [DAT](INFO): DAT read: 03:27:39.3708 LVL= 19664, 17713, 29378, 29811, AGC= 60, IDX= 500,-0.08, 0.161, 1.457,-0.430, 0.759, PHS=-0.496, 0.743,-1.233, RAW= 351.7, 11.4, CAL= 352.0, 13.2, ROT= 158.0, -13.2 2025-10-27T03:27:38.364Z,1761535658.364 [DAT](INFO): got valid direction response: 03:27:39.3708 LVL= 19664, 17713, 29378, 29811, AGC= 60, IDX= 500,-0.08, 0.161, 1.457,-0.430, 0.759, PHS=-0.496, 0.743,-1.233, RAW= 351.7, 11.4, CAL= 352.0, 13.2, ROT= 158.0, -13.2 2025-10-27T03:27:38.364Z,1761535658.364 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T03:27:38.366Z,1761535658.366 [DAT](INFO): direction in FSK: [-0.902687,0.364709,0.228351] 2025-10-27T03:27:38.366Z,1761535658.366 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:38.370Z,1761535658.370 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.603584 2025-10-27T03:27:38.445Z,1761535658.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456977,-0.887338,-0.061666],[0.889346,0.457004,0.014491],[0.015323,-0.061464,0.997992]] 2025-10-27T03:27:38.530Z,1761535658.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503890 s, deltaX: 0.299999 m, approachRate: 0.595367 m/s, rangeRepo size: 4 2025-10-27T03:27:38.536Z,1761535658.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.304632 m, bearing: 220.148411 deg, lat: 36.779329 deg, lon: -121.859546 deg, deltaT: 0.503890 s, deltaX: 0.298777 m, approachRate: 0.592940 m/s, posRepo size: 4 2025-10-27T03:27:38.537Z,1761535658.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m. 2025-10-27T03:27:38.606Z,1761535658.606 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.839043 2025-10-27T03:27:38.857Z,1761535658.857 [DAT](INFO): DAT read: Rx Time:03:27:39.8708 2025-10-27T03:27:38.857Z,1761535658.857 [DAT](INFO): Rx dataTimestamp_ set to:1761535658.856741 2025-10-27T03:27:38.858Z,1761535658.858 [DAT](INFO): DAT read: Bearing 27.3, 18.3 (Local) 2025-10-27T03:27:38.859Z,1761535658.859 [DAT](INFO): Local bearing/azimuth received: Bearing 27.3, 18.3 (Local) 2025-10-27T03:27:38.861Z,1761535658.861 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.4 2025-10-27T03:27:38.865Z,1761535658.865 [DAT](INFO): DAT read: 03:27:39.8708 LVL= 22000, 16977, 31602, 30131, AGC= 59, IDX= 500, 0.15, 0.714, 2.054, 0.165, 1.336, PHS=-0.520, 0.764,-1.215, RAW= 350.3, 11.2, CAL= 350.5, 12.9, ROT= 159.5, -12.9 2025-10-27T03:27:38.867Z,1761535658.867 [DAT](INFO): got valid direction response: 03:27:39.8708 LVL= 22000, 16977, 31602, 30131, AGC= 59, IDX= 500, 0.15, 0.714, 2.054, 0.165, 1.336, PHS=-0.520, 0.764,-1.215, RAW= 350.3, 11.2, CAL= 350.5, 12.9, ROT= 159.5, -12.9 2025-10-27T03:27:38.867Z,1761535658.867 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T03:27:38.868Z,1761535658.868 [DAT](INFO): direction in FSK: [-0.913032,0.341369,0.223250] 2025-10-27T03:27:38.868Z,1761535658.868 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:38.897Z,1761535658.897 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.129921 2025-10-27T03:27:39.024Z,1761535659.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504113 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:39.026Z,1761535659.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.304623 m, bearing: 221.650727 deg, lat: 36.779333 deg, lon: -121.859546 deg, deltaT: 0.504113 s, deltaX: -0.000010 m, approachRate: -0.000019 m/s, posRepo size: 4 2025-10-27T03:27:39.028Z,1761535659.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m. 2025-10-27T03:27:39.109Z,1761535659.109 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.341823 2025-10-27T03:27:39.361Z,1761535659.361 [DAT](INFO): DAT read: Rx Time:03:27:40.3711 2025-10-27T03:27:39.361Z,1761535659.361 [DAT](INFO): Rx dataTimestamp_ set to:1761535659.361083 2025-10-27T03:27:39.363Z,1761535659.363 [DAT](INFO): DAT read: Bearing 28.2, 18.0 (Local) 2025-10-27T03:27:39.363Z,1761535659.363 [DAT](INFO): Local bearing/azimuth received: Bearing 28.2, 18.0 (Local) 2025-10-27T03:27:39.365Z,1761535659.365 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.4 2025-10-27T03:27:39.370Z,1761535659.370 [DAT](INFO): DAT read: 03:27:40.3711 LVL= 19040, 16865, 27730, 28659, AGC= 60, IDX= 502, 0.44, 1.947,-2.985, 1.419, 2.565, PHS=-0.516, 0.778,-1.190, RAW= 349.7, 10.7, CAL= 349.9, 12.2, ROT= 160.1, -12.2 2025-10-27T03:27:39.371Z,1761535659.371 [DAT](INFO): got valid direction response: 03:27:40.3711 LVL= 19040, 16865, 27730, 28659, AGC= 60, IDX= 502, 0.44, 1.947,-2.985, 1.419, 2.565, PHS=-0.516, 0.778,-1.190, RAW= 349.7, 10.7, CAL= 349.9, 12.2, ROT= 160.1, -12.2 2025-10-27T03:27:39.371Z,1761535659.371 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T03:27:39.372Z,1761535659.372 [DAT](INFO): direction in FSK: [-0.919053,0.332692,0.211325] 2025-10-27T03:27:39.373Z,1761535659.373 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:39.377Z,1761535659.377 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.610628 2025-10-27T03:27:39.404Z,1761535659.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504342 s, deltaX: 0.500000 m, approachRate: 0.991391 m/s, rangeRepo size: 4 2025-10-27T03:27:39.406Z,1761535659.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.802586 m, bearing: 222.283442 deg, lat: 36.779333 deg, lon: -121.859550 deg, deltaT: 0.504342 s, deltaX: 0.497963 m, approachRate: 0.987352 m/s, posRepo size: 4 2025-10-27T03:27:39.406Z,1761535659.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m. 2025-10-27T03:27:39.613Z,1761535659.613 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.845629 2025-10-27T03:27:39.758Z,1761535659.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456641,-0.888146,-0.051732],[0.889641,0.456143,0.021748],[0.004282,-0.055954,0.998424]] 2025-10-27T03:27:39.781Z,1761535659.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m. 2025-10-27T03:27:39.865Z,1761535659.865 [DAT](INFO): DAT read: Rx Time:03:27:40.8711 2025-10-27T03:27:39.865Z,1761535659.865 [DAT](INFO): Rx dataTimestamp_ set to:1761535659.865125 2025-10-27T03:27:39.867Z,1761535659.867 [DAT](INFO): DAT read: Bearing 29.5, 18.3 (Local) 2025-10-27T03:27:39.867Z,1761535659.867 [DAT](INFO): Local bearing/azimuth received: Bearing 29.5, 18.3 (Local) 2025-10-27T03:27:39.869Z,1761535659.869 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.3 2025-10-27T03:27:39.874Z,1761535659.874 [DAT](INFO): DAT read: 03:27:40.8711 LVL= 22640, 17953, 32754, 32147, AGC= 60, IDX= 503,-0.20,-0.108, 1.253,-0.636, 0.493, PHS=-0.499, 0.805,-1.173, RAW= 349.6, 10.0, CAL= 349.7, 11.0, ROT= 160.3, -11.0 2025-10-27T03:27:39.875Z,1761535659.875 [DAT](INFO): got valid direction response: 03:27:40.8711 LVL= 22640, 17953, 32754, 32147, AGC= 60, IDX= 503,-0.20,-0.108, 1.253,-0.636, 0.493, PHS=-0.499, 0.805,-1.173, RAW= 349.6, 10.0, CAL= 349.7, 11.0, ROT= 160.3, -11.0 2025-10-27T03:27:39.876Z,1761535659.876 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T03:27:39.876Z,1761535659.876 [DAT](INFO): direction in FSK: [-0.924173,0.330902,0.190809] 2025-10-27T03:27:39.877Z,1761535659.877 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:39.880Z,1761535659.880 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.113657 2025-10-27T03:27:40.113Z,1761535660.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456070,-0.888639,-0.048178],[0.889944,0.455443,0.023913],[0.000692,-0.053782,0.998552]] 2025-10-27T03:27:40.117Z,1761535660.117 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.350106 2025-10-27T03:27:40.254Z,1761535660.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:40.265Z,1761535660.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.802534 m, bearing: 222.632832 deg, lat: 36.779336 deg, lon: -121.859553 deg, deltaT: 0.504042 s, deltaX: -0.000051 m, approachRate: -0.000102 m/s, posRepo size: 4 2025-10-27T03:27:40.265Z,1761535660.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m. 2025-10-27T03:27:40.369Z,1761535660.369 [DAT](INFO): DAT read: Rx Time:03:27:41.3712 2025-10-27T03:27:40.369Z,1761535660.369 [DAT](INFO): Rx dataTimestamp_ set to:1761535660.369149 2025-10-27T03:27:40.371Z,1761535660.371 [DAT](INFO): DAT read: Bearing 30.4, 17.6 (Local) 2025-10-27T03:27:40.371Z,1761535660.371 [DAT](INFO): Local bearing/azimuth received: Bearing 30.4, 17.6 (Local) 2025-10-27T03:27:40.373Z,1761535660.373 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.4 2025-10-27T03:27:40.378Z,1761535660.378 [DAT](INFO): DAT read: 03:27:41.3712 LVL= 19872, 17745, 30642, 29107, AGC= 60, IDX= 504, 0.02, 1.005, 2.409, 0.506, 1.620, PHS=-0.513, 0.834,-1.158, RAW= 348.5, 9.5, CAL= 348.6, 10.3, ROT= 161.4, -10.3 2025-10-27T03:27:40.379Z,1761535660.379 [DAT](INFO): got valid direction response: 03:27:41.3712 LVL= 19872, 17745, 30642, 29107, AGC= 60, IDX= 504, 0.02, 1.005, 2.409, 0.506, 1.620, PHS=-0.513, 0.834,-1.158, RAW= 348.5, 9.5, CAL= 348.6, 10.3, ROT= 161.4, -10.3 2025-10-27T03:27:40.380Z,1761535660.380 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T03:27:40.381Z,1761535660.381 [DAT](INFO): direction in FSK: [-0.932495,0.313819,0.178802] 2025-10-27T03:27:40.381Z,1761535660.381 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:40.385Z,1761535660.385 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.617938 2025-10-27T03:27:40.620Z,1761535660.620 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.853386 2025-10-27T03:27:40.725Z,1761535660.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459769,-0.886801,-0.046876],[0.888037,0.459014,0.026405],[-0.001899,-0.053767,0.998552]] 2025-10-27T03:27:40.806Z,1761535660.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504024 s, deltaX: 0.100000 m, approachRate: 0.198404 m/s, rangeRepo size: 4 2025-10-27T03:27:40.809Z,1761535660.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.902020 m, bearing: 223.517843 deg, lat: 36.779337 deg, lon: -121.859555 deg, deltaT: 0.504024 s, deltaX: 0.099485 m, approachRate: 0.197382 m/s, posRepo size: 4 2025-10-27T03:27:40.809Z,1761535660.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m. 2025-10-27T03:27:40.873Z,1761535660.873 [DAT](INFO): DAT read: Rx Time:03:27:41.8713 2025-10-27T03:27:40.873Z,1761535660.873 [DAT](INFO): Rx dataTimestamp_ set to:1761535660.872949 2025-10-27T03:27:40.875Z,1761535660.875 [DAT](INFO): DAT read: Bearing 31.7, 16.9 (Local) 2025-10-27T03:27:40.875Z,1761535660.875 [DAT](INFO): Local bearing/azimuth received: Bearing 31.7, 16.9 (Local) 2025-10-27T03:27:40.877Z,1761535660.877 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.4 2025-10-27T03:27:40.882Z,1761535660.882 [DAT](INFO): DAT read: 03:27:41.8713 LVL= 2784, 2497, 4514, 4531, AGC= 43, IDX= 504, 0.27, 0.263, 1.710,-0.209, 0.883, PHS=-0.518, 0.872,-1.136, RAW= 347.5, 8.8, CAL= 347.5, 9.2, ROT= 162.5, -9.2 2025-10-27T03:27:40.883Z,1761535660.883 [DAT](INFO): got valid direction response: 03:27:41.8713 LVL= 2784, 2497, 4514, 4531, AGC= 43, IDX= 504, 0.27, 0.263, 1.710,-0.209, 0.883, PHS=-0.518, 0.872,-1.136, RAW= 347.5, 8.8, CAL= 347.5, 9.2, ROT= 162.5, -9.2 2025-10-27T03:27:40.883Z,1761535660.883 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T03:27:40.884Z,1761535660.884 [DAT](INFO): direction in FSK: [-0.941449,0.296838,0.159881] 2025-10-27T03:27:40.884Z,1761535660.884 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:40.889Z,1761535660.889 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.121948 2025-10-27T03:27:41.127Z,1761535661.127 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.359955 2025-10-27T03:27:41.170Z,1761535661.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457851,-0.887911,-0.044572],[0.888998,0.456843,0.031247],[-0.007382,-0.053930,0.998517]] 2025-10-27T03:27:41.267Z,1761535661.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503800 s, deltaX: 0.200001 m, approachRate: 0.396984 m/s, rangeRepo size: 4 2025-10-27T03:27:41.269Z,1761535661.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.101204 m, bearing: 224.779011 deg, lat: 36.779338 deg, lon: -121.859556 deg, deltaT: 0.503800 s, deltaX: 0.199184 m, approachRate: 0.395364 m/s, posRepo size: 4 2025-10-27T03:27:41.270Z,1761535661.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m. 2025-10-27T03:27:41.377Z,1761535661.377 [DAT](INFO): DAT read: Rx Time:03:27:42.3715 2025-10-27T03:27:41.377Z,1761535661.377 [DAT](INFO): Rx dataTimestamp_ set to:1761535661.376769 2025-10-27T03:27:41.378Z,1761535661.378 [DAT](INFO): DAT read: Bearing 32.0, 16.5 (Local) 2025-10-27T03:27:41.379Z,1761535661.379 [DAT](INFO): Local bearing/azimuth received: Bearing 32.0, 16.5 (Local) 2025-10-27T03:27:41.381Z,1761535661.381 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.4 2025-10-27T03:27:41.385Z,1761535661.385 [DAT](INFO): DAT read: 03:27:42.3715 LVL= 19552, 17377, 30322, 29331, AGC= 61, IDX= 507,-0.33, 0.040, 1.514,-0.412, 0.674, PHS=-0.532, 0.885,-1.130, RAW= 346.8, 8.7, CAL= 346.8, 9.1, ROT= 163.2, -9.1 2025-10-27T03:27:41.387Z,1761535661.387 [DAT](INFO): got valid direction response: 03:27:42.3715 LVL= 19552, 17377, 30322, 29331, AGC= 61, IDX= 507,-0.33, 0.040, 1.514,-0.412, 0.674, PHS=-0.532, 0.885,-1.130, RAW= 346.8, 8.7, CAL= 346.8, 9.1, ROT= 163.2, -9.1 2025-10-27T03:27:41.387Z,1761535661.387 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T03:27:41.388Z,1761535661.388 [DAT](INFO): direction in FSK: [-0.945270,0.285394,0.158158] 2025-10-27T03:27:41.388Z,1761535661.388 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:41.393Z,1761535661.393 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.625903 2025-10-27T03:27:41.628Z,1761535661.628 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.861036 2025-10-27T03:27:41.648Z,1761535661.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455115,-0.889376,-0.043372],[0.890352,0.453881,0.035561],[-0.011941,-0.054801,0.998426]] 2025-10-27T03:27:41.779Z,1761535661.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503820 s, deltaX: 0.299999 m, approachRate: 0.595449 m/s, rangeRepo size: 4 2025-10-27T03:27:41.781Z,1761535661.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.400013 m, bearing: 225.638608 deg, lat: 36.779340 deg, lon: -121.859558 deg, deltaT: 0.503820 s, deltaX: 0.298809 m, approachRate: 0.593087 m/s, posRepo size: 4 2025-10-27T03:27:41.782Z,1761535661.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m. 2025-10-27T03:27:41.881Z,1761535661.881 [DAT](INFO): DAT read: Rx Time:03:27:42.8715 2025-10-27T03:27:41.881Z,1761535661.881 [DAT](INFO): Rx dataTimestamp_ set to:1761535661.880995 2025-10-27T03:27:41.883Z,1761535661.883 [DAT](INFO): DAT read: Bearing 32.7, 16.2 (Local) 2025-10-27T03:27:41.883Z,1761535661.883 [DAT](INFO): Local bearing/azimuth received: Bearing 32.7, 16.2 (Local) 2025-10-27T03:27:41.885Z,1761535661.885 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.4 2025-10-27T03:27:41.890Z,1761535661.890 [DAT](INFO): DAT read: 03:27:42.8715 LVL= 21712, 19137, 32754, 32051, AGC= 60, IDX= 507, 0.01,-0.987, 0.506,-1.423,-0.353, PHS=-0.532, 0.905,-1.113, RAW= 346.2, 8.3, CAL= 346.2, 8.4, ROT= 163.8, -8.4 2025-10-27T03:27:41.891Z,1761535661.891 [DAT](INFO): got valid direction response: 03:27:42.8715 LVL= 21712, 19137, 32754, 32051, AGC= 60, IDX= 507, 0.01,-0.987, 0.506,-1.423,-0.353, PHS=-0.532, 0.905,-1.113, RAW= 346.2, 8.3, CAL= 346.2, 8.4, ROT= 163.8, -8.4 2025-10-27T03:27:41.891Z,1761535661.891 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T03:27:41.892Z,1761535661.892 [DAT](INFO): direction in FSK: [-0.949992,0.275998,0.146083] 2025-10-27T03:27:41.893Z,1761535661.893 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:41.897Z,1761535661.897 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.130266 2025-10-27T03:27:42.132Z,1761535662.132 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.365272 2025-10-27T03:27:42.174Z,1761535662.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452008,-0.891032,-0.041842],[0.891872,0.450604,0.038989],[-0.015886,-0.054941,0.998363]] 2025-10-27T03:27:42.300Z,1761535662.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504226 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:42.308Z,1761535662.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.400013 m, bearing: 226.465010 deg, lat: 36.779342 deg, lon: -121.859560 deg, deltaT: 0.504226 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:27:42.308Z,1761535662.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m. 2025-10-27T03:27:42.385Z,1761535662.385 [DAT](INFO): DAT read: Rx Time:03:27:43.3718 2025-10-27T03:27:42.385Z,1761535662.385 [DAT](INFO): Rx dataTimestamp_ set to:1761535662.384840 2025-10-27T03:27:42.386Z,1761535662.386 [DAT](INFO): DAT read: Bearing 33.9, 15.7 (Local) 2025-10-27T03:27:42.387Z,1761535662.387 [DAT](INFO): Local bearing/azimuth received: Bearing 33.9, 15.7 (Local) 2025-10-27T03:27:42.389Z,1761535662.389 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.4 2025-10-27T03:27:42.394Z,1761535662.394 [DAT](INFO): DAT read: 03:27:43.3718 LVL= 18720, 16225, 28274, 29523, AGC= 61, IDX= 509, 0.36, 0.667, 2.190, 0.259, 1.302, PHS=-0.533, 0.933,-1.086, RAW= 345.4, 7.6, CAL= 345.3, 7.4, ROT= 164.7, -7.4 2025-10-27T03:27:42.396Z,1761535662.396 [DAT](INFO): got valid direction response: 03:27:43.3718 LVL= 18720, 16225, 28274, 29523, AGC= 61, IDX= 509, 0.36, 0.667, 2.190, 0.259, 1.302, PHS=-0.533, 0.933,-1.086, RAW= 345.4, 7.6, CAL= 345.3, 7.4, ROT= 164.7, -7.4 2025-10-27T03:27:42.397Z,1761535662.397 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T03:27:42.398Z,1761535662.398 [DAT](INFO): direction in FSK: [-0.956524,0.261675,0.128796] 2025-10-27T03:27:42.398Z,1761535662.398 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:42.402Z,1761535662.402 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.634786 2025-10-27T03:27:42.637Z,1761535662.637 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.870003 2025-10-27T03:27:42.676Z,1761535662.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449196,-0.892503,-0.040757],[0.893216,0.447612,0.042532],[-0.019717,-0.055510,0.998263]] 2025-10-27T03:27:42.784Z,1761535662.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503845 s, deltaX: 0.400000 m, approachRate: 0.793894 m/s, rangeRepo size: 4 2025-10-27T03:27:42.786Z,1761535662.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.798431 m, bearing: 227.588902 deg, lat: 36.779344 deg, lon: -121.859563 deg, deltaT: 0.503845 s, deltaX: 0.398418 m, approachRate: 0.790756 m/s, posRepo size: 4 2025-10-27T03:27:42.786Z,1761535662.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.80 m. 2025-10-27T03:27:42.889Z,1761535662.889 [DAT](INFO): DAT read: Rx Time:03:27:43.8718 2025-10-27T03:27:42.890Z,1761535662.890 [DAT](INFO): Rx dataTimestamp_ set to:1761535662.889672 2025-10-27T03:27:42.891Z,1761535662.891 [DAT](INFO): DAT read: Bearing 34.8, 15.5 (Local) 2025-10-27T03:27:42.892Z,1761535662.892 [DAT](INFO): Local bearing/azimuth received: Bearing 34.8, 15.5 (Local) 2025-10-27T03:27:42.893Z,1761535662.893 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) .4 2025-10-27T03:27:42.899Z,1761535662.899 [DAT](INFO): DAT read: 03:27:43.8718 LVL= 19728, 18529, 31538, 31475, AGC= 59, IDX= 510,-0.06, 2.540,-2.200, 2.149,-3.110, PHS=-0.532, 0.955,-1.068, RAW= 344.8, 7.2, CAL= 344.7, 6.7, ROT= 165.3, -6.7 2025-10-27T03:27:42.900Z,1761535662.900 [DAT](INFO): got valid direction response: 03:27:43.8718 LVL= 19728, 18529, 31538, 31475, AGC= 59, IDX= 510,-0.06, 2.540,-2.200, 2.149,-3.110, PHS=-0.532, 0.955,-1.068, RAW= 344.8, 7.2, CAL= 344.7, 6.7, ROT= 165.3, -6.7 2025-10-27T03:27:42.901Z,1761535662.901 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T03:27:42.902Z,1761535662.902 [DAT](INFO): direction in FSK: [-0.960662,0.252025,0.116671] 2025-10-27T03:27:42.902Z,1761535662.902 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:42.910Z,1761535662.910 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.143096 2025-10-27T03:27:43.092Z,1761535663.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446031,-0.894171,-0.038930],[0.894714,0.444325,0.045406],[-0.023303,-0.055083,0.998210]] 2025-10-27T03:27:43.140Z,1761535663.140 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.373305 2025-10-27T03:27:43.143Z,1761535663.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504832 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:43.145Z,1761535663.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.798431 m, bearing: 228.426401 deg, lat: 36.779347 deg, lon: -121.859563 deg, deltaT: 0.504832 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:27:43.146Z,1761535663.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.80 m. 2025-10-27T03:27:43.393Z,1761535663.393 [DAT](INFO): DAT read: Rx Time:03:27:44.3721 2025-10-27T03:27:43.394Z,1761535663.394 [DAT](INFO): Rx dataTimestamp_ set to:1761535663.393358 2025-10-27T03:27:43.395Z,1761535663.395 [DAT](INFO): DAT read: Bearing 32.2, 11.6 (Local) 2025-10-27T03:27:43.396Z,1761535663.396 [DAT](INFO): Local bearing/azimuth received: Bearing 32.2, 11.6 (Local) 2025-10-27T03:27:43.399Z,1761535663.399 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.4 2025-10-27T03:27:43.404Z,1761535663.404 [DAT](INFO): DAT read: 03:27:44.3721 LVL= 18032, 17633, 30866, 31427, AGC= 58, IDX= 512, 0.32, 2.214,-2.597, 2.008, 2.912, PHS=-0.597, 0.819,-0.949, RAW= 340.8, 9.0, CAL= 340.8, 9.6, ROT= 169.2, -9.6 2025-10-27T03:27:43.405Z,1761535663.405 [DAT](INFO): got valid direction response: 03:27:44.3721 LVL= 18032, 17633, 30866, 31427, AGC= 58, IDX= 512, 0.32, 2.214,-2.597, 2.008, 2.912, PHS=-0.597, 0.819,-0.949, RAW= 340.8, 9.0, CAL= 340.8, 9.6, ROT= 169.2, -9.6 2025-10-27T03:27:43.406Z,1761535663.406 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T03:27:43.417Z,1761535663.417 [DAT](INFO): direction in FSK: [-0.968531,0.184757,0.166769] 2025-10-27T03:27:43.417Z,1761535663.417 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:43.421Z,1761535663.421 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.654584 2025-10-27T03:27:43.485Z,1761535663.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443065,-0.895724,-0.037035],[0.896084,0.441243,0.048359],[-0.026975,-0.054613,0.998143]] 2025-10-27T03:27:43.569Z,1761535663.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.503686 s, deltaX: 0.300001 m, approachRate: 0.595611 m/s, rangeRepo size: 4 2025-10-27T03:27:43.571Z,1761535663.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.097210 m, bearing: 232.334420 deg, lat: 36.779348 deg, lon: -121.859568 deg, deltaT: 0.503686 s, deltaX: 0.298779 m, approachRate: 0.593184 m/s, posRepo size: 4 2025-10-27T03:27:43.572Z,1761535663.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m. 2025-10-27T03:27:43.644Z,1761535663.644 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.877346 2025-10-27T03:27:43.897Z,1761535663.897 [DAT](INFO): DAT read: Rx Time:03:27:44.8721 2025-10-27T03:27:43.897Z,1761535663.897 [DAT](INFO): Rx dataTimestamp_ set to:1761535663.896974 2025-10-27T03:27:43.899Z,1761535663.899 [DAT](INFO): DAT read: Bearing 42.3, 15.3 (Local) 2025-10-27T03:27:43.899Z,1761535663.899 [DAT](INFO): Local bearing/azimuth received: Bearing 42.3, 15.3 (Local) 2025-10-27T03:27:43.901Z,1761535663.901 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.4 2025-10-27T03:27:43.910Z,1761535663.910 [DAT](INFO): DAT read: 03:27:44.8721 LVL= 20544, 19665, 32754, 32755, AGC= 57, IDX= 513,-0.08,-0.827, 0.581,-1.129,-0.356, PHS=-0.368, 0.982,-0.817, RAW= 343.8, 2.5, CAL= 343.4, -0.4, ROT= 166.6, 0.4 2025-10-27T03:27:43.940Z,1761535663.940 [DAT](INFO): got valid direction response: 03:27:44.8721 LVL= 20544, 19665, 32754, 32755, AGC= 57, IDX= 513,-0.08,-0.827, 0.581,-1.129,-0.356, PHS=-0.368, 0.982,-0.817, RAW= 343.8, 2.5, CAL= 343.4, -0.4, ROT= 166.6, 0.4 2025-10-27T03:27:43.940Z,1761535663.940 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T03:27:43.941Z,1761535663.941 [DAT](INFO): direction in FSK: [-0.972752,0.231742,-0.006981] 2025-10-27T03:27:43.941Z,1761535663.941 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:43.969Z,1761535663.969 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.202377 2025-10-27T03:27:43.993Z,1761535663.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437970,-0.898412,-0.032232],[0.898324,0.435985,0.054137],[-0.034584,-0.052665,0.998013]] 2025-10-27T03:27:44.045Z,1761535664.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.503616 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:44.051Z,1761535664.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.097227 m, bearing: 230.648416 deg, lat: 36.779351 deg, lon: -121.859569 deg, deltaT: 0.503616 s, deltaX: 0.000017 m, approachRate: 0.000034 m/s, posRepo size: 4 2025-10-27T03:27:44.052Z,1761535664.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m. 2025-10-27T03:27:44.148Z,1761535664.148 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.381348 2025-10-27T03:27:44.401Z,1761535664.401 [DAT](INFO): DAT read: Rx Time:03:27:45.3723 2025-10-27T03:27:44.401Z,1761535664.401 [DAT](INFO): Rx dataTimestamp_ set to:1761535664.400791 2025-10-27T03:27:44.402Z,1761535664.402 [DAT](INFO): DAT read: Bearing 37.0, 14.8 (Local) 2025-10-27T03:27:44.403Z,1761535664.403 [DAT](INFO): Local bearing/azimuth received: Bearing 37.0, 14.8 (Local) 2025-10-27T03:27:44.405Z,1761535664.405 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.4 2025-10-27T03:27:44.411Z,1761535664.411 [DAT](INFO): DAT read: 03:27:45.3723 LVL= 15424, 13809, 21618, 23283, AGC= 61, IDX= 2, 0.31,-2.997,-1.377, 2.942,-2.353, PHS=-0.541, 1.021,-1.032, RAW= 343.2, 6.0, CAL= 343.0, 4.9, ROT= 167.0, -4.9 2025-10-27T03:27:44.412Z,1761535664.412 [DAT](INFO): got valid direction response: 03:27:45.3723 LVL= 15424, 13809, 21618, 23283, AGC= 61, IDX= 2, 0.31,-2.997,-1.377, 2.942,-2.353, PHS=-0.541, 1.021,-1.032, RAW= 343.2, 6.0, CAL= 343.0, 4.9, ROT= 167.0, -4.9 2025-10-27T03:27:44.413Z,1761535664.413 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T03:27:44.414Z,1761535664.414 [DAT](INFO): direction in FSK: [-0.970809,0.224129,0.085417] 2025-10-27T03:27:44.414Z,1761535664.414 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:44.418Z,1761535664.418 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.651070 2025-10-27T03:27:44.440Z,1761535664.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435860,-0.899461,-0.031553],[0.899188,0.433691,0.058076],[-0.038553,-0.053686,0.997813]] 2025-10-27T03:27:44.562Z,1761535664.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503817 s, deltaX: 0.299999 m, approachRate: 0.595453 m/s, rangeRepo size: 4 2025-10-27T03:27:44.569Z,1761535664.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.396004 m, bearing: 230.853717 deg, lat: 36.779356 deg, lon: -121.859576 deg, deltaT: 0.503817 s, deltaX: 0.298777 m, approachRate: 0.593026 m/s, posRepo size: 4 2025-10-27T03:27:44.569Z,1761535664.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m. 2025-10-27T03:27:44.652Z,1761535664.652 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.885612 2025-10-27T03:27:44.908Z,1761535664.908 [DAT](INFO): DAT read: Rx Time:03:27:45.8723 2025-10-27T03:27:44.909Z,1761535664.909 [DAT](INFO): Rx dataTimestamp_ set to:1761535664.908448 2025-10-27T03:27:44.910Z,1761535664.910 [DAT](INFO): DAT read: Bearing 38.0, 14.2 (Local) 2025-10-27T03:27:44.910Z,1761535664.910 [DAT](INFO): Local bearing/azimuth received: Bearing 38.0, 14.2 (Local) 2025-10-27T03:27:44.913Z,1761535664.913 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.4 2025-10-27T03:27:44.920Z,1761535664.920 [DAT](INFO): DAT read: 03:27:45.8723 LVL= 19568, 17985, 31778, 32195, AGC= 59, IDX= 499,-0.08, 0.755, 2.424, 0.438, 1.410, PHS=-0.553, 1.059,-1.016, RAW= 342.3, 5.4, CAL= 342.0, 4.0, ROT= 168.0, -4.0 2025-10-27T03:27:44.921Z,1761535664.921 [DAT](INFO): got valid direction response: 03:27:45.8723 LVL= 19568, 17985, 31778, 32195, AGC= 59, IDX= 499,-0.08, 0.755, 2.424, 0.438, 1.410, PHS=-0.553, 1.059,-1.016, RAW= 342.3, 5.4, CAL= 342.0, 4.0, ROT= 168.0, -4.0 2025-10-27T03:27:44.922Z,1761535664.922 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T03:27:44.923Z,1761535664.923 [DAT](INFO): direction in FSK: [-0.975765,0.207405,0.069756] 2025-10-27T03:27:44.924Z,1761535664.924 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:44.948Z,1761535664.948 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.180813 2025-10-27T03:27:45.041Z,1761535665.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.507657 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:45.048Z,1761535665.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.395977 m, bearing: 231.909479 deg, lat: 36.779356 deg, lon: -121.859576 deg, deltaT: 0.507657 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 2025-10-27T03:27:45.048Z,1761535665.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m. 2025-10-27T03:27:45.156Z,1761535665.156 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.389292 2025-10-27T03:27:45.409Z,1761535665.409 [DAT](INFO): DAT read: Rx Time:03:27:46.3726 2025-10-27T03:27:45.409Z,1761535665.409 [DAT](INFO): Rx dataTimestamp_ set to:1761535665.409074 2025-10-27T03:27:45.411Z,1761535665.411 [DAT](INFO): DAT read: Bearing 38.1, 15.0 (Local) 2025-10-27T03:27:45.412Z,1761535665.412 [DAT](INFO): Local bearing/azimuth received: Bearing 38.1, 15.0 (Local) 2025-10-27T03:27:45.440Z,1761535665.440 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.4 2025-10-27T03:27:45.451Z,1761535665.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.40 m. 2025-10-27T03:27:45.457Z,1761535665.457 [DAT](INFO): DAT read: 03:27:46.3726 LVL= 19760, 17825, 32594, 32755, AGC= 59, IDX= 501, 0.35,-2.876,-1.224, 3.075,-2.234, PHS=-0.540, 1.055,-1.018, RAW= 342.7, 5.4, CAL= 342.4, 3.9, ROT= 167.6, -3.9 2025-10-27T03:27:45.458Z,1761535665.458 [DAT](INFO): got valid direction response: 03:27:46.3726 LVL= 19760, 17825, 32594, 32755, AGC= 59, IDX= 501, 0.35,-2.876,-1.224, 3.075,-2.234, PHS=-0.540, 1.055,-1.018, RAW= 342.7, 5.4, CAL= 342.4, 3.9, ROT= 167.6, -3.9 2025-10-27T03:27:45.458Z,1761535665.458 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T03:27:45.468Z,1761535665.468 [DAT](INFO): direction in FSK: [-0.974411,0.214238,0.068015] 2025-10-27T03:27:45.468Z,1761535665.468 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:45.480Z,1761535665.480 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.712908 2025-10-27T03:27:45.660Z,1761535665.660 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.893265 2025-10-27T03:27:45.760Z,1761535665.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432895,-0.901071,-0.025939],[0.899972,0.430366,0.069540],[-0.051497,-0.053447,0.997242]] 2025-10-27T03:27:45.783Z,1761535665.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.500626 s, deltaX: 0.500000 m, approachRate: 0.998750 m/s, rangeRepo size: 4 2025-10-27T03:27:45.785Z,1761535665.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.893923 m, bearing: 231.672444 deg, lat: 36.779358 deg, lon: -121.859577 deg, deltaT: 0.500626 s, deltaX: 0.497946 m, approachRate: 0.994646 m/s, posRepo size: 4 2025-10-27T03:27:45.786Z,1761535665.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T03:27:45.913Z,1761535665.913 [DAT](INFO): DAT read: Rx Time:03:27:46.8726 2025-10-27T03:27:45.913Z,1761535665.913 [DAT](INFO): Rx dataTimestamp_ set to:1761535665.912890 2025-10-27T03:27:45.914Z,1761535665.914 [DAT](INFO): DAT read: Bearing 38.9, 14.5 (Local) 2025-10-27T03:27:45.915Z,1761535665.915 [DAT](INFO): Local bearing/azimuth received: Bearing 38.9, 14.5 (Local) 2025-10-27T03:27:45.917Z,1761535665.917 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.4 2025-10-27T03:27:45.922Z,1761535665.922 [DAT](INFO): DAT read: 03:27:46.8726 LVL= 20592, 20433, 32194, 32755, AGC= 60, IDX= 502,-0.10, 0.825, 2.512, 0.519, 1.475, PHS=-0.548, 1.082,-1.000, RAW= 341.9, 5.0, CAL= 341.6, 3.3, ROT= 168.4, -3.3 2025-10-27T03:27:45.923Z,1761535665.923 [DAT](INFO): got valid direction response: 03:27:46.8726 LVL= 20592, 20433, 32194, 32755, AGC= 60, IDX= 502,-0.10, 0.825, 2.512, 0.519, 1.475, PHS=-0.548, 1.082,-1.000, RAW= 341.9, 5.0, CAL= 341.6, 3.3, ROT= 168.4, -3.3 2025-10-27T03:27:45.923Z,1761535665.923 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T03:27:45.924Z,1761535665.924 [DAT](INFO): direction in FSK: [-0.977951,0.200745,0.057564] 2025-10-27T03:27:45.925Z,1761535665.925 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:45.929Z,1761535665.929 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.162107 2025-10-27T03:27:46.162Z,1761535666.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433564,-0.900813,-0.023641],[0.899355,0.430922,0.073935],[-0.056414,-0.053317,0.996983]] 2025-10-27T03:27:46.164Z,1761535666.164 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.397167 2025-10-27T03:27:46.263Z,1761535666.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:46.265Z,1761535666.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.893923 m, bearing: 232.456219 deg, lat: 36.779358 deg, lon: -121.859577 deg, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:27:46.266Z,1761535666.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m. 2025-10-27T03:27:46.418Z,1761535666.418 [DAT](INFO): DAT read: Rx Time:03:27:47.3729 2025-10-27T03:27:46.418Z,1761535666.418 [DAT](INFO): Rx dataTimestamp_ set to:1761535666.417804 2025-10-27T03:27:46.420Z,1761535666.420 [DAT](INFO): DAT read: Bearing 39.5, 15.4 (Local) 2025-10-27T03:27:46.420Z,1761535666.420 [DAT](INFO): Local bearing/azimuth received: Bearing 39.5, 15.4 (Local) 2025-10-27T03:27:46.422Z,1761535666.422 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.4 2025-10-27T03:27:46.428Z,1761535666.428 [DAT](INFO): DAT read: 03:27:47.3729 LVL= 25824, 20081, 28882, 28019, AGC= 63, IDX= 504, 0.11,-0.527, 1.159,-0.856, 0.104, PHS=-0.529, 1.100,-1.003, RAW= 342.4, 4.6, CAL= 342.0, 2.6, ROT= 168.0, -2.6 2025-10-27T03:27:46.429Z,1761535666.429 [DAT](INFO): got valid direction response: 03:27:47.3729 LVL= 25824, 20081, 28882, 28019, AGC= 63, IDX= 504, 0.11,-0.527, 1.159,-0.856, 0.104, PHS=-0.529, 1.100,-1.003, RAW= 342.4, 4.6, CAL= 342.0, 2.6, ROT= 168.0, -2.6 2025-10-27T03:27:46.429Z,1761535666.429 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T03:27:46.430Z,1761535666.430 [DAT](INFO): direction in FSK: [-0.977141,0.207698,0.045363] 2025-10-27T03:27:46.430Z,1761535666.430 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:46.434Z,1761535666.434 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.667250 2025-10-27T03:27:46.565Z,1761535666.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434831,-0.900272,-0.020812],[0.898406,0.432118,0.078357],[-0.061550,-0.052770,0.996708]] 2025-10-27T03:27:46.643Z,1761535666.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504914 s, deltaX: 0.400000 m, approachRate: 0.792213 m/s, rangeRepo size: 4 2025-10-27T03:27:46.645Z,1761535666.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.292290 m, bearing: 232.006819 deg, lat: 36.779358 deg, lon: -121.859578 deg, deltaT: 0.504914 s, deltaX: 0.398367 m, approachRate: 0.788980 m/s, posRepo size: 4 2025-10-27T03:27:46.646Z,1761535666.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.29 m. 2025-10-27T03:27:46.668Z,1761535666.668 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.901232 2025-10-27T03:27:46.921Z,1761535666.921 [DAT](INFO): DAT read: Rx Time:03:27:47.8729 2025-10-27T03:27:46.921Z,1761535666.921 [DAT](INFO): Rx dataTimestamp_ set to:1761535666.920762 2025-10-27T03:27:46.922Z,1761535666.922 [DAT](INFO): DAT read: Bearing 39.8, 16.4 (Local) 2025-10-27T03:27:46.923Z,1761535666.923 [DAT](INFO): Local bearing/azimuth received: Bearing 39.8, 16.4 (Local) 2025-10-27T03:27:46.925Z,1761535666.925 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.4 2025-10-27T03:27:46.929Z,1761535666.929 [DAT](INFO): DAT read: 03:27:47.8729 LVL= 22944, 17905, 31602, 32051, AGC= 64, IDX= 504, 0.40,-0.786, 0.898,-1.143,-0.170, PHS=-0.513, 1.113,-1.017, RAW= 343.1, 4.4, CAL= 342.7, 2.3, ROT= 167.3, -2.3 2025-10-27T03:27:46.931Z,1761535666.931 [DAT](INFO): got valid direction response: 03:27:47.8729 LVL= 22944, 17905, 31602, 32051, AGC= 64, IDX= 504, 0.40,-0.786, 0.898,-1.143,-0.170, PHS=-0.513, 1.113,-1.017, RAW= 343.1, 4.4, CAL= 342.7, 2.3, ROT= 167.3, -2.3 2025-10-27T03:27:46.931Z,1761535666.931 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T03:27:46.932Z,1761535666.932 [DAT](INFO): direction in FSK: [-0.974749,0.219669,0.040132] 2025-10-27T03:27:46.932Z,1761535666.932 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:46.936Z,1761535666.936 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.169277 2025-10-27T03:27:46.983Z,1761535666.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436417,-0.899570,-0.017709],[0.897257,0.433663,0.082866],[-0.066864,-0.052054,0.996403]] 2025-10-27T03:27:47.061Z,1761535667.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.502958 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:47.067Z,1761535667.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.292164 m, bearing: 231.209633 deg, lat: 36.779358 deg, lon: -121.859578 deg, deltaT: 0.502958 s, deltaX: -0.000126 m, approachRate: -0.000250 m/s, posRepo size: 4 2025-10-27T03:27:47.068Z,1761535667.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.29 m. 2025-10-27T03:27:47.173Z,1761535667.173 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.406672 2025-10-27T03:27:47.374Z,1761535667.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439165,-0.898283,-0.014864],[0.895467,0.436331,0.088053],[-0.072611,-0.051980,0.996005]] 2025-10-27T03:27:47.425Z,1761535667.425 [DAT](INFO): DAT read: Rx Time:03:27:48.3731 2025-10-27T03:27:47.425Z,1761535667.425 [DAT](INFO): Rx dataTimestamp_ set to:1761535667.424758 2025-10-27T03:27:47.426Z,1761535667.426 [DAT](INFO): DAT read: Bearing 40.1, 16.3 (Local) 2025-10-27T03:27:47.427Z,1761535667.427 [DAT](INFO): Local bearing/azimuth received: Bearing 40.1, 16.3 (Local) 2025-10-27T03:27:47.429Z,1761535667.429 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.4 2025-10-27T03:27:47.433Z,1761535667.433 [DAT](INFO): DAT read: 03:27:48.3731 LVL= 24048, 21297, 32194, 32755, AGC= 61, IDX= 507,-0.18,-1.479, 0.216,-1.818,-0.859, PHS=-0.518, 1.120,-1.003, RAW= 342.6, 4.2, CAL= 342.2, 2.1, ROT= 167.8, -2.1 2025-10-27T03:27:47.435Z,1761535667.435 [DAT](INFO): got valid direction response: 03:27:48.3731 LVL= 24048, 21297, 32194, 32755, AGC= 61, IDX= 507,-0.18,-1.479, 0.216,-1.818,-0.859, PHS=-0.518, 1.120,-1.003, RAW= 342.6, 4.2, CAL= 342.2, 2.1, ROT= 167.8, -2.1 2025-10-27T03:27:47.435Z,1761535667.435 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T03:27:47.436Z,1761535667.436 [DAT](INFO): direction in FSK: [-0.976759,0.211183,0.036644] 2025-10-27T03:27:47.436Z,1761535667.436 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:47.444Z,1761535667.444 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.677317 2025-10-27T03:27:47.473Z,1761535667.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.503996 s, deltaX: 0.300001 m, approachRate: 0.595245 m/s, rangeRepo size: 4 2025-10-27T03:27:47.479Z,1761535667.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.590939 m, bearing: 231.529971 deg, lat: 36.779358 deg, lon: -121.859579 deg, deltaT: 0.503996 s, deltaX: 0.298775 m, approachRate: 0.592812 m/s, posRepo size: 4 2025-10-27T03:27:47.480Z,1761535667.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.59 m. 2025-10-27T03:27:47.676Z,1761535667.676 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.909212 2025-10-27T03:27:47.778Z,1761535667.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442606,-0.896637,-0.011924],[0.893288,0.439714,0.093214],[-0.078336,-0.051908,0.995575]] 2025-10-27T03:27:47.809Z,1761535667.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.59 m. 2025-10-27T03:27:47.929Z,1761535667.929 [DAT](INFO): DAT read: Rx Time:03:27:48.8731 2025-10-27T03:27:47.929Z,1761535667.929 [DAT](INFO): Rx dataTimestamp_ set to:1761535667.928737 2025-10-27T03:27:47.930Z,1761535667.930 [DAT](INFO): DAT read: Bearing 40.5, 17.6 (Local) 2025-10-27T03:27:47.931Z,1761535667.931 [DAT](INFO): Local bearing/azimuth received: Bearing 40.5, 17.6 (Local) 2025-10-27T03:27:47.934Z,1761535667.934 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.3 2025-10-27T03:27:47.938Z,1761535667.938 [DAT](INFO): DAT read: 03:27:48.8731 LVL= 27632, 20401, 32754, 32755, AGC= 62, IDX= 507,-0.01,-1.487, 0.191,-1.866,-0.895, PHS=-0.490, 1.131,-1.015, RAW= 343.6, 3.9, CAL= 343.2, 1.6, ROT= 166.8, -1.6 2025-10-27T03:27:47.939Z,1761535667.939 [DAT](INFO): got valid direction response: 03:27:48.8731 LVL= 27632, 20401, 32754, 32755, AGC= 62, IDX= 507,-0.01,-1.487, 0.191,-1.866,-0.895, PHS=-0.490, 1.131,-1.015, RAW= 343.6, 3.9, CAL= 343.2, 1.6, ROT= 166.8, -1.6 2025-10-27T03:27:47.940Z,1761535667.940 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T03:27:47.941Z,1761535667.941 [DAT](INFO): direction in FSK: [-0.973199,0.228262,0.027922] 2025-10-27T03:27:47.941Z,1761535667.941 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:47.953Z,1761535667.953 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.186502 2025-10-27T03:27:48.180Z,1761535668.180 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.413038 2025-10-27T03:27:48.184Z,1761535668.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445768,-0.895111,-0.008216],[0.891203,0.442924,0.097858],[-0.083955,-0.050944,0.995166]] 2025-10-27T03:27:48.280Z,1761535668.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.503979 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:48.282Z,1761535668.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.590988 m, bearing: 230.100034 deg, lat: 36.779357 deg, lon: -121.859579 deg, deltaT: 0.503979 s, deltaX: 0.000050 m, approachRate: 0.000098 m/s, posRepo size: 4 2025-10-27T03:27:48.287Z,1761535668.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.59 m. 2025-10-27T03:27:48.438Z,1761535668.438 [DAT](INFO): DAT read: Rx Time:03:27:49.3732 2025-10-27T03:27:48.438Z,1761535668.438 [DAT](INFO): Rx dataTimestamp_ set to:1761535668.437914 2025-10-27T03:27:48.440Z,1761535668.440 [DAT](INFO): DAT read: Bearing 40.6, 18.7 (Local) 2025-10-27T03:27:48.440Z,1761535668.440 [DAT](INFO): Local bearing/azimuth received: Bearing 40.6, 18.7 (Local) 2025-10-27T03:27:48.442Z,1761535668.442 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.3 2025-10-27T03:27:48.448Z,1761535668.448 [DAT](INFO): DAT read: 03:27:49.3732 LVL= 24304, 24337, 32754, 32755, AGC= 62, IDX= 508, 0.03,-0.159, 1.505,-0.567, 0.415, PHS=-0.472, 1.136,-1.026, RAW= 344.3, 3.8, CAL= 343.9, 1.3, ROT= 166.1, -1.3 2025-10-27T03:27:48.450Z,1761535668.450 [DAT](INFO): got valid direction response: 03:27:49.3732 LVL= 24304, 24337, 32754, 32755, AGC= 62, IDX= 508, 0.03,-0.159, 1.505,-0.567, 0.415, PHS=-0.472, 1.136,-1.026, RAW= 344.3, 3.8, CAL= 343.9, 1.3, ROT= 166.1, -1.3 2025-10-27T03:27:48.450Z,1761535668.450 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T03:27:48.453Z,1761535668.453 [DAT](INFO): direction in FSK: [-0.970467,0.240166,0.022687] 2025-10-27T03:27:48.453Z,1761535668.453 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:48.458Z,1761535668.458 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.691139 2025-10-27T03:27:48.600Z,1761535668.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448954,-0.893543,-0.004632],[0.889029,0.446154,0.102828],[-0.089815,-0.050283,0.994688]] 2025-10-27T03:27:48.660Z,1761535668.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.509177 s, deltaX: 0.199999 m, approachRate: 0.392788 m/s, rangeRepo size: 4 2025-10-27T03:27:48.662Z,1761535668.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.790171 m, bearing: 229.192302 deg, lat: 36.779357 deg, lon: -121.859576 deg, deltaT: 0.509177 s, deltaX: 0.199183 m, approachRate: 0.391185 m/s, posRepo size: 4 2025-10-27T03:27:48.662Z,1761535668.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.79 m. 2025-10-27T03:27:48.692Z,1761535668.692 [DAT](INFO): DAT read: Rx Time:03:27:49.8732 2025-10-27T03:27:48.694Z,1761535668.694 [DAT](INFO): Rx dataTimestamp_ set to:1761535668.692831 2025-10-27T03:27:48.697Z,1761535668.697 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.929344 2025-10-27T03:27:48.941Z,1761535668.941 [DAT](INFO): DAT read: Bearing 38.9, 18.5 (Local) 2025-10-27T03:27:48.941Z,1761535668.941 [DAT](INFO): Local bearing/azimuth received: Bearing 38.9, 18.5 (Local) 2025-10-27T03:27:48.943Z,1761535668.943 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.3 2025-10-27T03:27:48.948Z,1761535668.948 [DAT](INFO): DAT read: 03:27:49.8732 LVL= 27232, 25009, 32754, 32755, AGC= 63, IDX= 508,-0.02,-1.043, 0.601,-1.420,-0.436, PHS=-0.505, 1.082,-1.028, RAW= 343.8, 4.8, CAL= 343.4, 2.9, ROT= 166.6, -2.9 2025-10-27T03:27:48.949Z,1761535668.949 [DAT](INFO): got valid direction response: 03:27:49.8732 LVL= 27232, 25009, 32754, 32755, AGC= 63, IDX= 508,-0.02,-1.043, 0.601,-1.420,-0.436, PHS=-0.505, 1.082,-1.028, RAW= 343.8, 4.8, CAL= 343.4, 2.9, ROT= 166.6, -2.9 2025-10-27T03:27:48.949Z,1761535668.949 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T03:27:48.950Z,1761535668.950 [DAT](INFO): direction in FSK: [-0.971530,0.231451,0.050593] 2025-10-27T03:27:48.950Z,1761535668.950 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:48.954Z,1761535668.954 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.187176 2025-10-27T03:27:49.106Z,1761535669.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.501378 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:49.110Z,1761535669.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.790058 m, bearing: 229.580347 deg, lat: 36.779354 deg, lon: -121.859572 deg, deltaT: 0.501378 s, deltaX: -0.000113 m, approachRate: -0.000224 m/s, posRepo size: 4 2025-10-27T03:27:49.155Z,1761535669.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.79 m. 2025-10-27T03:27:49.196Z,1761535669.196 [DAT](INFO): DAT read: Rx Time:03:27:50.3735 2025-10-27T03:27:49.197Z,1761535669.197 [DAT](INFO): Rx dataTimestamp_ set to:1761535669.196333 2025-10-27T03:27:49.200Z,1761535669.200 [DAT](INFO): DAT read: Bearing 40.8, 20.2 (Local) 2025-10-27T03:27:49.202Z,1761535669.202 [DAT](INFO): Local bearing/azimuth received: Bearing 40.8, 20.2 (Local) 2025-10-27T03:27:49.204Z,1761535669.204 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.436386 2025-10-27T03:27:49.446Z,1761535669.446 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.2 2025-10-27T03:27:49.450Z,1761535669.450 [DAT](INFO): DAT read: 03:27:50.3735 LVL= 25968, 21601, 31538, 32755, AGC= 63, IDX= 511,-0.04, 0.866, 2.510, 0.429, 1.416, PHS=-0.448, 1.139,-1.031, RAW= 345.0, 3.5, CAL= 344.6, 0.9, ROT= 165.4, -0.9 2025-10-27T03:27:49.452Z,1761535669.452 [DAT](INFO): got valid direction response: 03:27:50.3735 LVL= 25968, 21601, 31538, 32755, AGC= 63, IDX= 511,-0.04, 0.866, 2.510, 0.429, 1.416, PHS=-0.448, 1.139,-1.031, RAW= 345.0, 3.5, CAL= 344.6, 0.9, ROT= 165.4, -0.9 2025-10-27T03:27:49.452Z,1761535669.452 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T03:27:49.453Z,1761535669.453 [DAT](INFO): direction in FSK: [-0.967590,0.252038,0.015707] 2025-10-27T03:27:49.453Z,1761535669.453 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:49.457Z,1761535669.457 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.690075 2025-10-27T03:27:49.487Z,1761535669.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456510,-0.889718,0.000634],[0.883923,0.453617,0.113629],[-0.101386,-0.051313,0.993523]] 2025-10-27T03:27:49.582Z,1761535669.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.504185 s, deltaX: 0.400000 m, approachRate: 0.793359 m/s, rangeRepo size: 4 2025-10-27T03:27:49.589Z,1761535669.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.188421 m, bearing: 227.982722 deg, lat: 36.779353 deg, lon: -121.859570 deg, deltaT: 0.504185 s, deltaX: 0.398363 m, approachRate: 0.790113 m/s, posRepo size: 4 2025-10-27T03:27:49.590Z,1761535669.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.19 m. 2025-10-27T03:27:49.701Z,1761535669.701 [DAT](INFO): DAT read: Rx Time:03:27:50.8735 2025-10-27T03:27:49.705Z,1761535669.705 [DAT](INFO): Rx dataTimestamp_ set to:1761535669.701550 2025-10-27T03:27:49.714Z,1761535669.714 [DAT](INFO): DAT read: Bearing 39.9, 20.1 (Local) 2025-10-27T03:27:49.716Z,1761535669.716 [DAT](INFO): Local bearing/azimuth received: Bearing 39.9, 20.1 (Local) 2025-10-27T03:27:49.722Z,1761535669.722 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.2 2025-10-27T03:27:49.737Z,1761535669.737 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T03:27:49.742Z,1761535669.742 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.974842 2025-10-27T03:27:49.870Z,1761535669.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460044,-0.887890,0.003289],[0.881445,0.457144,0.118636],[-0.106840,-0.051679,0.992932]] 2025-10-27T03:27:49.889Z,1761535669.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.258073 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:49.890Z,1761535669.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.19 m. 2025-10-27T03:27:49.953Z,1761535669.953 [DAT](INFO): DAT read: 03:27:50.8735 LVL= 26224, 23441, 32754, 32755, AGC= 62, IDX= 511,-0.12,-0.550, 1.101,-0.969, 0.022, PHS=-0.470, 1.123,-1.036, RAW= 344.6, 4.0, CAL= 344.2, 1.7, ROT= 165.8, -1.7 2025-10-27T03:27:49.954Z,1761535669.954 [DAT](INFO): got valid direction response: 03:27:50.8735 LVL= 26224, 23441, 32754, 32755, AGC= 62, IDX= 511,-0.12,-0.550, 1.101,-0.969, 0.022, PHS=-0.470, 1.123,-1.036, RAW= 344.6, 4.0, CAL= 344.2, 1.7, ROT= 165.8, -1.7 2025-10-27T03:27:49.954Z,1761535669.954 [DAT](INFO): #Rx 41: Read direction message, but no range. 2025-10-27T03:27:49.955Z,1761535669.955 [DAT](INFO): direction in FSK: [-0.969019,0.245199,0.029666] 2025-10-27T03:27:49.959Z,1761535669.959 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.191940 2025-10-27T03:27:50.201Z,1761535670.201 [DAT](INFO): DAT read: Rx Time:03:27:51.3736 2025-10-27T03:27:50.201Z,1761535670.201 [DAT](INFO): Rx dataTimestamp_ set to:1761535670.200801 2025-10-27T03:27:50.202Z,1761535670.202 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.3 2025-10-27T03:27:50.203Z,1761535670.203 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T03:27:50.204Z,1761535670.204 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.437160 2025-10-27T03:27:50.270Z,1761535670.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463048,-0.886311,0.006228],[0.879228,0.460213,0.123136],[-0.112003,-0.051542,0.992370]] 2025-10-27T03:27:50.365Z,1761535670.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.499251 s, deltaX: 0.200001 m, approachRate: 0.400602 m/s, rangeRepo size: 4 2025-10-27T03:27:50.381Z,1761535670.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.387547 m, bearing: 227.845438 deg, lat: 36.779351 deg, lon: -121.859570 deg, deltaT: 0.757324 s, deltaX: 0.199125 m, approachRate: 0.262933 m/s, posRepo size: 4 2025-10-27T03:27:50.387Z,1761535670.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.39 m. 2025-10-27T03:27:50.452Z,1761535670.452 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.685207 2025-10-27T03:27:50.709Z,1761535670.709 [DAT](INFO): DAT read: Rx Time:03:27:51.8736 2025-10-27T03:27:50.711Z,1761535670.711 [DAT](INFO): Rx dataTimestamp_ set to:1761535670.709304 2025-10-27T03:27:50.719Z,1761535670.719 [DAT](INFO): DAT read: Bearing 44.3, 21.2 (Local) 2025-10-27T03:27:50.721Z,1761535670.721 [DAT](INFO): Local bearing/azimuth received: Bearing 44.3, 21.2 (Local) 2025-10-27T03:27:50.752Z,1761535670.752 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.3 2025-10-27T03:27:50.769Z,1761535670.769 [DAT](INFO): DAT read: 03:27:51.8736 LVL= 32752, 26737, 32754, 32755, AGC= 64, IDX= 512,-0.26, 2.874,-1.668, 2.408,-2.941, PHS=-0.366, 1.318,-0.978, RAW= 344.9, 0.3, CAL= 344.5, -2.7, ROT= 165.5, 2.7 2025-10-27T03:27:50.770Z,1761535670.770 [DAT](INFO): got valid direction response: 03:27:51.8736 LVL= 32752, 26737, 32754, 32755, AGC= 64, IDX= 512,-0.26, 2.874,-1.668, 2.408,-2.941, PHS=-0.366, 1.318,-0.978, RAW= 344.9, 0.3, CAL= 344.5, -2.7, ROT= 165.5, 2.7 2025-10-27T03:27:50.771Z,1761535670.771 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T03:27:50.782Z,1761535670.782 [DAT](INFO): direction in FSK: [-0.967073,0.250102,-0.047106] 2025-10-27T03:27:50.782Z,1761535670.782 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:50.802Z,1761535670.802 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.034992 2025-10-27T03:27:50.802Z,1761535670.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467469,-0.883929,0.011924],[0.875578,0.464827,0.131525],[-0.121802,-0.051043,0.991241]] 2025-10-27T03:27:50.918Z,1761535670.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.508503 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:50.924Z,1761535670.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.387770 m, bearing: 227.556733 deg, lat: 36.779346 deg, lon: -121.859567 deg, deltaT: 0.508503 s, deltaX: 0.000223 m, approachRate: 0.000439 m/s, posRepo size: 4 2025-10-27T03:27:50.925Z,1761535670.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.39 m. 2025-10-27T03:27:50.956Z,1761535670.956 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.189390 2025-10-27T03:27:51.167Z,1761535671.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468985,-0.883089,0.014397],[0.874165,0.466449,0.135135],[-0.126052,-0.050791,0.990723]] 2025-10-27T03:27:51.189Z,1761535671.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.39 m. 2025-10-27T03:27:51.221Z,1761535671.221 [DAT](INFO): DAT read: Rx Time:03:27:52.3738 2025-10-27T03:27:51.222Z,1761535671.222 [DAT](INFO): Rx dataTimestamp_ set to:1761535671.221220 2025-10-27T03:27:51.226Z,1761535671.226 [DAT](INFO): DAT read: Bearing 41.3, 22.4 (Local) 2025-10-27T03:27:51.235Z,1761535671.235 [DAT](INFO): Local bearing/azimuth received: Bearing 41.3, 22.4 (Local) 2025-10-27T03:27:51.248Z,1761535671.248 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed -0.3 2025-10-27T03:27:51.261Z,1761535671.261 [DAT](INFO): DAT read: 03:27:52.3738 LVL= 25040, 15681, 26962, 29683, AGC= 66, IDX= 2,-0.12,-1.734,-0.114,-2.201,-1.224, PHS=-0.408, 1.155,-1.021, RAW= 345.9, 2.9, CAL= 345.4, -0.1, ROT= 164.6, 0.1 2025-10-27T03:27:51.262Z,1761535671.262 [DAT](INFO): got valid direction response: 03:27:52.3738 LVL= 25040, 15681, 26962, 29683, AGC= 66, IDX= 2,-0.12,-1.734,-0.114,-2.201,-1.224, PHS=-0.408, 1.155,-1.021, RAW= 345.9, 2.9, CAL= 345.4, -0.1, ROT= 164.6, 0.1 2025-10-27T03:27:51.262Z,1761535671.262 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T03:27:51.270Z,1761535671.270 [DAT](INFO): direction in FSK: [-0.964094,0.265556,-0.001745] 2025-10-27T03:27:51.271Z,1761535671.270 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:51.282Z,1761535671.282 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.515543 2025-10-27T03:27:51.460Z,1761535671.460 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.693153 2025-10-27T03:27:51.565Z,1761535671.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469974,-0.882529,0.016321],[0.873026,0.467481,0.138878],[-0.130194,-0.051021,0.990175]] 2025-10-27T03:27:51.633Z,1761535671.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.511916 s, deltaX: 0.299999 m, approachRate: 0.586032 m/s, rangeRepo size: 4 2025-10-27T03:27:51.635Z,1761535671.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.686544 m, bearing: 226.234833 deg, lat: 36.779346 deg, lon: -121.859565 deg, deltaT: 0.511916 s, deltaX: 0.298775 m, approachRate: 0.583640 m/s, posRepo size: 4 2025-10-27T03:27:51.636Z,1761535671.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.69 m. 2025-10-27T03:27:51.724Z,1761535671.724 [DAT](INFO): DAT read: Rx Time:03:27:52.8738 2025-10-27T03:27:51.726Z,1761535671.726 [DAT](INFO): Rx dataTimestamp_ set to:1761535671.724664 2025-10-27T03:27:51.730Z,1761535671.730 [DAT](INFO): DAT read: Bearing 36.3, 22.0 (Local) 2025-10-27T03:27:51.745Z,1761535671.745 [DAT](INFO): Local bearing/azimuth received: Bearing 36.3, 22.0 (Local) 2025-10-27T03:27:51.748Z,1761535671.748 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed -0.3 2025-10-27T03:27:51.760Z,1761535671.760 [DAT](INFO): DAT read: 03:27:52.8738 LVL= 32752, 28401, 32754, 32755, AGC= 66, IDX= 498,-0.05,-2.386,-0.788,-2.812,-1.782, PHS=-0.502, 1.039,-1.074, RAW= 345.2, 5.7, CAL= 344.9, 4.4, ROT= 165.1, -4.4 2025-10-27T03:27:51.762Z,1761535671.762 [DAT](INFO): got valid direction response: 03:27:52.8738 LVL= 32752, 28401, 32754, 32755, AGC= 66, IDX= 498,-0.05,-2.386,-0.788,-2.812,-1.782, PHS=-0.502, 1.039,-1.074, RAW= 345.2, 5.7, CAL= 344.9, 4.4, ROT= 165.1, -4.4 2025-10-27T03:27:51.762Z,1761535671.762 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T03:27:51.788Z,1761535671.788 [DAT](INFO): direction in FSK: [-0.963528,0.256375,0.076719] 2025-10-27T03:27:51.789Z,1761535671.789 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:51.793Z,1761535671.793 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.026455 2025-10-27T03:27:51.964Z,1761535671.964 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.197218 2025-10-27T03:27:52.014Z,1761535672.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.503444 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:52.016Z,1761535672.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.686602 m, bearing: 226.354872 deg, lat: 36.779345 deg, lon: -121.859564 deg, deltaT: 0.503444 s, deltaX: 0.000057 m, approachRate: 0.000114 m/s, posRepo size: 4 2025-10-27T03:27:52.017Z,1761535672.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.69 m. 2025-10-27T03:27:52.220Z,1761535672.220 [DAT](INFO): DAT read: Rx Time:03:27:53.3740 2025-10-27T03:27:52.221Z,1761535672.221 [DAT](INFO): Rx dataTimestamp_ set to:1761535672.220469 2025-10-27T03:27:52.225Z,1761535672.225 [DAT](INFO): DAT read: Bearing 41.0, 24.0 (Local) 2025-10-27T03:27:52.226Z,1761535672.226 [DAT](INFO): Local bearing/azimuth received: Bearing 41.0, 24.0 (Local) 2025-10-27T03:27:52.247Z,1761535672.247 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed -0.4 2025-10-27T03:27:52.253Z,1761535672.253 [DAT](INFO): DAT read: 03:27:53.3740 LVL= 30688, 23153, 32754, 32755, AGC= 64, IDX= 500, 0.15,-0.417, 1.173,-0.920, 0.067, PHS=-0.381, 1.151,-1.030, RAW= 346.8, 2.7, CAL= 346.4, -0.3, ROT= 163.6, 0.3 2025-10-27T03:27:52.254Z,1761535672.254 [DAT](INFO): got valid direction response: 03:27:53.3740 LVL= 30688, 23153, 32754, 32755, AGC= 64, IDX= 500, 0.15,-0.417, 1.173,-0.920, 0.067, PHS=-0.381, 1.151,-1.030, RAW= 346.8, 2.7, CAL= 346.4, -0.3, ROT= 163.6, 0.3 2025-10-27T03:27:52.254Z,1761535672.254 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T03:27:52.255Z,1761535672.255 [DAT](INFO): direction in FSK: [-0.959301,0.282337,-0.005236] 2025-10-27T03:27:52.256Z,1761535672.256 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:52.296Z,1761535672.296 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.528793 2025-10-27T03:27:52.410Z,1761535672.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469870,-0.882495,0.020595],[0.872040,0.467671,0.144325],[-0.136998,-0.049855,0.989316]] 2025-10-27T03:27:52.453Z,1761535672.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.495805 s, deltaX: 0.300001 m, approachRate: 0.605079 m/s, rangeRepo size: 4 2025-10-27T03:27:52.456Z,1761535672.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.985380 m, bearing: 225.213958 deg, lat: 36.779344 deg, lon: -121.859558 deg, deltaT: 0.495805 s, deltaX: 0.298779 m, approachRate: 0.602613 m/s, posRepo size: 4 2025-10-27T03:27:52.456Z,1761535672.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.99 m. 2025-10-27T03:27:52.468Z,1761535672.468 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.701292 2025-10-27T03:27:52.725Z,1761535672.725 [DAT](INFO): DAT read: Rx Time:03:27:53.8741 2025-10-27T03:27:52.726Z,1761535672.726 [DAT](INFO): Rx dataTimestamp_ set to:1761535672.725615 2025-10-27T03:27:52.730Z,1761535672.730 [DAT](INFO): DAT read: Bearing 37.2, 23.4 (Local) 2025-10-27T03:27:52.731Z,1761535672.731 [DAT](INFO): Local bearing/azimuth received: Bearing 37.2, 23.4 (Local) 2025-10-27T03:27:52.737Z,1761535672.737 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.3 2025-10-27T03:27:52.740Z,1761535672.740 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-27T03:27:52.751Z,1761535672.751 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.975576 2025-10-27T03:27:52.778Z,1761535672.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468874,-0.882978,0.022499],[0.872125,0.466843,0.146477],[-0.139840,-0.049058,0.988958]] 2025-10-27T03:27:52.867Z,1761535672.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.505146 s, deltaX: 0.100000 m, approachRate: 0.197963 m/s, rangeRepo size: 4 2025-10-27T03:27:52.868Z,1761535672.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.99 m. 2025-10-27T03:27:52.976Z,1761535672.976 [DAT](INFO): DAT read: 03:27:53.8741 LVL= 32752, 30961, 32754, 32755, AGC= 67, IDX= 500, 0.42,-1.522, 0.031,-1.971,-0.965, PHS=-0.455, 1.041,-1.050, RAW= 346.0, 5.0, CAL= 345.7, 3.3, ROT= 164.3, -3.3 2025-10-27T03:27:52.977Z,1761535672.977 [DAT](INFO): got valid direction response: 03:27:53.8741 LVL= 32752, 30961, 32754, 32755, AGC= 67, IDX= 500, 0.42,-1.522, 0.031,-1.971,-0.965, PHS=-0.455, 1.041,-1.050, RAW= 346.0, 5.0, CAL= 345.7, 3.3, ROT= 164.3, -3.3 2025-10-27T03:27:52.977Z,1761535672.977 [DAT](INFO): #Rx 48: Read direction message, but no range. 2025-10-27T03:27:52.978Z,1761535672.978 [DAT](INFO): direction in FSK: [-0.961095,0.270152,0.057564] 2025-10-27T03:27:52.981Z,1761535672.981 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.214699 2025-10-27T03:27:53.182Z,1761535673.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467580,-0.883632,0.023735],[0.872408,0.465633,0.148627],[-0.142383,-0.048788,0.988608]] 2025-10-27T03:27:53.228Z,1761535673.228 [DAT](INFO): DAT read: Rx Time:03:27:54.3743 2025-10-27T03:27:53.230Z,1761535673.230 [DAT](INFO): Rx dataTimestamp_ set to:1761535673.228857 2025-10-27T03:27:53.234Z,1761535673.234 [DAT](INFO): DAT read: Bearing 41.1, 24.3 (Local) 2025-10-27T03:27:53.235Z,1761535673.235 [DAT](INFO): Local bearing/azimuth received: Bearing 41.1, 24.3 (Local) 2025-10-27T03:27:53.241Z,1761535673.241 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.4 2025-10-27T03:27:53.244Z,1761535673.244 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-27T03:27:53.246Z,1761535673.246 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.479542 2025-10-27T03:27:53.284Z,1761535673.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503242 s, deltaX: 0.299999 m, approachRate: 0.596133 m/s, rangeRepo size: 4 2025-10-27T03:27:53.286Z,1761535673.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.383865 m, bearing: 225.716060 deg, lat: 36.779341 deg, lon: -121.859555 deg, deltaT: 1.008388 s, deltaX: 0.398485 m, approachRate: 0.395170 m/s, posRepo size: 4 2025-10-27T03:27:53.292Z,1761535673.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m. 2025-10-27T03:27:53.489Z,1761535673.489 [DAT](INFO): DAT read: 03:27:54.3743 LVL= 30256, 22769, 32754, 32755, AGC= 62, IDX= 503,-0.02, 1.986,-2.715, 1.500, 2.462, PHS=-0.374, 1.151,-1.006, RAW= 346.6, 2.4, CAL= 346.1, -0.6, ROT= 163.9, 0.6 2025-10-27T03:27:53.490Z,1761535673.490 [DAT](INFO): got valid direction response: 03:27:54.3743 LVL= 30256, 22769, 32754, 32755, AGC= 62, IDX= 503,-0.02, 1.986,-2.715, 1.500, 2.462, PHS=-0.374, 1.151,-1.006, RAW= 346.6, 2.4, CAL= 346.1, -0.6, ROT= 163.9, 0.6 2025-10-27T03:27:53.490Z,1761535673.490 [DAT](INFO): #Rx 50: Read direction message, but no range. 2025-10-27T03:27:53.491Z,1761535673.491 [DAT](INFO): direction in FSK: [-0.960726,0.277300,-0.010472] 2025-10-27T03:27:53.495Z,1761535673.495 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.727858 2025-10-27T03:27:53.596Z,1761535673.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466312,-0.884276,0.024685],[0.872725,0.464423,0.150542],[-0.144585,-0.048656,0.988295]] 2025-10-27T03:27:53.644Z,1761535673.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m. 2025-10-27T03:27:53.741Z,1761535673.741 [DAT](INFO): DAT read: Rx Time:03:27:54.8743 2025-10-27T03:27:53.742Z,1761535673.742 [DAT](INFO): Rx dataTimestamp_ set to:1761535673.741400 2025-10-27T03:27:53.746Z,1761535673.746 [DAT](INFO): DAT read: Bearing 38.5, 24.3 (Local) 2025-10-27T03:27:53.747Z,1761535673.747 [DAT](INFO): Local bearing/azimuth received: Bearing 38.5, 24.3 (Local) 2025-10-27T03:27:53.749Z,1761535673.749 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.4 2025-10-27T03:27:53.761Z,1761535673.761 [DAT](INFO): DAT read: 03:27:54.8743 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.18, 2.557,-2.196, 2.100, 3.073, PHS=-0.414, 1.059,-1.017, RAW= 346.4, 4.1, CAL= 346.0, 1.7, ROT= 164.0, -1.7 2025-10-27T03:27:53.762Z,1761535673.762 [DAT](INFO): got valid direction response: 03:27:54.8743 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.18, 2.557,-2.196, 2.100, 3.073, PHS=-0.414, 1.059,-1.017, RAW= 346.4, 4.1, CAL= 346.0, 1.7, ROT= 164.0, -1.7 2025-10-27T03:27:53.762Z,1761535673.762 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T03:27:53.763Z,1761535673.763 [DAT](INFO): direction in FSK: [-0.960839,0.275516,0.029666] 2025-10-27T03:27:53.763Z,1761535673.763 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:53.767Z,1761535673.767 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.000492 2025-10-27T03:27:53.988Z,1761535673.988 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.221132 2025-10-27T03:27:53.991Z,1761535673.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464569,-0.885161,0.025793],[0.873354,0.462798,0.151894],[-0.146387,-0.048039,0.988060]] 2025-10-27T03:27:54.020Z,1761535674.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.512543 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:54.022Z,1761535674.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.383936 m, bearing: 225.724073 deg, lat: 36.779340 deg, lon: -121.859554 deg, deltaT: 0.512543 s, deltaX: 0.000071 m, approachRate: 0.000138 m/s, posRepo size: 4 2025-10-27T03:27:54.023Z,1761535674.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m. 2025-10-27T03:27:54.245Z,1761535674.245 [DAT](INFO): DAT read: Rx Time:03:27:55.3745 2025-10-27T03:27:54.246Z,1761535674.246 [DAT](INFO): Rx dataTimestamp_ set to:1761535674.245765 2025-10-27T03:27:54.248Z,1761535674.248 [DAT](INFO): DAT read: Bearing 41.3, 25.2 (Local) 2025-10-27T03:27:54.248Z,1761535674.248 [DAT](INFO): Local bearing/azimuth received: Bearing 41.3, 25.2 (Local) 2025-10-27T03:27:54.250Z,1761535674.250 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed -0.3 2025-10-27T03:27:54.274Z,1761535674.274 [DAT](INFO): DAT read: 03:27:55.3745 LVL= 32752, 27633, 32754, 32755, AGC= 62, IDX= 504, 0.50, 2.125,-2.607, 1.625, 2.576, PHS=-0.350, 1.144,-0.996, RAW= 347.1, 2.1, CAL= 346.7, -0.8, ROT= 163.3, 0.8 2025-10-27T03:27:54.275Z,1761535674.275 [DAT](INFO): got valid direction response: 03:27:55.3745 LVL= 32752, 27633, 32754, 32755, AGC= 62, IDX= 504, 0.50, 2.125,-2.607, 1.625, 2.576, PHS=-0.350, 1.144,-0.996, RAW= 347.1, 2.1, CAL= 346.7, -0.8, ROT= 163.3, 0.8 2025-10-27T03:27:54.276Z,1761535674.276 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T03:27:54.277Z,1761535674.277 [DAT](INFO): direction in FSK: [-0.957729,0.287332,-0.013962] 2025-10-27T03:27:54.277Z,1761535674.277 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:54.305Z,1761535674.305 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.538063 2025-10-27T03:27:54.433Z,1761535674.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462996,-0.885948,0.027027],[0.873894,0.461368,0.153132],[-0.148136,-0.047281,0.987836]] 2025-10-27T03:27:54.492Z,1761535674.492 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.725515 2025-10-27T03:27:54.512Z,1761535674.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.504365 s, deltaX: 0.299999 m, approachRate: 0.594806 m/s, rangeRepo size: 4 2025-10-27T03:27:54.514Z,1761535674.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.682713 m, bearing: 225.332849 deg, lat: 36.779339 deg, lon: -121.859553 deg, deltaT: 0.504365 s, deltaX: 0.298777 m, approachRate: 0.592382 m/s, posRepo size: 4 2025-10-27T03:27:54.515Z,1761535674.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T03:27:54.748Z,1761535674.748 [DAT](INFO): DAT read: Rx Time:03:27:55.8745 2025-10-27T03:27:54.749Z,1761535674.749 [DAT](INFO): Rx dataTimestamp_ set to:1761535674.748337 2025-10-27T03:27:54.750Z,1761535674.750 [DAT](INFO): DAT read: Bearing 40.3, 25.0 (Local) 2025-10-27T03:27:54.750Z,1761535674.750 [DAT](INFO): Local bearing/azimuth received: Bearing 40.3, 25.0 (Local) 2025-10-27T03:27:54.752Z,1761535674.752 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed -0.3 2025-10-27T03:27:54.761Z,1761535674.761 [DAT](INFO): DAT read: 03:27:55.8745 LVL= 32528, 24481, 32754, 32755, AGC= 63, IDX= 505,-0.25, 0.255, 1.809,-0.227, 0.738, PHS=-0.381, 1.116,-1.009, RAW= 346.7, 2.9, CAL= 346.2, -0.0, ROT= 163.8, 0.0 2025-10-27T03:27:54.762Z,1761535674.762 [DAT](INFO): got valid direction response: 03:27:55.8745 LVL= 32528, 24481, 32754, 32755, AGC= 63, IDX= 505,-0.25, 0.255, 1.809,-0.227, 0.738, PHS=-0.381, 1.116,-1.009, RAW= 346.7, 2.9, CAL= 346.2, -0.0, ROT= 163.8, 0.0 2025-10-27T03:27:54.762Z,1761535674.762 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T03:27:54.764Z,1761535674.764 [DAT](INFO): direction in FSK: [-0.960294,0.278991,-0.000000] 2025-10-27T03:27:54.764Z,1761535674.764 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:54.768Z,1761535674.768 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.000984 2025-10-27T03:27:54.851Z,1761535674.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461103,-0.886942,0.026777],[0.874649,0.459385,0.154774],[-0.149577,-0.047946,0.987587]] 2025-10-27T03:27:54.903Z,1761535674.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.502572 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:54.905Z,1761535674.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.682709 m, bearing: 225.879047 deg, lat: 36.779338 deg, lon: -121.859551 deg, deltaT: 0.502572 s, deltaX: -0.000004 m, approachRate: -0.000008 m/s, posRepo size: 4 2025-10-27T03:27:54.906Z,1761535674.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m. 2025-10-27T03:27:55.001Z,1761535675.001 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.233925 2025-10-27T03:27:55.253Z,1761535675.253 [DAT](INFO): DAT read: Rx Time:03:27:56.3747 2025-10-27T03:27:55.253Z,1761535675.253 [DAT](INFO): Rx dataTimestamp_ set to:1761535675.252785 2025-10-27T03:27:55.254Z,1761535675.254 [DAT](INFO): DAT read: Bearing 39.1, 24.8 (Local) 2025-10-27T03:27:55.255Z,1761535675.255 [DAT](INFO): Local bearing/azimuth received: Bearing 39.1, 24.8 (Local) 2025-10-27T03:27:55.257Z,1761535675.257 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed -0.3 2025-10-27T03:27:55.262Z,1761535675.262 [DAT](INFO): DAT read: 03:27:56.3747 LVL= 32752, 24609, 32754, 32755, AGC= 63, IDX= 507,-0.16, 2.662,-2.089, 2.202,-3.120, PHS=-0.399, 1.075,-1.005, RAW= 346.5, 3.6, CAL= 346.0, 1.0, ROT= 164.0, -1.0 2025-10-27T03:27:55.263Z,1761535675.263 [DAT](INFO): got valid direction response: 03:27:56.3747 LVL= 32752, 24609, 32754, 32755, AGC= 63, IDX= 507,-0.16, 2.662,-2.089, 2.202,-3.120, PHS=-0.399, 1.075,-1.005, RAW= 346.5, 3.6, CAL= 346.0, 1.0, ROT= 164.0, -1.0 2025-10-27T03:27:55.264Z,1761535675.264 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T03:27:55.265Z,1761535675.265 [DAT](INFO): direction in FSK: [-0.961115,0.275595,0.017452] 2025-10-27T03:27:55.265Z,1761535675.265 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:55.270Z,1761535675.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459382,-0.887849,0.026302],[0.875333,0.457538,0.156372],[-0.150869,-0.048811,0.987348]] 2025-10-27T03:27:55.273Z,1761535675.273 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.505894 2025-10-27T03:27:55.360Z,1761535675.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.504448 s, deltaX: 0.300001 m, approachRate: 0.594712 m/s, rangeRepo size: 4 2025-10-27T03:27:55.362Z,1761535675.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.981487 m, bearing: 226.094960 deg, lat: 36.779338 deg, lon: -121.859551 deg, deltaT: 0.504448 s, deltaX: 0.298779 m, approachRate: 0.592288 m/s, posRepo size: 4 2025-10-27T03:27:55.362Z,1761535675.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.98 m. 2025-10-27T03:27:55.504Z,1761535675.504 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.737259 2025-10-27T03:27:55.643Z,1761535675.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457749,-0.888687,0.026476],[0.875993,0.455901,0.157451],[-0.151995,-0.048880,0.987172]] 2025-10-27T03:27:55.659Z,1761535675.659 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, -8.84, +33 -3.57, 20.00,291.29 2025-10-27T03:27:55.674Z,1761535675.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.98 m. 2025-10-27T03:27:55.757Z,1761535675.757 [DAT](INFO): DAT read: Rx Time:03:27:56.8747 2025-10-27T03:27:55.757Z,1761535675.757 [DAT](INFO): Rx dataTimestamp_ set to:1761535675.756824 2025-10-27T03:27:55.758Z,1761535675.758 [DAT](INFO): DAT read: Bearing 38.9, 25.3 (Local) 2025-10-27T03:27:55.759Z,1761535675.759 [DAT](INFO): Local bearing/azimuth received: Bearing 38.9, 25.3 (Local) 2025-10-27T03:27:55.761Z,1761535675.761 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed -0.3 2025-10-27T03:27:55.774Z,1761535675.774 [DAT](INFO): DAT read: 03:27:56.8747 LVL= 32752, 28193, 32754, 32755, AGC= 66, IDX= 507,-0.11,-3.134,-1.610, 2.676,-2.636, PHS=-0.395, 1.071,-1.015, RAW= 346.8, 3.7, CAL= 346.4, 1.2, ROT= 163.6, -1.2 2025-10-27T03:27:55.776Z,1761535675.776 [DAT](INFO): got valid direction response: 03:27:56.8747 LVL= 32752, 28193, 32754, 32755, AGC= 66, IDX= 507,-0.11,-3.134,-1.610, 2.676,-2.636, PHS=-0.395, 1.071,-1.015, RAW= 346.8, 3.7, CAL= 346.4, 1.2, ROT= 163.6, -1.2 2025-10-27T03:27:55.776Z,1761535675.776 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T03:27:55.778Z,1761535675.778 [DAT](INFO): direction in FSK: [-0.959104,0.282279,0.020942] 2025-10-27T03:27:55.778Z,1761535675.778 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:55.785Z,1761535675.785 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.018303 2025-10-27T03:27:56.008Z,1761535676.008 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.241169 2025-10-27T03:27:56.042Z,1761535676.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456501,-0.889297,0.027508],[0.876466,0.454802,0.157997],[-0.153017,-0.048016,0.987056]] 2025-10-27T03:27:56.101Z,1761535676.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.504039 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:56.103Z,1761535676.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.981474 m, bearing: 225.846540 deg, lat: 36.779338 deg, lon: -121.859551 deg, deltaT: 0.504039 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 2025-10-27T03:27:56.104Z,1761535676.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.98 m. 2025-10-27T03:27:56.261Z,1761535676.261 [DAT](INFO): DAT read: Rx Time:03:27:57.3749 2025-10-27T03:27:56.261Z,1761535676.261 [DAT](INFO): Rx dataTimestamp_ set to:1761535676.260790 2025-10-27T03:27:56.262Z,1761535676.262 [DAT](INFO): DAT read: Bearing 39.2, 25.4 (Local) 2025-10-27T03:27:56.263Z,1761535676.263 [DAT](INFO): Local bearing/azimuth received: Bearing 39.2, 25.4 (Local) 2025-10-27T03:27:56.265Z,1761535676.265 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed -0.3 2025-10-27T03:27:56.270Z,1761535676.270 [DAT](INFO): DAT read: 03:27:57.3749 LVL= 32752, 27409, 32754, 32755, AGC= 66, IDX= 509,-0.02,-0.504, 1.033,-0.982,-0.008, PHS=-0.394, 1.086,-1.018, RAW= 346.8, 3.5, CAL= 346.4, 0.9, ROT= 163.6, -0.9 2025-10-27T03:27:56.271Z,1761535676.271 [DAT](INFO): got valid direction response: 03:27:57.3749 LVL= 32752, 27409, 32754, 32755, AGC= 66, IDX= 509,-0.02,-0.504, 1.033,-0.982,-0.008, PHS=-0.394, 1.086,-1.018, RAW= 346.8, 3.5, CAL= 346.4, 0.9, ROT= 163.6, -0.9 2025-10-27T03:27:56.271Z,1761535676.271 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T03:27:56.272Z,1761535676.272 [DAT](INFO): direction in FSK: [-0.959196,0.282306,0.015707] 2025-10-27T03:27:56.272Z,1761535676.272 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:56.296Z,1761535676.296 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.529461 2025-10-27T03:27:56.484Z,1761535676.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455576,-0.889732,0.028763],[0.876765,0.454059,0.158475],[-0.154060,-0.046979,0.986944]] 2025-10-27T03:27:56.512Z,1761535676.512 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.745230 2025-10-27T03:27:56.537Z,1761535676.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.503966 s, deltaX: 0.299999 m, approachRate: 0.595277 m/s, rangeRepo size: 4 2025-10-27T03:27:56.539Z,1761535676.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.280251 m, bearing: 225.926313 deg, lat: 36.779338 deg, lon: -121.859551 deg, deltaT: 0.503966 s, deltaX: 0.298777 m, approachRate: 0.592851 m/s, posRepo size: 4 2025-10-27T03:27:56.539Z,1761535676.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.28 m. 2025-10-27T03:27:56.773Z,1761535676.773 [DAT](INFO): DAT read: Rx Time:03:27:57.8749 2025-10-27T03:27:56.774Z,1761535676.774 [DAT](INFO): Rx dataTimestamp_ set to:1761535676.773416 2025-10-27T03:27:56.775Z,1761535676.775 [DAT](INFO): DAT read: Bearing 38.7, 25.8 (Local) 2025-10-27T03:27:56.776Z,1761535676.776 [DAT](INFO): Local bearing/azimuth received: Bearing 38.7, 25.8 (Local) 2025-10-27T03:27:56.779Z,1761535676.779 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed -0.3 2025-10-27T03:27:56.790Z,1761535676.790 [DAT](INFO): DAT read: 03:27:57.8749 LVL= 32752, 30417, 32754, 32755, AGC= 67, IDX= 509, 0.09,-0.537, 0.973,-1.018,-0.045, PHS=-0.390, 1.063,-1.017, RAW= 347.1, 3.8, CAL= 346.7, 1.3, ROT= 163.3, -1.3 2025-10-27T03:27:56.792Z,1761535676.792 [DAT](INFO): got valid direction response: 03:27:57.8749 LVL= 32752, 30417, 32754, 32755, AGC= 67, IDX= 509, 0.09,-0.537, 0.973,-1.018,-0.045, PHS=-0.390, 1.063,-1.017, RAW= 347.1, 3.8, CAL= 346.7, 1.3, ROT= 163.3, -1.3 2025-10-27T03:27:56.792Z,1761535676.792 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T03:27:56.793Z,1761535676.793 [DAT](INFO): direction in FSK: [-0.957576,0.287287,0.022687] 2025-10-27T03:27:56.793Z,1761535676.793 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:56.797Z,1761535676.797 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.030289 2025-10-27T03:27:56.849Z,1761535676.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455301,-0.889844,0.029641],[0.876792,0.453911,0.158747],[-0.154714,-0.046288,0.986874]] 2025-10-27T03:27:56.933Z,1761535676.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.512626 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:56.939Z,1761535676.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.280222 m, bearing: 225.600540 deg, lat: 36.779338 deg, lon: -121.859549 deg, deltaT: 0.512626 s, deltaX: -0.000029 m, approachRate: -0.000056 m/s, posRepo size: 4 2025-10-27T03:27:56.943Z,1761535676.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.28 m. 2025-10-27T03:27:57.016Z,1761535677.016 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.249348 2025-10-27T03:27:57.269Z,1761535677.269 [DAT](INFO): DAT read: Rx Time:03:27:58.3750 2025-10-27T03:27:57.269Z,1761535677.269 [DAT](INFO): Rx dataTimestamp_ set to:1761535677.268692 2025-10-27T03:27:57.270Z,1761535677.270 [DAT](INFO): DAT read: Bearing 40.8, 26.3 (Local) 2025-10-27T03:27:57.271Z,1761535677.271 [DAT](INFO): Local bearing/azimuth received: Bearing 40.8, 26.3 (Local) 2025-10-27T03:27:57.273Z,1761535677.273 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed -0.3 2025-10-27T03:27:57.277Z,1761535677.277 [DAT](INFO): DAT read: 03:27:58.3750 LVL= 32752, 25377, 32754, 32755, AGC= 65, IDX= 511, 0.27, 0.460, 1.966,-0.036, 0.904, PHS=-0.342, 1.107,-0.985, RAW= 347.5, 2.4, CAL= 347.0, -0.6, ROT= 163.0, 0.6 2025-10-27T03:27:57.278Z,1761535677.278 [DAT](INFO): got valid direction response: 03:27:58.3750 LVL= 32752, 25377, 32754, 32755, AGC= 65, IDX= 511, 0.27, 0.460, 1.966,-0.036, 0.904, PHS=-0.342, 1.107,-0.985, RAW= 347.5, 2.4, CAL= 347.0, -0.6, ROT= 163.0, 0.6 2025-10-27T03:27:57.280Z,1761535677.280 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T03:27:57.285Z,1761535677.285 [DAT](INFO): direction in FSK: [-0.956252,0.292356,-0.010472] 2025-10-27T03:27:57.286Z,1761535677.286 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:57.318Z,1761535677.318 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.551275 2025-10-27T03:27:57.341Z,1761535677.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455718,-0.889623,0.029879],[0.876497,0.454340,0.159147],[-0.155156,-0.046337,0.986803]] 2025-10-27T03:27:57.405Z,1761535677.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.495276 s, deltaX: 0.300001 m, approachRate: 0.605725 m/s, rangeRepo size: 4 2025-10-27T03:27:57.412Z,1761535677.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.579000 m, bearing: 225.441405 deg, lat: 36.779337 deg, lon: -121.859547 deg, deltaT: 0.495276 s, deltaX: 0.298779 m, approachRate: 0.603257 m/s, posRepo size: 4 2025-10-27T03:27:57.413Z,1761535677.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.58 m. 2025-10-27T03:27:57.523Z,1761535677.523 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.756563 2025-10-27T03:27:57.762Z,1761535677.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456302,-0.889313,0.030179],[0.876042,0.454922,0.159990],[-0.156011,-0.046566,0.986657]] 2025-10-27T03:27:57.773Z,1761535677.773 [DAT](INFO): DAT read: Rx Time:03:27:58.8751 2025-10-27T03:27:57.773Z,1761535677.773 [DAT](INFO): Rx dataTimestamp_ set to:1761535677.772809 2025-10-27T03:27:57.774Z,1761535677.774 [DAT](INFO): DAT read: Bearing 7.6, 27.7 (Local) 2025-10-27T03:27:57.775Z,1761535677.775 [DAT](INFO): Local bearing/azimuth received: Bearing 7.6, 27.7 (Local) 2025-10-27T03:27:57.777Z,1761535677.777 [DAT](INFO): DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed -0.3 2025-10-27T03:27:57.782Z,1761535677.782 [DAT](INFO): DAT read: 03:27:58.8751 LVL= 32752, 28433, 32754, 32755, AGC= 65, IDX= 512,-0.36, 0.290, 1.320,-0.267, 1.073, PHS=-0.681, 0.292,-1.384, RAW= 354.7, 23.3, CAL= 354.4, 28.0, ROT= 155.6, -28.0 2025-10-27T03:27:57.783Z,1761535677.783 [DAT](INFO): got valid direction response: 03:27:58.8751 LVL= 32752, 28433, 32754, 32755, AGC= 65, IDX= 512,-0.36, 0.290, 1.320,-0.267, 1.073, PHS=-0.681, 0.292,-1.384, RAW= 354.7, 23.3, CAL= 354.4, 28.0, ROT= 155.6, -28.0 2025-10-27T03:27:57.783Z,1761535677.783 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T03:27:57.784Z,1761535677.784 [DAT](INFO): direction in FSK: [-0.804086,0.364750,0.469472] 2025-10-27T03:27:57.785Z,1761535677.785 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:57.796Z,1761535677.796 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.029688 2025-10-27T03:27:57.890Z,1761535677.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.504117 s, deltaX: 0.199999 m, approachRate: 0.396731 m/s, rangeRepo size: 4 2025-10-27T03:27:57.897Z,1761535677.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.778036 m, bearing: 214.384968 deg, lat: 36.779337 deg, lon: -121.859547 deg, deltaT: 0.504117 s, deltaX: 0.199036 m, approachRate: 0.394820 m/s, posRepo size: 4 2025-10-27T03:27:57.897Z,1761535677.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.78 m. 2025-10-27T03:27:58.025Z,1761535678.025 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.257736 2025-10-27T03:27:58.180Z,1761535678.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457133,-0.888875,0.030524],[0.875419,0.455743,0.161059],[-0.157072,-0.046904,0.986473]] 2025-10-27T03:27:58.254Z,1761535678.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.78 m. 2025-10-27T03:27:58.290Z,1761535678.290 [DAT](INFO): DAT read: Rx Time:03:27:59.3752 2025-10-27T03:27:58.290Z,1761535678.290 [DAT](INFO): Rx dataTimestamp_ set to:1761535678.290214 2025-10-27T03:27:58.292Z,1761535678.292 [DAT](INFO): DAT read: Bearing 39.5, 22.4 (Local) 2025-10-27T03:27:58.293Z,1761535678.293 [DAT](INFO): Local bearing/azimuth received: Bearing 39.5, 22.4 (Local) 2025-10-27T03:27:58.295Z,1761535678.295 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed -0.3 2025-10-27T03:27:58.299Z,1761535678.299 [DAT](INFO): DAT read: 03:27:59.3752 LVL= 32752, 24817, 32754, 32755, AGC= 63, IDX= 513,-0.04,-1.248, 0.666,-1.698,-0.601, PHS=-0.545, 1.312,-1.141, RAW= 343.5, 3.4, CAL= 343.0, 0.8, ROT= 167.0, -0.8 2025-10-27T03:27:58.301Z,1761535678.301 [DAT](INFO): got valid direction response: 03:27:59.3752 LVL= 32752, 24817, 32754, 32755, AGC= 63, IDX= 513,-0.04,-1.248, 0.666,-1.698,-0.601, PHS=-0.545, 1.312,-1.141, RAW= 343.5, 3.4, CAL= 343.0, 0.8, ROT= 167.0, -0.8 2025-10-27T03:27:58.301Z,1761535678.301 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T03:27:58.302Z,1761535678.302 [DAT](INFO): direction in FSK: [-0.974275,0.224929,0.013962] 2025-10-27T03:27:58.302Z,1761535678.302 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:58.314Z,1761535678.314 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.547573 2025-10-27T03:27:58.540Z,1761535678.540 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.773199 2025-10-27T03:27:58.581Z,1761535678.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458094,-0.888354,0.031238],[0.874723,0.456760,0.161958],[-0.158144,-0.046868,0.986303]] 2025-10-27T03:27:58.634Z,1761535678.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.517405 s, deltaX: 0.100000 m, approachRate: 0.193273 m/s, rangeRepo size: 4 2025-10-27T03:27:58.636Z,1761535678.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.877630 m, bearing: 229.168944 deg, lat: 36.779337 deg, lon: -121.859547 deg, deltaT: 0.517405 s, deltaX: 0.099594 m, approachRate: 0.192488 m/s, posRepo size: 4 2025-10-27T03:27:58.637Z,1761535678.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.88 m. 2025-10-27T03:27:58.793Z,1761535678.793 [DAT](INFO): DAT read: Rx Time:03:27:59.8752 2025-10-27T03:27:58.793Z,1761535678.793 [DAT](INFO): Rx dataTimestamp_ set to:1761535678.792750 2025-10-27T03:27:58.794Z,1761535678.794 [DAT](INFO): DAT read: Bearing 55.8, 30.6 (Local) 2025-10-27T03:27:58.798Z,1761535678.798 [DAT](INFO): Local bearing/azimuth received: Bearing 55.8, 30.6 (Local) 2025-10-27T03:27:58.801Z,1761535678.801 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed -0.4 2025-10-27T03:27:58.807Z,1761535678.807 [DAT](INFO): DAT read: 03:27:59.8752 LVL= 32752, 25025, 32754, 32755, AGC= 63, IDX= 513, 0.16,-1.181, 0.383,-1.930,-1.249, PHS= 0.170, 1.677,-0.725, RAW= 351.6, -10.7, CAL= 351.3, -13.7, ROT= 158.7, 13.7 2025-10-27T03:27:58.808Z,1761535678.808 [DAT](INFO): got valid direction response: 03:27:59.8752 LVL= 32752, 25025, 32754, 32755, AGC= 63, IDX= 513, 0.16,-1.181, 0.383,-1.930,-1.249, PHS= 0.170, 1.677,-0.725, RAW= 351.6, -10.7, CAL= 351.3, -13.7, ROT= 158.7, 13.7 2025-10-27T03:27:58.808Z,1761535678.808 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T03:27:58.809Z,1761535678.809 [DAT](INFO): direction in FSK: [-0.905184,0.352917,-0.236838] 2025-10-27T03:27:58.810Z,1761535678.810 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:58.813Z,1761535678.813 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.046543 2025-10-27T03:27:58.973Z,1761535678.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459125,-0.887772,0.032632],[0.873949,0.457958,0.162750],[-0.159429,-0.046204,0.986128]] 2025-10-27T03:27:59.008Z,1761535679.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.502536 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:59.010Z,1761535679.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.877615 m, bearing: 222.203145 deg, lat: 36.779336 deg, lon: -121.859546 deg, deltaT: 0.502536 s, deltaX: -0.000015 m, approachRate: -0.000030 m/s, posRepo size: 4 2025-10-27T03:27:59.011Z,1761535679.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.88 m. 2025-10-27T03:27:59.044Z,1761535679.044 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.277365 2025-10-27T03:27:59.297Z,1761535679.297 [DAT](INFO): DAT read: Rx Time:03:28:00.3754 2025-10-27T03:27:59.297Z,1761535679.297 [DAT](INFO): Rx dataTimestamp_ set to:1761535679.296722 2025-10-27T03:27:59.298Z,1761535679.298 [DAT](INFO): DAT read: Bearing 40.5, 26.2 (Local) 2025-10-27T03:27:59.299Z,1761535679.299 [DAT](INFO): Local bearing/azimuth received: Bearing 40.5, 26.2 (Local) 2025-10-27T03:27:59.301Z,1761535679.301 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.3 2025-10-27T03:27:59.305Z,1761535679.305 [DAT](INFO): DAT read: 03:28:00.3754 LVL= 32096, 32753, 32754, 32755, AGC= 66, IDX= 3, 0.14,-2.041,-0.560,-2.511,-1.591, PHS=-0.348, 1.077,-0.964, RAW= 347.1, 2.6, CAL= 346.6, -0.3, ROT= 163.4, 0.3 2025-10-27T03:27:59.306Z,1761535679.306 [DAT](INFO): got valid direction response: 03:28:00.3754 LVL= 32096, 32753, 32754, 32755, AGC= 66, IDX= 3, 0.14,-2.041,-0.560,-2.511,-1.591, PHS=-0.348, 1.077,-0.964, RAW= 347.1, 2.6, CAL= 346.6, -0.3, ROT= 163.4, 0.3 2025-10-27T03:27:59.307Z,1761535679.307 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T03:27:59.308Z,1761535679.308 [DAT](INFO): direction in FSK: [-0.958309,0.285685,-0.005236] 2025-10-27T03:27:59.308Z,1761535679.308 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:59.328Z,1761535679.328 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.561319 2025-10-27T03:27:59.378Z,1761535679.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459718,-0.887431,0.033554],[0.873449,0.458656,0.163469],[-0.160457,-0.045842,0.985978]] 2025-10-27T03:27:59.443Z,1761535679.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503972 s, deltaX: 0.299999 m, approachRate: 0.595270 m/s, rangeRepo size: 4 2025-10-27T03:27:59.445Z,1761535679.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.176390 m, bearing: 225.515493 deg, lat: 36.779334 deg, lon: -121.859547 deg, deltaT: 0.503972 s, deltaX: 0.298775 m, approachRate: 0.592840 m/s, posRepo size: 4 2025-10-27T03:27:59.446Z,1761535679.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.18 m. 2025-10-27T03:27:59.549Z,1761535679.549 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.781954 2025-10-27T03:27:59.783Z,1761535679.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460802,-0.886840,0.034311],[0.872660,0.459797,0.164474],[-0.161638,-0.045848,0.985784]] 2025-10-27T03:27:59.801Z,1761535679.801 [DAT](INFO): DAT read: Rx Time:03:28:00.8754 2025-10-27T03:27:59.801Z,1761535679.801 [DAT](INFO): Rx dataTimestamp_ set to:1761535679.800773 2025-10-27T03:27:59.802Z,1761535679.802 [DAT](INFO): DAT read: Bearing 40.1, 26.1 (Local) 2025-10-27T03:27:59.803Z,1761535679.803 [DAT](INFO): Local bearing/azimuth received: Bearing 40.1, 26.1 (Local) 2025-10-27T03:27:59.805Z,1761535679.805 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed -0.4 2025-10-27T03:27:59.810Z,1761535679.810 [DAT](INFO): DAT read: 03:28:00.8754 LVL= 32752, 28049, 32754, 32755, AGC= 66, IDX= 499, 0.17,-1.522,-0.030,-1.989,-1.056, PHS=-0.364, 1.071,-0.977, RAW= 347.0, 3.0, CAL= 346.5, 0.0, ROT= 163.5, -0.0 2025-10-27T03:27:59.811Z,1761535679.811 [DAT](INFO): got valid direction response: 03:28:00.8754 LVL= 32752, 28049, 32754, 32755, AGC= 66, IDX= 499, 0.17,-1.522,-0.030,-1.989,-1.056, PHS=-0.364, 1.071,-0.977, RAW= 347.0, 3.0, CAL= 346.5, 0.0, ROT= 163.5, -0.0 2025-10-27T03:27:59.811Z,1761535679.811 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T03:27:59.812Z,1761535679.812 [DAT](INFO): direction in FSK: [-0.958820,0.284015,0.000000] 2025-10-27T03:27:59.812Z,1761535679.812 [DAT](INFO): publishing direction and range info 2025-10-27T03:27:59.821Z,1761535679.821 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.053787 2025-10-27T03:27:59.910Z,1761535679.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:27:59.913Z,1761535679.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.176479 m, bearing: 225.508841 deg, lat: 36.779334 deg, lon: -121.859546 deg, deltaT: 0.504051 s, deltaX: 0.000090 m, approachRate: 0.000178 m/s, posRepo size: 4 2025-10-27T03:27:59.913Z,1761535679.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.18 m. 2025-10-27T03:28:00.052Z,1761535680.052 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.285378 2025-10-27T03:28:00.198Z,1761535680.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462005,-0.886199,0.034693],[0.871836,0.460995,0.165486],[-0.162646,-0.046209,0.985602]] 2025-10-27T03:28:00.269Z,1761535680.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.18 m. 2025-10-27T03:28:00.305Z,1761535680.305 [DAT](INFO): DAT read: Rx Time:03:28:01.3757 2025-10-27T03:28:00.305Z,1761535680.305 [DAT](INFO): Rx dataTimestamp_ set to:1761535680.304759 2025-10-27T03:28:00.306Z,1761535680.306 [DAT](INFO): DAT read: Bearing 39.4, 26.2 (Local) 2025-10-27T03:28:00.307Z,1761535680.307 [DAT](INFO): Local bearing/azimuth received: Bearing 39.4, 26.2 (Local) 2025-10-27T03:28:00.309Z,1761535680.309 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed -0.3 2025-10-27T03:28:00.313Z,1761535680.313 [DAT](INFO): DAT read: 03:28:01.3757 LVL= 32752, 26993, 32754, 32755, AGC= 65, IDX= 501, 0.31,-0.453, 1.045,-0.927, 0.026, PHS=-0.377, 1.064,-0.996, RAW= 347.0, 3.4, CAL= 346.6, 0.7, ROT= 163.4, -0.7 2025-10-27T03:28:00.315Z,1761535680.315 [DAT](INFO): got valid direction response: 03:28:01.3757 LVL= 32752, 26993, 32754, 32755, AGC= 65, IDX= 501, 0.31,-0.453, 1.045,-0.927, 0.026, PHS=-0.377, 1.064,-0.996, RAW= 347.0, 3.4, CAL= 346.6, 0.7, ROT= 163.4, -0.7 2025-10-27T03:28:00.315Z,1761535680.315 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T03:28:00.316Z,1761535680.316 [DAT](INFO): direction in FSK: [-0.958251,0.285667,0.012217] 2025-10-27T03:28:00.316Z,1761535680.316 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:00.326Z,1761535680.326 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.559528 2025-10-27T03:28:00.557Z,1761535680.557 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.790222 2025-10-27T03:28:00.601Z,1761535680.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463372,-0.885472,0.035016],[0.870921,0.462343,0.166541],[-0.163656,-0.046675,0.985413]] 2025-10-27T03:28:00.662Z,1761535680.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.503986 s, deltaX: 0.500000 m, approachRate: 0.992091 m/s, rangeRepo size: 4 2025-10-27T03:28:00.668Z,1761535680.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.674440 m, bearing: 225.159989 deg, lat: 36.779333 deg, lon: -121.859547 deg, deltaT: 0.503986 s, deltaX: 0.497961 m, approachRate: 0.988045 m/s, posRepo size: 4 2025-10-27T03:28:00.669Z,1761535680.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.67 m. 2025-10-27T03:28:00.810Z,1761535680.810 [DAT](INFO): DAT read: Rx Time:03:28:01.8757 2025-10-27T03:28:00.810Z,1761535680.810 [DAT](INFO): Rx dataTimestamp_ set to:1761535680.810071 2025-10-27T03:28:00.812Z,1761535680.812 [DAT](INFO): DAT read: Bearing 39.8, 26.6 (Local) 2025-10-27T03:28:00.812Z,1761535680.812 [DAT](INFO): Local bearing/azimuth received: Bearing 39.8, 26.6 (Local) 2025-10-27T03:28:00.814Z,1761535680.814 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed -0.3 2025-10-27T03:28:00.826Z,1761535680.826 [DAT](INFO): DAT read: 03:28:01.8757 LVL= 32752, 27985, 32754, 32755, AGC= 65, IDX= 501, 0.40,-2.149,-0.666,-2.635,-1.688, PHS=-0.359, 1.067,-0.991, RAW= 347.5, 3.1, CAL= 347.0, 0.2, ROT= 163.0, -0.2 2025-10-27T03:28:00.828Z,1761535680.828 [DAT](INFO): got valid direction response: 03:28:01.8757 LVL= 32752, 27985, 32754, 32755, AGC= 65, IDX= 501, 0.40,-2.149,-0.666,-2.635,-1.688, PHS=-0.359, 1.067,-0.991, RAW= 347.5, 3.1, CAL= 347.0, 0.2, ROT= 163.0, -0.2 2025-10-27T03:28:00.828Z,1761535680.828 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T03:28:00.829Z,1761535680.829 [DAT](INFO): direction in FSK: [-0.956299,0.292370,0.003491] 2025-10-27T03:28:00.830Z,1761535680.830 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:00.838Z,1761535680.838 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.070778 2025-10-27T03:28:00.997Z,1761535680.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463931,-0.885134,0.036134],[0.870495,0.463066,0.166760],[-0.164337,-0.045911,0.985335]] 2025-10-27T03:28:01.028Z,1761535681.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.505312 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:01.030Z,1761535681.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.674225 m, bearing: 224.761108 deg, lat: 36.779331 deg, lon: -121.859546 deg, deltaT: 0.505312 s, deltaX: -0.000216 m, approachRate: -0.000427 m/s, posRepo size: 4 2025-10-27T03:28:01.031Z,1761535681.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.67 m. 2025-10-27T03:28:01.061Z,1761535681.061 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.294460 2025-10-27T03:28:01.312Z,1761535681.312 [DAT](INFO): DAT read: Rx Time:03:28:02.3759 2025-10-27T03:28:01.313Z,1761535681.313 [DAT](INFO): Rx dataTimestamp_ set to:1761535681.312676 2025-10-27T03:28:01.314Z,1761535681.314 [DAT](INFO): DAT read: Bearing 39.3, 26.2 (Local) 2025-10-27T03:28:01.315Z,1761535681.315 [DAT](INFO): Local bearing/azimuth received: Bearing 39.3, 26.2 (Local) 2025-10-27T03:28:01.317Z,1761535681.317 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed -0.3 2025-10-27T03:28:01.321Z,1761535681.321 [DAT](INFO): DAT read: 03:28:02.3759 LVL= 32752, 26801, 32754, 32755, AGC= 65, IDX= 503, 0.34,-0.103, 1.399,-0.580, 0.378, PHS=-0.379, 1.066,-1.001, RAW= 347.1, 3.5, CAL= 346.6, 0.8, ROT= 163.4, -0.8 2025-10-27T03:28:01.322Z,1761535681.322 [DAT](INFO): got valid direction response: 03:28:02.3759 LVL= 32752, 26801, 32754, 32755, AGC= 65, IDX= 503, 0.34,-0.103, 1.399,-0.580, 0.378, PHS=-0.379, 1.066,-1.001, RAW= 347.1, 3.5, CAL= 346.6, 0.8, ROT= 163.4, -0.8 2025-10-27T03:28:01.323Z,1761535681.323 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T03:28:01.324Z,1761535681.324 [DAT](INFO): direction in FSK: [-0.958229,0.285661,0.013962] 2025-10-27T03:28:01.324Z,1761535681.324 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:01.348Z,1761535681.348 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.581245 2025-10-27T03:28:01.399Z,1761535681.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464404,-0.884838,0.037288],[0.870123,0.463714,0.166898],[-0.164968,-0.045063,0.985269]] 2025-10-27T03:28:01.451Z,1761535681.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.502605 s, deltaX: 0.300001 m, approachRate: 0.596892 m/s, rangeRepo size: 4 2025-10-27T03:28:01.453Z,1761535681.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.973001 m, bearing: 225.071180 deg, lat: 36.779331 deg, lon: -121.859547 deg, deltaT: 0.502605 s, deltaX: 0.298777 m, approachRate: 0.594456 m/s, posRepo size: 4 2025-10-27T03:28:01.454Z,1761535681.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.97 m. 2025-10-27T03:28:01.565Z,1761535681.565 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.798019 2025-10-27T03:28:01.816Z,1761535681.816 [DAT](INFO): DAT read: Rx Time:03:28:02.8758 2025-10-27T03:28:01.817Z,1761535681.817 [DAT](INFO): Rx dataTimestamp_ set to:1761535681.816538 2025-10-27T03:28:01.818Z,1761535681.818 [DAT](INFO): DAT read: Bearing 39.2, 26.3 (Local) 2025-10-27T03:28:01.818Z,1761535681.818 [DAT](INFO): Local bearing/azimuth received: Bearing 39.2, 26.3 (Local) 2025-10-27T03:28:01.821Z,1761535681.821 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed -0.3 2025-10-27T03:28:01.831Z,1761535681.831 [DAT](INFO): DAT read: 03:28:02.8758 LVL= 32752, 26353, 32754, 32755, AGC= 65, IDX= 503, 0.21,-0.639, 0.863,-1.118,-0.157, PHS=-0.380, 1.065,-1.005, RAW= 347.1, 3.5, CAL= 346.7, 0.9, ROT= 163.3, -0.9 2025-10-27T03:28:01.832Z,1761535681.832 [DAT](INFO): got valid direction response: 03:28:02.8758 LVL= 32752, 26353, 32754, 32755, AGC= 65, IDX= 503, 0.21,-0.639, 0.863,-1.118,-0.157, PHS=-0.380, 1.065,-1.005, RAW= 347.1, 3.5, CAL= 346.7, 0.9, ROT= 163.3, -0.9 2025-10-27T03:28:01.832Z,1761535681.832 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T03:28:01.833Z,1761535681.833 [DAT](INFO): direction in FSK: [-0.957704,0.287325,0.015707] 2025-10-27T03:28:01.833Z,1761535681.833 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:01.837Z,1761535681.837 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.070396 2025-10-27T03:28:01.970Z,1761535681.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.503862 s, deltaX: -0.200001 m, approachRate: -0.396936 m/s, rangeRepo size: 4 2025-10-27T03:28:01.976Z,1761535681.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.773422 m, bearing: 224.961042 deg, lat: 36.779331 deg, lon: -121.859546 deg, deltaT: 0.503862 s, deltaX: -0.199579 m, approachRate: -0.396099 m/s, posRepo size: 4 2025-10-27T03:28:01.977Z,1761535681.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m. 2025-10-27T03:28:02.069Z,1761535682.069 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.302414 2025-10-27T03:28:02.268Z,1761535682.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464919,-0.884530,0.038186],[0.869672,0.464341,0.167508],[-0.165897,-0.044668,0.985131]] 2025-10-27T03:28:02.286Z,1761535682.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m. 2025-10-27T03:28:02.321Z,1761535682.321 [DAT](INFO): DAT read: Rx Time:03:28:03.3759 2025-10-27T03:28:02.322Z,1761535682.322 [DAT](INFO): Rx dataTimestamp_ set to:1761535682.321223 2025-10-27T03:28:02.327Z,1761535682.327 [DAT](INFO): DAT read: Bearing 38.5, 26.4 (Local) 2025-10-27T03:28:02.328Z,1761535682.328 [DAT](INFO): Local bearing/azimuth received: Bearing 38.5, 26.4 (Local) 2025-10-27T03:28:02.330Z,1761535682.330 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed -0.2 2025-10-27T03:28:02.335Z,1761535682.335 [DAT](INFO): DAT read: 03:28:03.3759 LVL= 32752, 30369, 32754, 32755, AGC= 65, IDX= 504, 0.05,-0.338, 1.150,-0.817, 0.149, PHS=-0.385, 1.046,-1.009, RAW= 347.2, 3.9, CAL= 346.8, 1.4, ROT= 163.2, -1.4 2025-10-27T03:28:02.336Z,1761535682.336 [DAT](INFO): got valid direction response: 03:28:03.3759 LVL= 32752, 30369, 32754, 32755, AGC= 65, IDX= 504, 0.05,-0.338, 1.150,-0.817, 0.149, PHS=-0.385, 1.046,-1.009, RAW= 347.2, 3.9, CAL= 346.8, 1.4, ROT= 163.2, -1.4 2025-10-27T03:28:02.336Z,1761535682.336 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T03:28:02.337Z,1761535682.337 [DAT](INFO): direction in FSK: [-0.957034,0.288946,0.024432] 2025-10-27T03:28:02.337Z,1761535682.337 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:02.341Z,1761535682.341 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.574718 2025-10-27T03:28:02.578Z,1761535682.578 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.811131 2025-10-27T03:28:02.649Z,1761535682.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465446,-0.884300,0.037063],[0.869375,0.464641,0.168212],[-0.165971,-0.046072,0.985054]] 2025-10-27T03:28:02.764Z,1761535682.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.504685 s, deltaX: 0.200001 m, approachRate: 0.396288 m/s, rangeRepo size: 4 2025-10-27T03:28:02.766Z,1761535682.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.972603 m, bearing: 224.736847 deg, lat: 36.779331 deg, lon: -121.859545 deg, deltaT: 0.504685 s, deltaX: 0.199181 m, approachRate: 0.394663 m/s, posRepo size: 4 2025-10-27T03:28:02.771Z,1761535682.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.97 m. 2025-10-27T03:28:02.826Z,1761535682.826 [DAT](INFO): DAT read: Rx Time:03:28:03.8759 2025-10-27T03:28:02.826Z,1761535682.826 [DAT](INFO): Rx dataTimestamp_ set to:1761535682.826125 2025-10-27T03:28:02.834Z,1761535682.834 [DAT](INFO): DAT read: Bearing 38.7, 26.5 (Local) 2025-10-27T03:28:02.835Z,1761535682.835 [DAT](INFO): Local bearing/azimuth received: Bearing 38.7, 26.5 (Local) 2025-10-27T03:28:02.838Z,1761535682.838 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.0 2025-10-27T03:28:02.843Z,1761535682.843 [DAT](INFO): DAT read: 03:28:03.8759 LVL= 32752, 29169, 32754, 32755, AGC= 65, IDX= 504,-0.14,-2.840,-1.352, 2.959,-2.359, PHS=-0.379, 1.052,-1.009, RAW= 347.3, 3.7, CAL= 346.9, 1.2, ROT= 163.1, -1.2 2025-10-27T03:28:02.845Z,1761535682.845 [DAT](INFO): got valid direction response: 03:28:03.8759 LVL= 32752, 29169, 32754, 32755, AGC= 65, IDX= 504,-0.14,-2.840,-1.352, 2.959,-2.359, PHS=-0.379, 1.052,-1.009, RAW= 347.3, 3.7, CAL= 346.9, 1.2, ROT= 163.1, -1.2 2025-10-27T03:28:02.845Z,1761535682.845 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T03:28:02.846Z,1761535682.846 [DAT](INFO): direction in FSK: [-0.956604,0.290638,0.020942] 2025-10-27T03:28:02.846Z,1761535682.846 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:02.864Z,1761535682.864 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.092022 2025-10-27T03:28:03.057Z,1761535683.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466152,-0.883931,0.036986],[0.868922,0.465298,0.168736],[-0.166361,-0.046519,0.984967]] 2025-10-27T03:28:03.077Z,1761535683.077 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.310455 2025-10-27T03:28:03.124Z,1761535683.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.504902 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:03.132Z,1761535683.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.972639 m, bearing: 224.605346 deg, lat: 36.779331 deg, lon: -121.859545 deg, deltaT: 0.504902 s, deltaX: 0.000036 m, approachRate: 0.000072 m/s, posRepo size: 4 2025-10-27T03:28:03.133Z,1761535683.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.97 m. 2025-10-27T03:28:03.329Z,1761535683.329 [DAT](INFO): DAT read: Rx Time:03:28:04.3761 2025-10-27T03:28:03.329Z,1761535683.329 [DAT](INFO): Rx dataTimestamp_ set to:1761535683.329149 2025-10-27T03:28:03.331Z,1761535683.331 [DAT](INFO): DAT read: Bearing 41.1, 26.7 (Local) 2025-10-27T03:28:03.331Z,1761535683.331 [DAT](INFO): Local bearing/azimuth received: Bearing 41.1, 26.7 (Local) 2025-10-27T03:28:03.333Z,1761535683.333 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed -0.1 2025-10-27T03:28:03.338Z,1761535683.338 [DAT](INFO): DAT read: 03:28:04.3761 LVL= 32752, 25745, 32754, 32755, AGC= 65, IDX= 506,-0.39,-2.412,-0.916,-2.908,-1.985, PHS=-0.326, 1.113,-0.967, RAW= 347.5, 2.0, CAL= 347.1, -1.0, ROT= 162.9, 1.0 2025-10-27T03:28:03.339Z,1761535683.339 [DAT](INFO): got valid direction response: 03:28:04.3761 LVL= 32752, 25745, 32754, 32755, AGC= 65, IDX= 506,-0.39,-2.412,-0.916,-2.908,-1.985, PHS=-0.326, 1.113,-0.967, RAW= 347.5, 2.0, CAL= 347.1, -1.0, ROT= 162.9, 1.0 2025-10-27T03:28:03.339Z,1761535683.339 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T03:28:03.340Z,1761535683.340 [DAT](INFO): direction in FSK: [-0.955647,0.293996,-0.017452] 2025-10-27T03:28:03.341Z,1761535683.341 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:03.345Z,1761535683.345 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.578125 2025-10-27T03:28:03.581Z,1761535683.581 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.813824 2025-10-27T03:28:03.582Z,1761535683.582 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:28:03.589Z,1761535683.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503024 s, deltaX: 0.100000 m, approachRate: 0.198798 m/s, rangeRepo size: 4 2025-10-27T03:28:03.595Z,1761535683.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.072229 m, bearing: 224.613480 deg, lat: 36.779331 deg, lon: -121.859544 deg, deltaT: 0.503024 s, deltaX: 0.099590 m, approachRate: 0.197983 m/s, posRepo size: 4 2025-10-27T03:28:03.596Z,1761535683.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.07 m. 2025-10-27T03:28:03.832Z,1761535683.832 [DAT](INFO): DAT read: Rx Time:03:28:04.8760 2025-10-27T03:28:03.833Z,1761535683.833 [DAT](INFO): Rx dataTimestamp_ set to:1761535683.832668 2025-10-27T03:28:03.834Z,1761535683.834 [DAT](INFO): DAT read: Bearing 40.9, 27.3 (Local) 2025-10-27T03:28:03.835Z,1761535683.835 [DAT](INFO): Local bearing/azimuth received: Bearing 40.9, 27.3 (Local) 2025-10-27T03:28:03.837Z,1761535683.837 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.0 2025-10-27T03:28:03.841Z,1761535683.841 [DAT](INFO): DAT read: 03:28:04.8760 LVL= 32752, 28225, 32754, 32755, AGC= 66, IDX= 505, 0.14,-2.127,-0.654,-2.641,-1.712, PHS=-0.313, 1.104,-0.973, RAW= 348.1, 2.0, CAL= 347.7, -1.0, ROT= 162.3, 1.0 2025-10-27T03:28:03.842Z,1761535683.842 [DAT](INFO): got valid direction response: 03:28:04.8760 LVL= 32752, 28225, 32754, 32755, AGC= 66, IDX= 505, 0.14,-2.127,-0.654,-2.641,-1.712, PHS=-0.313, 1.104,-0.973, RAW= 348.1, 2.0, CAL= 347.7, -1.0, ROT= 162.3, 1.0 2025-10-27T03:28:03.843Z,1761535683.843 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T03:28:03.844Z,1761535683.844 [DAT](INFO): direction in FSK: [-0.952516,0.303987,-0.017452] 2025-10-27T03:28:03.844Z,1761535683.844 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:03.852Z,1761535683.852 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.085384 2025-10-27T03:28:03.920Z,1761535683.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466752,-0.883591,0.037532],[0.868523,0.465969,0.168938],[-0.166761,-0.046255,0.984912]] 2025-10-27T03:28:04.008Z,1761535684.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503519 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:04.010Z,1761535684.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.072401 m, bearing: 223.968068 deg, lat: 36.779331 deg, lon: -121.859544 deg, deltaT: 0.503519 s, deltaX: 0.000172 m, approachRate: 0.000341 m/s, posRepo size: 4 2025-10-27T03:28:04.011Z,1761535684.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.07 m. 2025-10-27T03:28:04.085Z,1761535684.085 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.317936 2025-10-27T03:28:04.280Z,1761535684.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466470,-0.883706,0.038339],[0.868678,0.465847,0.168478],[-0.166745,-0.045286,0.984959]] 2025-10-27T03:28:04.298Z,1761535684.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.07 m. 2025-10-27T03:28:04.337Z,1761535684.337 [DAT](INFO): DAT read: Rx Time:03:28:05.3762 2025-10-27T03:28:04.337Z,1761535684.337 [DAT](INFO): Rx dataTimestamp_ set to:1761535684.337011 2025-10-27T03:28:04.339Z,1761535684.339 [DAT](INFO): DAT read: Bearing 39.0, 26.2 (Local) 2025-10-27T03:28:04.339Z,1761535684.339 [DAT](INFO): Local bearing/azimuth received: Bearing 39.0, 26.2 (Local) 2025-10-27T03:28:04.341Z,1761535684.341 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed -0.2 2025-10-27T03:28:04.346Z,1761535684.346 [DAT](INFO): DAT read: 03:28:05.3762 LVL= 32752, 29809, 32754, 32755, AGC= 65, IDX= 507,-0.24,-1.358, 0.129,-1.831,-0.885, PHS=-0.372, 1.059,-0.991, RAW= 347.1, 3.4, CAL= 346.7, 0.6, ROT= 163.3, -0.6 2025-10-27T03:28:04.347Z,1761535684.347 [DAT](INFO): got valid direction response: 03:28:05.3762 LVL= 32752, 29809, 32754, 32755, AGC= 65, IDX= 507,-0.24,-1.358, 0.129,-1.831,-0.885, PHS=-0.372, 1.059,-0.991, RAW= 347.1, 3.4, CAL= 346.7, 0.6, ROT= 163.3, -0.6 2025-10-27T03:28:04.347Z,1761535684.347 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T03:28:04.348Z,1761535684.348 [DAT](INFO): direction in FSK: [-0.957770,0.287345,0.010472] 2025-10-27T03:28:04.348Z,1761535684.348 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:04.352Z,1761535684.352 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.585487 2025-10-27T03:28:04.584Z,1761535684.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:28:04.591Z,1761535684.591 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.823544 2025-10-27T03:28:04.677Z,1761535684.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466416,-0.883742,0.038163],[0.868797,0.465785,0.168038],[-0.166278,-0.045220,0.985041]] 2025-10-27T03:28:04.778Z,1761535684.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504343 s, deltaX: 0.199999 m, approachRate: 0.396553 m/s, rangeRepo size: 4 2025-10-27T03:28:04.781Z,1761535684.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.271582 m, bearing: 224.846132 deg, lat: 36.779331 deg, lon: -121.859543 deg, deltaT: 0.504343 s, deltaX: 0.199181 m, approachRate: 0.394931 m/s, posRepo size: 4 2025-10-27T03:28:04.781Z,1761535684.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.27 m. 2025-10-27T03:28:04.841Z,1761535684.841 [DAT](INFO): DAT read: Rx Time:03:28:05.8762 2025-10-27T03:28:04.841Z,1761535684.841 [DAT](INFO): Rx dataTimestamp_ set to:1761535684.840720 2025-10-27T03:28:04.842Z,1761535684.842 [DAT](INFO): DAT read: Bearing 40.1, 26.4 (Local) 2025-10-27T03:28:04.843Z,1761535684.843 [DAT](INFO): Local bearing/azimuth received: Bearing 40.1, 26.4 (Local) 2025-10-27T03:28:04.845Z,1761535684.845 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.0 2025-10-27T03:28:04.850Z,1761535684.850 [DAT](INFO): DAT read: 03:28:05.8762 LVL= 32752, 30129, 32754, 32755, AGC= 64, IDX= 507,-0.30, 0.918, 2.400, 0.439, 1.360, PHS=-0.340, 1.085,-0.965, RAW= 347.3, 2.5, CAL= 346.8, -0.5, ROT= 163.2, 0.5 2025-10-27T03:28:04.851Z,1761535684.851 [DAT](INFO): got valid direction response: 03:28:05.8762 LVL= 32752, 30129, 32754, 32755, AGC= 64, IDX= 507,-0.30, 0.918, 2.400, 0.439, 1.360, PHS=-0.340, 1.085,-0.965, RAW= 347.3, 2.5, CAL= 346.8, -0.5, ROT= 163.2, 0.5 2025-10-27T03:28:04.851Z,1761535684.851 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T03:28:04.852Z,1761535684.852 [DAT](INFO): direction in FSK: [-0.957283,0.289021,-0.008727] 2025-10-27T03:28:04.852Z,1761535684.852 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:04.856Z,1761535684.856 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.089428 2025-10-27T03:28:05.092Z,1761535685.092 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.325241 2025-10-27T03:28:05.100Z,1761535685.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466691,-0.883662,0.036609],[0.868743,0.465785,0.168317],[-0.165787,-0.046749,0.985053]] 2025-10-27T03:28:05.124Z,1761535685.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503709 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:05.151Z,1761535685.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.271370 m, bearing: 224.836733 deg, lat: 36.779331 deg, lon: -121.859543 deg, deltaT: 0.503709 s, deltaX: -0.000212 m, approachRate: -0.000420 m/s, posRepo size: 4 2025-10-27T03:28:05.151Z,1761535685.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.27 m. 2025-10-27T03:28:05.345Z,1761535685.345 [DAT](INFO): DAT read: Rx Time:03:28:06.3764 2025-10-27T03:28:05.345Z,1761535685.345 [DAT](INFO): Rx dataTimestamp_ set to:1761535685.344816 2025-10-27T03:28:05.346Z,1761535685.346 [DAT](INFO): DAT read: Bearing 40.3, 26.8 (Local) 2025-10-27T03:28:05.347Z,1761535685.347 [DAT](INFO): Local bearing/azimuth received: Bearing 40.3, 26.8 (Local) 2025-10-27T03:28:05.349Z,1761535685.349 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed -0.2 2025-10-27T03:28:05.357Z,1761535685.357 [DAT](INFO): DAT read: 03:28:06.3764 LVL= 32752, 26385, 32754, 32755, AGC= 63, IDX= 509,-0.48, 1.132, 2.612, 0.632, 1.554, PHS=-0.320, 1.102,-0.966, RAW= 347.8, 2.0, CAL= 347.3, -1.0, ROT= 162.7, 1.0 2025-10-27T03:28:05.358Z,1761535685.358 [DAT](INFO): got valid direction response: 03:28:06.3764 LVL= 32752, 26385, 32754, 32755, AGC= 63, IDX= 509,-0.48, 1.132, 2.612, 0.632, 1.554, PHS=-0.320, 1.102,-0.966, RAW= 347.8, 2.0, CAL= 347.3, -1.0, ROT= 162.7, 1.0 2025-10-27T03:28:05.359Z,1761535685.359 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T03:28:05.360Z,1761535685.360 [DAT](INFO): direction in FSK: [-0.954615,0.297330,-0.017452] 2025-10-27T03:28:05.360Z,1761535685.360 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:05.380Z,1761535685.380 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.613201 2025-10-27T03:28:05.501Z,1761535685.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466957,-0.883544,0.036079],[0.868650,0.465959,0.168315],[-0.165525,-0.047256,0.985073]] 2025-10-27T03:28:05.565Z,1761535685.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504096 s, deltaX: 0.300001 m, approachRate: 0.595127 m/s, rangeRepo size: 4 2025-10-27T03:28:05.594Z,1761535685.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.570141 m, bearing: 224.367839 deg, lat: 36.779330 deg, lon: -121.859543 deg, deltaT: 0.504096 s, deltaX: 0.298771 m, approachRate: 0.592687 m/s, posRepo size: 4 2025-10-27T03:28:05.599Z,1761535685.599 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.831478 2025-10-27T03:28:05.609Z,1761535685.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.57 m. 2025-10-27T03:28:05.848Z,1761535685.848 [DAT](INFO): DAT read: Rx Time:03:28:06.8763 2025-10-27T03:28:05.849Z,1761535685.849 [DAT](INFO): Rx dataTimestamp_ set to:1761535685.849023 2025-10-27T03:28:05.851Z,1761535685.851 [DAT](INFO): DAT read: Bearing 39.4, 26.9 (Local) 2025-10-27T03:28:05.852Z,1761535685.852 [DAT](INFO): Local bearing/azimuth received: Bearing 39.4, 26.9 (Local) 2025-10-27T03:28:05.854Z,1761535685.854 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.0 2025-10-27T03:28:05.861Z,1761535685.861 [DAT](INFO): DAT read: 03:28:06.8763 LVL= 32752, 29857, 32754, 32755, AGC= 64, IDX= 508, 0.24, 1.679,-3.133, 1.177, 2.117, PHS=-0.336, 1.078,-0.984, RAW= 347.9, 2.7, CAL= 347.4, -0.3, ROT= 162.6, 0.3 2025-10-27T03:28:05.862Z,1761535685.862 [DAT](INFO): got valid direction response: 03:28:06.8763 LVL= 32752, 29857, 32754, 32755, AGC= 64, IDX= 508, 0.24, 1.679,-3.133, 1.177, 2.117, PHS=-0.336, 1.078,-0.984, RAW= 347.9, 2.7, CAL= 347.4, -0.3, ROT= 162.6, 0.3 2025-10-27T03:28:05.862Z,1761535685.862 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T03:28:05.864Z,1761535685.864 [DAT](INFO): direction in FSK: [-0.954227,0.299037,-0.005236] 2025-10-27T03:28:05.864Z,1761535685.864 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:05.868Z,1761535685.868 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.101013 2025-10-27T03:28:06.001Z,1761535686.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466417,-0.883802,0.036732],[0.869055,0.465585,0.167252],[-0.164919,-0.046087,0.985230]] 2025-10-27T03:28:06.081Z,1761535686.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504207 s, deltaX: -0.200001 m, approachRate: -0.396664 m/s, rangeRepo size: 4 2025-10-27T03:28:06.087Z,1761535686.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.371094 m, bearing: 224.238108 deg, lat: 36.779330 deg, lon: -121.859543 deg, deltaT: 0.504207 s, deltaX: -0.199047 m, approachRate: -0.394773 m/s, posRepo size: 4 2025-10-27T03:28:06.088Z,1761535686.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.37 m. 2025-10-27T03:28:06.100Z,1761535686.100 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.333332 2025-10-27T03:28:06.352Z,1761535686.352 [DAT](INFO): DAT read: Rx Time:03:28:07.3764 2025-10-27T03:28:06.353Z,1761535686.353 [DAT](INFO): Rx dataTimestamp_ set to:1761535686.352656 2025-10-27T03:28:06.354Z,1761535686.354 [DAT](INFO): DAT read: Bearing 39.1, 26.5 (Local) 2025-10-27T03:28:06.355Z,1761535686.355 [DAT](INFO): Local bearing/azimuth received: Bearing 39.1, 26.5 (Local) 2025-10-27T03:28:06.357Z,1761535686.357 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed -0.2 2025-10-27T03:28:06.361Z,1761535686.361 [DAT](INFO): DAT read: 03:28:07.3764 LVL= 32752, 26225, 32754, 32755, AGC= 64, IDX= 509, 0.08, 1.146, 2.633, 0.653, 1.596, PHS=-0.347, 1.083,-0.987, RAW= 347.6, 2.8, CAL= 347.1, -0.2, ROT= 162.9, 0.2 2025-10-27T03:28:06.362Z,1761535686.362 [DAT](INFO): got valid direction response: 03:28:07.3764 LVL= 32752, 26225, 32754, 32755, AGC= 64, IDX= 509, 0.08, 1.146, 2.633, 0.653, 1.596, PHS=-0.347, 1.083,-0.987, RAW= 347.6, 2.8, CAL= 347.1, -0.2, ROT= 162.9, 0.2 2025-10-27T03:28:06.363Z,1761535686.363 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T03:28:06.364Z,1761535686.364 [DAT](INFO): direction in FSK: [-0.955787,0.294039,-0.003491] 2025-10-27T03:28:06.364Z,1761535686.364 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:06.368Z,1761535686.368 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.601566 2025-10-27T03:28:06.410Z,1761535686.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465910,-0.884045,0.037311],[0.869422,0.465224,0.166347],[-0.164416,-0.045063,0.985361]] 2025-10-27T03:28:06.463Z,1761535686.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503633 s, deltaX: 0.200001 m, approachRate: 0.397116 m/s, rangeRepo size: 4 2025-10-27T03:28:06.465Z,1761535686.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.570276 m, bearing: 224.565654 deg, lat: 36.779330 deg, lon: -121.859543 deg, deltaT: 0.503633 s, deltaX: 0.199183 m, approachRate: 0.395491 m/s, posRepo size: 4 2025-10-27T03:28:06.466Z,1761535686.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.57 m. 2025-10-27T03:28:06.608Z,1761535686.608 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.841053 2025-10-27T03:28:06.809Z,1761535686.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465540,-0.884227,0.037618],[0.869751,0.464954,0.165382],[-0.163726,-0.044274,0.985512]] 2025-10-27T03:28:06.857Z,1761535686.857 [DAT](INFO): DAT read: Rx Time:03:28:07.8764 2025-10-27T03:28:06.857Z,1761535686.857 [DAT](INFO): Rx dataTimestamp_ set to:1761535686.856934 2025-10-27T03:28:06.858Z,1761535686.858 [DAT](INFO): DAT read: Bearing 39.2, 26.5 (Local) 2025-10-27T03:28:06.859Z,1761535686.859 [DAT](INFO): Local bearing/azimuth received: Bearing 39.2, 26.5 (Local) 2025-10-27T03:28:06.861Z,1761535686.861 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed -0.3 2025-10-27T03:28:06.866Z,1761535686.866 [DAT](INFO): DAT read: 03:28:07.8764 LVL= 32752, 24657, 32754, 32755, AGC= 64, IDX= 509,-0.01,-0.715, 0.772,-1.210,-0.275, PHS=-0.338, 1.092,-0.979, RAW= 347.6, 2.5, CAL= 347.1, -0.5, ROT= 162.9, 0.5 2025-10-27T03:28:06.867Z,1761535686.867 [DAT](INFO): got valid direction response: 03:28:07.8764 LVL= 32752, 24657, 32754, 32755, AGC= 64, IDX= 509,-0.01,-0.715, 0.772,-1.210,-0.275, PHS=-0.338, 1.092,-0.979, RAW= 347.6, 2.5, CAL= 347.1, -0.5, ROT= 162.9, 0.5 2025-10-27T03:28:06.867Z,1761535686.867 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T03:28:06.868Z,1761535686.868 [DAT](INFO): direction in FSK: [-0.955757,0.294029,-0.008727] 2025-10-27T03:28:06.868Z,1761535686.868 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:06.896Z,1761535686.896 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.129555 2025-10-27T03:28:06.930Z,1761535686.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504278 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:06.945Z,1761535686.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.570343 m, bearing: 224.621538 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.504278 s, deltaX: 0.000067 m, approachRate: 0.000132 m/s, posRepo size: 4 2025-10-27T03:28:06.946Z,1761535686.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.57 m. 2025-10-27T03:28:07.108Z,1761535687.108 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.341270 2025-10-27T03:28:07.255Z,1761535687.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465350,-0.884344,0.037229],[0.870006,0.464737,0.164648],[-0.162907,-0.044229,0.985650]] 2025-10-27T03:28:07.284Z,1761535687.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.57 m. 2025-10-27T03:28:07.361Z,1761535687.361 [DAT](INFO): DAT read: Rx Time:03:28:08.3766 2025-10-27T03:28:07.361Z,1761535687.361 [DAT](INFO): Rx dataTimestamp_ set to:1761535687.360748 2025-10-27T03:28:07.363Z,1761535687.363 [DAT](INFO): DAT read: Bearing 39.2, 26.2 (Local) 2025-10-27T03:28:07.364Z,1761535687.364 [DAT](INFO): Local bearing/azimuth received: Bearing 39.2, 26.2 (Local) 2025-10-27T03:28:07.367Z,1761535687.367 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed -0.3 2025-10-27T03:28:07.373Z,1761535687.373 [DAT](INFO): DAT read: 03:28:08.3766 LVL= 32752, 24849, 32754, 32755, AGC= 63, IDX= 511,-0.05,-0.382, 1.110,-0.866, 0.058, PHS=-0.338, 1.096,-0.968, RAW= 347.3, 2.3, CAL= 346.9, -0.7, ROT= 163.1, 0.7 2025-10-27T03:28:07.374Z,1761535687.374 [DAT](INFO): got valid direction response: 03:28:08.3766 LVL= 32752, 24849, 32754, 32755, AGC= 63, IDX= 511,-0.05,-0.382, 1.110,-0.866, 0.058, PHS=-0.338, 1.096,-0.968, RAW= 347.3, 2.3, CAL= 346.9, -0.7, ROT= 163.1, 0.7 2025-10-27T03:28:07.375Z,1761535687.375 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T03:28:07.388Z,1761535687.388 [DAT](INFO): direction in FSK: [-0.956742,0.290681,-0.012217] 2025-10-27T03:28:07.388Z,1761535687.388 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:07.394Z,1761535687.394 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.626980 2025-10-27T03:28:07.614Z,1761535687.614 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.846603 2025-10-27T03:28:07.650Z,1761535687.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464967,-0.884564,0.036767],[0.870356,0.464315,0.163986],[-0.162128,-0.044248,0.985777]] 2025-10-27T03:28:07.736Z,1761535687.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.503814 s, deltaX: 0.299999 m, approachRate: 0.595456 m/s, rangeRepo size: 4 2025-10-27T03:28:07.751Z,1761535687.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.869114 m, bearing: 224.890252 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.503814 s, deltaX: 0.298771 m, approachRate: 0.593018 m/s, posRepo size: 4 2025-10-27T03:28:07.752Z,1761535687.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.87 m. 2025-10-27T03:28:07.865Z,1761535687.865 [DAT](INFO): DAT read: Rx Time:03:28:08.8766 2025-10-27T03:28:07.866Z,1761535687.866 [DAT](INFO): Rx dataTimestamp_ set to:1761535687.865668 2025-10-27T03:28:07.868Z,1761535687.868 [DAT](INFO): DAT read: Bearing 38.1, 25.8 (Local) 2025-10-27T03:28:07.869Z,1761535687.869 [DAT](INFO): Local bearing/azimuth received: Bearing 38.1, 25.8 (Local) 2025-10-27T03:28:07.872Z,1761535687.872 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed -0.3 2025-10-27T03:28:07.877Z,1761535687.877 [DAT](INFO): DAT read: 03:28:08.8766 LVL= 32752, 25585, 32754, 32755, AGC= 64, IDX= 511,-0.06,-1.934,-0.434,-2.409,-1.466, PHS=-0.366, 1.077,-0.987, RAW= 347.1, 3.0, CAL= 346.6, 0.1, ROT= 163.4, -0.1 2025-10-27T03:28:07.878Z,1761535687.878 [DAT](INFO): got valid direction response: 03:28:08.8766 LVL= 32752, 25585, 32754, 32755, AGC= 64, IDX= 511,-0.06,-1.934,-0.434,-2.409,-1.466, PHS=-0.366, 1.077,-0.987, RAW= 347.1, 3.0, CAL= 346.6, 0.1, ROT= 163.4, -0.1 2025-10-27T03:28:07.878Z,1761535687.878 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T03:28:07.880Z,1761535687.880 [DAT](INFO): direction in FSK: [-0.958321,0.285688,0.001745] 2025-10-27T03:28:07.880Z,1761535687.880 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:07.888Z,1761535687.888 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.121407 2025-10-27T03:28:08.021Z,1761535688.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464805,-0.884675,0.036148],[0.870580,0.464079,0.163467],[-0.161391,-0.044510,0.985886]] 2025-10-27T03:28:08.081Z,1761535688.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.504920 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:08.087Z,1761535688.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.869120 m, bearing: 225.135790 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.504920 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 2025-10-27T03:28:08.088Z,1761535688.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.87 m. 2025-10-27T03:28:08.119Z,1761535688.119 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.351730 2025-10-27T03:28:08.369Z,1761535688.369 [DAT](INFO): DAT read: Rx Time:03:28:09.3768 2025-10-27T03:28:08.369Z,1761535688.369 [DAT](INFO): Rx dataTimestamp_ set to:1761535688.368740 2025-10-27T03:28:08.370Z,1761535688.370 [DAT](INFO): DAT read: Bearing 41.1, 33.7 (Local) 2025-10-27T03:28:08.371Z,1761535688.371 [DAT](INFO): Local bearing/azimuth received: Bearing 41.1, 33.7 (Local) 2025-10-27T03:28:08.373Z,1761535688.373 [DAT](INFO): DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed -0.2 2025-10-27T03:28:08.377Z,1761535688.377 [DAT](INFO): DAT read: 03:28:09.3768 LVL= 32752, 28177, 32754, 32755, AGC= 64, IDX= 513,-0.00,-2.815,-1.509, 2.707,-2.601, PHS=-0.112, 1.137,-1.019, RAW= 354.8, -0.1, CAL= 354.4, -3.0, ROT= 155.6, 3.0 2025-10-27T03:28:08.378Z,1761535688.378 [DAT](INFO): got valid direction response: 03:28:09.3768 LVL= 32752, 28177, 32754, 32755, AGC= 64, IDX= 513,-0.00,-2.815,-1.509, 2.707,-2.601, PHS=-0.112, 1.137,-1.019, RAW= 354.8, -0.1, CAL= 354.4, -3.0, ROT= 155.6, 3.0 2025-10-27T03:28:08.379Z,1761535688.379 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T03:28:08.380Z,1761535688.380 [DAT](INFO): direction in FSK: [-0.909436,0.412538,-0.052336] 2025-10-27T03:28:08.380Z,1761535688.380 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:08.389Z,1761535688.389 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.622601 2025-10-27T03:28:08.450Z,1761535688.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464579,-0.884829,0.035277],[0.870861,0.463741,0.162926],[-0.160521,-0.044971,0.986007]] 2025-10-27T03:28:08.509Z,1761535688.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.503072 s, deltaX: 0.299999 m, approachRate: 0.596335 m/s, rangeRepo size: 4 2025-10-27T03:28:08.515Z,1761535688.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.167892 m, bearing: 217.659449 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.503072 s, deltaX: 0.298773 m, approachRate: 0.593897 m/s, posRepo size: 4 2025-10-27T03:28:08.516Z,1761535688.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.17 m. 2025-10-27T03:28:08.625Z,1761535688.625 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.857601 2025-10-27T03:28:08.830Z,1761535688.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464025,-0.885150,0.034505],[0.871329,0.463104,0.162235],[-0.159582,-0.045217,0.986149]] 2025-10-27T03:28:08.873Z,1761535688.873 [DAT](INFO): DAT read: Rx Time:03:28:09.8768 2025-10-27T03:28:08.873Z,1761535688.873 [DAT](INFO): Rx dataTimestamp_ set to:1761535688.872765 2025-10-27T03:28:08.874Z,1761535688.874 [DAT](INFO): DAT read: Bearing 40.7, 25.6 (Local) 2025-10-27T03:28:08.875Z,1761535688.875 [DAT](INFO): Local bearing/azimuth received: Bearing 40.7, 25.6 (Local) 2025-10-27T03:28:08.877Z,1761535688.877 [DAT](INFO): DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed -0.3 2025-10-27T03:28:08.881Z,1761535688.881 [DAT](INFO): DAT read: 03:28:09.8768 LVL= 32752, 26849, 32754, 32755, AGC= 64, IDX= 513, 0.02, 2.582,-2.348, 2.182, 2.946, PHS=-0.261, 1.034,-0.807, RAW= 346.8, 0.4, CAL= 346.3, -2.6, ROT= 163.7, 2.6 2025-10-27T03:28:08.883Z,1761535688.883 [DAT](INFO): got valid direction response: 03:28:09.8768 LVL= 32752, 26849, 32754, 32755, AGC= 64, IDX= 513, 0.02, 2.582,-2.348, 2.182, 2.946, PHS=-0.261, 1.034,-0.807, RAW= 346.8, 0.4, CAL= 346.3, -2.6, ROT= 163.7, 2.6 2025-10-27T03:28:08.883Z,1761535688.883 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T03:28:08.884Z,1761535688.884 [DAT](INFO): direction in FSK: [-0.958817,0.280378,-0.045363] 2025-10-27T03:28:08.884Z,1761535688.884 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:08.894Z,1761535688.894 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.126762 2025-10-27T03:28:08.999Z,1761535688.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:09.001Z,1761535689.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.167759 m, bearing: 225.744971 deg, lat: 36.779331 deg, lon: -121.859541 deg, deltaT: 0.504025 s, deltaX: -0.000134 m, approachRate: -0.000265 m/s, posRepo size: 4 2025-10-27T03:28:09.002Z,1761535689.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.17 m. 2025-10-27T03:28:09.124Z,1761535689.124 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.357357 2025-10-27T03:28:09.268Z,1761535689.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462927,-0.885745,0.033970],[0.872113,0.461985,0.161209],[-0.158483,-0.045002,0.986336]] 2025-10-27T03:28:09.290Z,1761535689.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.17 m. 2025-10-27T03:28:09.377Z,1761535689.377 [DAT](INFO): DAT read: Rx Time:03:28:10.3769 2025-10-27T03:28:09.378Z,1761535689.378 [DAT](INFO): Rx dataTimestamp_ set to:1761535689.377434 2025-10-27T03:28:09.380Z,1761535689.380 [DAT](INFO): DAT read: Bearing 38.2, 25.9 (Local) 2025-10-27T03:28:09.380Z,1761535689.380 [DAT](INFO): Local bearing/azimuth received: Bearing 38.2, 25.9 (Local) 2025-10-27T03:28:09.383Z,1761535689.383 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed -0.3 2025-10-27T03:28:09.388Z,1761535689.388 [DAT](INFO): DAT read: 03:28:10.3769 LVL= 32752, 28241, 32754, 32755, AGC= 67, IDX= 2, 0.04,-0.593, 0.890,-1.069,-0.150, PHS=-0.342, 1.084,-0.964, RAW= 347.2, 2.5, CAL= 346.8, -0.5, ROT= 163.2, 0.5 2025-10-27T03:28:09.389Z,1761535689.389 [DAT](INFO): got valid direction response: 03:28:10.3769 LVL= 32752, 28241, 32754, 32755, AGC= 67, IDX= 2, 0.04,-0.593, 0.890,-1.069,-0.150, PHS=-0.342, 1.084,-0.964, RAW= 347.2, 2.5, CAL= 346.8, -0.5, ROT= 163.2, 0.5 2025-10-27T03:28:09.389Z,1761535689.389 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T03:28:09.390Z,1761535689.390 [DAT](INFO): direction in FSK: [-0.957283,0.289021,-0.008727] 2025-10-27T03:28:09.391Z,1761535689.391 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:09.395Z,1761535689.395 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.628021 2025-10-27T03:28:09.633Z,1761535689.633 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.863289 2025-10-27T03:28:09.710Z,1761535689.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461568,-0.886454,0.033969],[0.873010,0.460700,0.160026],[-0.157505,-0.044208,0.986528]] 2025-10-27T03:28:09.806Z,1761535689.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.504669 s, deltaX: 0.100002 m, approachRate: 0.198154 m/s, rangeRepo size: 4 2025-10-27T03:28:09.812Z,1761535689.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.267349 m, bearing: 225.229235 deg, lat: 36.779330 deg, lon: -121.859541 deg, deltaT: 0.504669 s, deltaX: 0.099590 m, approachRate: 0.197338 m/s, posRepo size: 4 2025-10-27T03:28:09.813Z,1761535689.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.27 m. 2025-10-27T03:28:09.882Z,1761535689.882 [DAT](INFO): DAT read: Rx Time:03:28:10.8769 2025-10-27T03:28:09.882Z,1761535689.882 [DAT](INFO): Rx dataTimestamp_ set to:1761535689.881925 2025-10-27T03:28:09.885Z,1761535689.885 [DAT](INFO): DAT read: Bearing 38.0, 25.9 (Local) 2025-10-27T03:28:09.885Z,1761535689.885 [DAT](INFO): Local bearing/azimuth received: Bearing 38.0, 25.9 (Local) 2025-10-27T03:28:09.889Z,1761535689.889 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed -0.3 2025-10-27T03:28:09.901Z,1761535689.901 [DAT](INFO): DAT read: 03:28:10.8769 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498, 0.06,-1.034, 0.452,-1.513,-0.587, PHS=-0.344, 1.085,-0.970, RAW= 347.3, 2.5, CAL= 346.8, -0.4, ROT= 163.2, 0.4 2025-10-27T03:28:09.902Z,1761535689.902 [DAT](INFO): got valid direction response: 03:28:10.8769 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498, 0.06,-1.034, 0.452,-1.513,-0.587, PHS=-0.344, 1.085,-0.970, RAW= 347.3, 2.5, CAL= 346.8, -0.4, ROT= 163.2, 0.4 2025-10-27T03:28:09.912Z,1761535689.912 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T03:28:09.913Z,1761535689.913 [DAT](INFO): direction in FSK: [-0.957296,0.289025,-0.006981] 2025-10-27T03:28:09.913Z,1761535689.913 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:09.922Z,1761535689.922 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.155415 2025-10-27T03:28:10.092Z,1761535690.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460339,-0.887106,0.033635],[0.873865,0.459490,0.158838],[-0.156362,-0.043727,0.986731]] 2025-10-27T03:28:10.115Z,1761535690.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.504491 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:10.117Z,1761535690.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.267838 m, bearing: 225.308146 deg, lat: 36.779331 deg, lon: -121.859539 deg, deltaT: 0.504491 s, deltaX: 0.000488 m, approachRate: 0.000968 m/s, posRepo size: 4 2025-10-27T03:28:10.118Z,1761535690.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.27 m. 2025-10-27T03:28:10.132Z,1761535690.132 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.365059 2025-10-27T03:28:10.385Z,1761535690.385 [DAT](INFO): DAT read: Rx Time:03:28:11.3771 2025-10-27T03:28:10.385Z,1761535690.385 [DAT](INFO): Rx dataTimestamp_ set to:1761535690.384715 2025-10-27T03:28:10.386Z,1761535690.386 [DAT](INFO): DAT read: Bearing 37.8, 25.9 (Local) 2025-10-27T03:28:10.387Z,1761535690.387 [DAT](INFO): Local bearing/azimuth received: Bearing 37.8, 25.9 (Local) 2025-10-27T03:28:10.389Z,1761535690.389 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed -0.3 2025-10-27T03:28:10.394Z,1761535690.394 [DAT](INFO): DAT read: 03:28:11.3771 LVL= 32752, 28609, 32754, 32755, AGC= 66, IDX= 500, 0.06, 0.367, 1.844,-0.113, 0.809, PHS=-0.340, 1.080,-0.966, RAW= 347.4, 2.5, CAL= 346.9, -0.5, ROT= 163.1, 0.5 2025-10-27T03:28:10.395Z,1761535690.395 [DAT](INFO): got valid direction response: 03:28:11.3771 LVL= 32752, 28609, 32754, 32755, AGC= 66, IDX= 500, 0.06, 0.367, 1.844,-0.113, 0.809, PHS=-0.340, 1.080,-0.966, RAW= 347.4, 2.5, CAL= 346.9, -0.5, ROT= 163.1, 0.5 2025-10-27T03:28:10.396Z,1761535690.396 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T03:28:10.397Z,1761535690.397 [DAT](INFO): direction in FSK: [-0.956777,0.290691,-0.008727] 2025-10-27T03:28:10.397Z,1761535690.397 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:10.401Z,1761535690.401 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.633801 2025-10-27T03:28:10.622Z,1761535690.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.502790 s, deltaX: 0.299999 m, approachRate: 0.596669 m/s, rangeRepo size: 4 2025-10-27T03:28:10.628Z,1761535690.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.566612 m, bearing: 225.216565 deg, lat: 36.779330 deg, lon: -121.859539 deg, deltaT: 0.502790 s, deltaX: 0.298775 m, approachRate: 0.594234 m/s, posRepo size: 4 2025-10-27T03:28:10.629Z,1761535690.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.57 m. 2025-10-27T03:28:10.639Z,1761535690.639 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.871754 2025-10-27T03:28:10.888Z,1761535690.888 [DAT](INFO): DAT read: Rx Time:03:28:11.8771 2025-10-27T03:28:10.889Z,1761535690.889 [DAT](INFO): Rx dataTimestamp_ set to:1761535690.888678 2025-10-27T03:28:10.890Z,1761535690.890 [DAT](INFO): DAT read: Bearing 37.7, 25.9 (Local) 2025-10-27T03:28:10.891Z,1761535690.891 [DAT](INFO): Local bearing/azimuth received: Bearing 37.7, 25.9 (Local) 2025-10-27T03:28:10.893Z,1761535690.893 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed -0.3 2025-10-27T03:28:10.902Z,1761535690.902 [DAT](INFO): DAT read: 03:28:11.8771 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 500, 0.04, 1.021, 2.488, 0.544, 1.459, PHS=-0.336, 1.073,-0.959, RAW= 347.4, 2.5, CAL= 346.9, -0.5, ROT= 163.1, 0.5 2025-10-27T03:28:10.917Z,1761535690.917 [DAT](INFO): got valid direction response: 03:28:11.8771 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 500, 0.04, 1.021, 2.488, 0.544, 1.459, PHS=-0.336, 1.073,-0.959, RAW= 347.4, 2.5, CAL= 346.9, -0.5, ROT= 163.1, 0.5 2025-10-27T03:28:10.917Z,1761535690.917 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T03:28:10.918Z,1761535690.918 [DAT](INFO): direction in FSK: [-0.956777,0.290691,-0.008727] 2025-10-27T03:28:10.943Z,1761535690.943 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:10.946Z,1761535690.946 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.179546 2025-10-27T03:28:11.091Z,1761535691.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.503963 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:11.093Z,1761535691.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.566360 m, bearing: 225.216565 deg, lat: 36.779330 deg, lon: -121.859539 deg, deltaT: 0.503963 s, deltaX: -0.000252 m, approachRate: -0.000500 m/s, posRepo size: 4 2025-10-27T03:28:11.094Z,1761535691.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.57 m. 2025-10-27T03:28:11.140Z,1761535691.140 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.373383 2025-10-27T03:28:11.355Z,1761535691.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457167,-0.888914,0.028815],[0.876183,0.455708,0.156953],[-0.152649,-0.046507,0.987186]] 2025-10-27T03:28:11.373Z,1761535691.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.57 m. 2025-10-27T03:28:11.393Z,1761535691.393 [DAT](INFO): DAT read: Rx Time:03:28:12.3773 2025-10-27T03:28:11.393Z,1761535691.393 [DAT](INFO): Rx dataTimestamp_ set to:1761535691.393130 2025-10-27T03:28:11.395Z,1761535691.395 [DAT](INFO): DAT read: Bearing 38.3, 25.8 (Local) 2025-10-27T03:28:11.395Z,1761535691.395 [DAT](INFO): Local bearing/azimuth received: Bearing 38.3, 25.8 (Local) 2025-10-27T03:28:11.397Z,1761535691.397 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed -0.3 2025-10-27T03:28:11.402Z,1761535691.402 [DAT](INFO): DAT read: 03:28:12.3773 LVL= 32752, 25745, 32754, 32755, AGC= 67, IDX= 502, 0.11, 2.619,-2.195, 2.146, 3.038, PHS=-0.317, 1.095,-0.936, RAW= 347.3, 1.8, CAL= 346.8, -1.2, ROT= 163.2, 1.2 2025-10-27T03:28:11.403Z,1761535691.403 [DAT](INFO): got valid direction response: 03:28:12.3773 LVL= 32752, 25745, 32754, 32755, AGC= 67, IDX= 502, 0.11, 2.619,-2.195, 2.146, 3.038, PHS=-0.317, 1.095,-0.936, RAW= 347.3, 1.8, CAL= 346.8, -1.2, ROT= 163.2, 1.2 2025-10-27T03:28:11.403Z,1761535691.403 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T03:28:11.404Z,1761535691.404 [DAT](INFO): direction in FSK: [-0.957110,0.288969,-0.020942] 2025-10-27T03:28:11.404Z,1761535691.404 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:11.408Z,1761535691.408 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.641312 2025-10-27T03:28:11.647Z,1761535691.647 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.879604 2025-10-27T03:28:11.764Z,1761535691.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455872,-0.889593,0.028391],[0.877049,0.454418,0.155853],[-0.151547,-0.046148,0.987372]] 2025-10-27T03:28:11.826Z,1761535691.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504452 s, deltaX: 0.299999 m, approachRate: 0.594703 m/s, rangeRepo size: 4 2025-10-27T03:28:11.840Z,1761535691.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.865135 m, bearing: 225.709557 deg, lat: 36.779329 deg, lon: -121.859539 deg, deltaT: 0.504452 s, deltaX: 0.298775 m, approachRate: 0.592276 m/s, posRepo size: 4 2025-10-27T03:28:11.841Z,1761535691.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.87 m. 2025-10-27T03:28:11.897Z,1761535691.897 [DAT](INFO): DAT read: Rx Time:03:28:12.8773 2025-10-27T03:28:11.898Z,1761535691.898 [DAT](INFO): Rx dataTimestamp_ set to:1761535691.897854 2025-10-27T03:28:11.900Z,1761535691.900 [DAT](INFO): DAT read: Bearing 33.1, 24.1 (Local) 2025-10-27T03:28:11.901Z,1761535691.901 [DAT](INFO): Local bearing/azimuth received: Bearing 33.1, 24.1 (Local) 2025-10-27T03:28:11.911Z,1761535691.911 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed -0.3 2025-10-27T03:28:11.917Z,1761535691.917 [DAT](INFO): DAT read: 03:28:12.8773 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.11, 2.343,-2.424, 1.919, 2.895, PHS=-0.450, 1.008,-1.020, RAW= 345.8, 5.1, CAL= 345.5, 3.5, ROT= 164.5, -3.5 2025-10-27T03:28:11.918Z,1761535691.918 [DAT](INFO): got valid direction response: 03:28:12.8773 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 502, 0.11, 2.343,-2.424, 1.919, 2.895, PHS=-0.450, 1.008,-1.020, RAW= 345.8, 5.1, CAL= 345.5, 3.5, ROT= 164.5, -3.5 2025-10-27T03:28:11.918Z,1761535691.918 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T03:28:11.919Z,1761535691.919 [DAT](INFO): direction in FSK: [-0.961833,0.266740,0.061049] 2025-10-27T03:28:11.920Z,1761535691.920 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:11.934Z,1761535691.934 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.166195 2025-10-27T03:28:12.148Z,1761535692.148 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.381176 2025-10-27T03:28:12.168Z,1761535692.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454392,-0.890357,0.028126],[0.878018,0.452978,0.154578],[-0.150370,-0.045544,0.987580]] 2025-10-27T03:28:12.209Z,1761535692.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504724 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:12.238Z,1761535692.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.865208 m, bearing: 226.710283 deg, lat: 36.779329 deg, lon: -121.859539 deg, deltaT: 0.504724 s, deltaX: 0.000072 m, approachRate: 0.000144 m/s, posRepo size: 4 2025-10-27T03:28:12.245Z,1761535692.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.87 m. 2025-10-27T03:28:12.401Z,1761535692.401 [DAT](INFO): DAT read: Rx Time:03:28:13.3775 2025-10-27T03:28:12.401Z,1761535692.401 [DAT](INFO): Rx dataTimestamp_ set to:1761535692.400846 2025-10-27T03:28:12.402Z,1761535692.402 [DAT](INFO): DAT read: Bearing 34.4, 24.4 (Local) 2025-10-27T03:28:12.403Z,1761535692.403 [DAT](INFO): Local bearing/azimuth received: Bearing 34.4, 24.4 (Local) 2025-10-27T03:28:12.405Z,1761535692.405 [DAT](INFO): DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed -0.3 2025-10-27T03:28:12.410Z,1761535692.410 [DAT](INFO): DAT read: 03:28:13.3775 LVL= 32752, 28065, 32754, 32755, AGC= 66, IDX= 504, 0.25, 2.429,-2.375, 2.007, 2.942, PHS=-0.410, 1.012,-0.979, RAW= 346.1, 4.3, CAL= 345.7, 2.1, ROT= 164.3, -2.1 2025-10-27T03:28:12.411Z,1761535692.411 [DAT](INFO): got valid direction response: 03:28:13.3775 LVL= 32752, 28065, 32754, 32755, AGC= 66, IDX= 504, 0.25, 2.429,-2.375, 2.007, 2.942, PHS=-0.410, 1.012,-0.979, RAW= 346.1, 4.3, CAL= 345.7, 2.1, ROT= 164.3, -2.1 2025-10-27T03:28:12.411Z,1761535692.411 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T03:28:12.412Z,1761535692.412 [DAT](INFO): direction in FSK: [-0.962045,0.270419,0.036644] 2025-10-27T03:28:12.412Z,1761535692.412 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:12.416Z,1761535692.416 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.649502 2025-10-27T03:28:12.574Z,1761535692.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452965,-0.891090,0.027957],[0.878946,0.451602,0.153329],[-0.149256,-0.044881,0.987780]] 2025-10-27T03:28:12.598Z,1761535692.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.502992 s, deltaX: 0.299999 m, approachRate: 0.596429 m/s, rangeRepo size: 4 2025-10-27T03:28:12.617Z,1761535692.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.163982 m, bearing: 226.731629 deg, lat: 36.779329 deg, lon: -121.859540 deg, deltaT: 0.502992 s, deltaX: 0.298775 m, approachRate: 0.593995 m/s, posRepo size: 4 2025-10-27T03:28:12.617Z,1761535692.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.16 m. 2025-10-27T03:28:12.652Z,1761535692.652 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.885464 2025-10-27T03:28:12.905Z,1761535692.905 [DAT](INFO): DAT read: Rx Time:03:28:13.8776 2025-10-27T03:28:12.905Z,1761535692.905 [DAT](INFO): Rx dataTimestamp_ set to:1761535692.904740 2025-10-27T03:28:12.906Z,1761535692.906 [DAT](INFO): DAT read: Bearing 35.4, 24.2 (Local) 2025-10-27T03:28:12.907Z,1761535692.907 [DAT](INFO): Local bearing/azimuth received: Bearing 35.4, 24.2 (Local) 2025-10-27T03:28:12.913Z,1761535692.913 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed -0.3 2025-10-27T03:28:12.918Z,1761535692.918 [DAT](INFO): DAT read: 03:28:13.8776 LVL= 32752, 28737, 32754, 32755, AGC= 65, IDX= 505,-0.49,-1.200, 0.309,-1.629,-0.696, PHS=-0.402, 1.049,-0.977, RAW= 346.0, 3.7, CAL= 345.6, 1.2, ROT= 164.4, -1.2 2025-10-27T03:28:12.919Z,1761535692.919 [DAT](INFO): got valid direction response: 03:28:13.8776 LVL= 32752, 28737, 32754, 32755, AGC= 65, IDX= 505,-0.49,-1.200, 0.309,-1.629,-0.696, PHS=-0.402, 1.049,-0.977, RAW= 346.0, 3.7, CAL= 345.6, 1.2, ROT= 164.4, -1.2 2025-10-27T03:28:12.920Z,1761535692.920 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T03:28:12.921Z,1761535692.921 [DAT](INFO): direction in FSK: [-0.962951,0.268861,0.020942] 2025-10-27T03:28:12.921Z,1761535692.921 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:12.925Z,1761535692.925 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.157875 2025-10-27T03:28:12.984Z,1761535692.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452009,-0.891582,0.027754],[0.879603,0.450676,0.152281],[-0.148279,-0.044420,0.987947]] 2025-10-27T03:28:13.096Z,1761535693.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.503894 s, deltaX: 0.200001 m, approachRate: 0.396910 m/s, rangeRepo size: 4 2025-10-27T03:28:13.098Z,1761535693.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.363281 m, bearing: 226.978599 deg, lat: 36.779333 deg, lon: -121.859540 deg, deltaT: 0.503894 s, deltaX: 0.199299 m, approachRate: 0.395517 m/s, posRepo size: 4 2025-10-27T03:28:13.098Z,1761535693.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.36 m. 2025-10-27T03:28:13.157Z,1761535693.157 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.389977 2025-10-27T03:28:13.374Z,1761535693.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451564,-0.891819,0.027365],[0.879955,0.450209,0.151629],[-0.147546,-0.044390,0.988059]] 2025-10-27T03:28:13.409Z,1761535693.409 [DAT](INFO): DAT read: Rx Time:03:28:14.3777 2025-10-27T03:28:13.409Z,1761535693.409 [DAT](INFO): Rx dataTimestamp_ set to:1761535693.408768 2025-10-27T03:28:13.410Z,1761535693.410 [DAT](INFO): DAT read: Bearing 36.4, 24.9 (Local) 2025-10-27T03:28:13.411Z,1761535693.411 [DAT](INFO): Local bearing/azimuth received: Bearing 36.4, 24.9 (Local) 2025-10-27T03:28:13.413Z,1761535693.413 [DAT](INFO): DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed -0.3 2025-10-27T03:28:13.418Z,1761535693.418 [DAT](INFO): DAT read: 03:28:14.3777 LVL= 32752, 28401, 32754, 32755, AGC= 65, IDX= 506,-0.26,-2.190,-0.725,-2.631,-1.726, PHS=-0.361, 1.046,-0.948, RAW= 346.6, 3.0, CAL= 346.2, 0.1, ROT= 163.8, -0.1 2025-10-27T03:28:13.419Z,1761535693.419 [DAT](INFO): got valid direction response: 03:28:14.3777 LVL= 32752, 28401, 32754, 32755, AGC= 65, IDX= 506,-0.26,-2.190,-0.725,-2.631,-1.726, PHS=-0.361, 1.046,-0.948, RAW= 346.6, 3.0, CAL= 346.2, 0.1, ROT= 163.8, -0.1 2025-10-27T03:28:13.419Z,1761535693.419 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T03:28:13.420Z,1761535693.420 [DAT](INFO): direction in FSK: [-0.960292,0.278991,0.001745] 2025-10-27T03:28:13.420Z,1761535693.420 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:13.425Z,1761535693.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.504028 s, deltaX: 0.099998 m, approachRate: 0.198399 m/s, rangeRepo size: 4 2025-10-27T03:28:13.425Z,1761535693.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.36 m. 2025-10-27T03:28:13.433Z,1761535693.433 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.666424 2025-10-27T03:28:13.661Z,1761535693.661 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.893387 2025-10-27T03:28:13.777Z,1761535693.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451360,-0.891943,0.026690],[0.880186,0.449932,0.151107],[-0.146787,-0.044711,0.988157]] 2025-10-27T03:28:13.830Z,1761535693.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.36 m. 2025-10-27T03:28:13.913Z,1761535693.913 [DAT](INFO): DAT read: Rx Time:03:28:14.8777 2025-10-27T03:28:13.913Z,1761535693.913 [DAT](INFO): Rx dataTimestamp_ set to:1761535693.912741 2025-10-27T03:28:13.915Z,1761535693.915 [DAT](INFO): DAT read: Bearing 35.5, 24.0 (Local) 2025-10-27T03:28:13.916Z,1761535693.916 [DAT](INFO): Local bearing/azimuth received: Bearing 35.5, 24.0 (Local) 2025-10-27T03:28:13.919Z,1761535693.919 [DAT](INFO): DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed -0.3 2025-10-27T03:28:13.925Z,1761535693.925 [DAT](INFO): DAT read: 03:28:14.8777 LVL= 32752, 24913, 32754, 32755, AGC= 64, IDX= 506,-0.13, 2.363,-2.438, 1.951, 2.854, PHS=-0.389, 1.036,-0.946, RAW= 345.8, 3.4, CAL= 345.4, 0.7, ROT= 164.6, -0.7 2025-10-27T03:28:13.926Z,1761535693.926 [DAT](INFO): got valid direction response: 03:28:14.8777 LVL= 32752, 24913, 32754, 32755, AGC= 64, IDX= 506,-0.13, 2.363,-2.438, 1.951, 2.854, PHS=-0.389, 1.036,-0.946, RAW= 345.8, 3.4, CAL= 345.4, 0.7, ROT= 164.6, -0.7 2025-10-27T03:28:13.926Z,1761535693.926 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T03:28:13.932Z,1761535693.932 [DAT](INFO): direction in FSK: [-0.964023,0.265536,0.012217] 2025-10-27T03:28:13.932Z,1761535693.932 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:13.941Z,1761535693.941 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.174168 2025-10-27T03:28:14.164Z,1761535694.164 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.397404 2025-10-27T03:28:14.186Z,1761535694.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451358,-0.891967,0.025903],[0.880288,0.449828,0.150824],[-0.146182,-0.045274,0.988221]] 2025-10-27T03:28:14.269Z,1761535694.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.503973 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:14.275Z,1761535694.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.462852 m, bearing: 227.279056 deg, lat: 36.779333 deg, lon: -121.859542 deg, deltaT: 1.008001 s, deltaX: 0.099571 m, approachRate: 0.098781 m/s, posRepo size: 4 2025-10-27T03:28:14.276Z,1761535694.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.46 m. 2025-10-27T03:28:14.417Z,1761535694.417 [DAT](INFO): DAT read: Rx Time:03:28:15.3779 2025-10-27T03:28:14.417Z,1761535694.417 [DAT](INFO): Rx dataTimestamp_ set to:1761535694.416707 2025-10-27T03:28:14.418Z,1761535694.418 [DAT](INFO): DAT read: Bearing 37.6, 25.1 (Local) 2025-10-27T03:28:14.419Z,1761535694.419 [DAT](INFO): Local bearing/azimuth received: Bearing 37.6, 25.1 (Local) 2025-10-27T03:28:14.421Z,1761535694.421 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed -0.2 2025-10-27T03:28:14.425Z,1761535694.425 [DAT](INFO): DAT read: 03:28:15.3779 LVL= 32752, 25953, 32754, 32755, AGC= 64, IDX= 508, 0.01, 2.863,-1.939, 2.410,-2.996, PHS=-0.322, 1.102,-0.922, RAW= 346.8, 1.6, CAL= 346.3, -1.4, ROT= 163.7, 1.4 2025-10-27T03:28:14.426Z,1761535694.426 [DAT](INFO): got valid direction response: 03:28:15.3779 LVL= 32752, 25953, 32754, 32755, AGC= 64, IDX= 508, 0.01, 2.863,-1.939, 2.410,-2.996, PHS=-0.322, 1.102,-0.922, RAW= 346.8, 1.6, CAL= 346.3, -1.4, ROT= 163.7, 1.4 2025-10-27T03:28:14.427Z,1761535694.427 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T03:28:14.428Z,1761535694.428 [DAT](INFO): direction in FSK: [-0.959519,0.280583,-0.024432] 2025-10-27T03:28:14.428Z,1761535694.428 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:14.461Z,1761535694.461 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.693703 2025-10-27T03:28:14.588Z,1761535694.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451690,-0.891827,0.024891],[0.880199,0.450010,0.150800],[-0.145689,-0.046206,0.988251]] 2025-10-27T03:28:14.619Z,1761535694.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503966 s, deltaX: 0.300003 m, approachRate: 0.595284 m/s, rangeRepo size: 4 2025-10-27T03:28:14.621Z,1761535694.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.761631 m, bearing: 226.537386 deg, lat: 36.779333 deg, lon: -121.859544 deg, deltaT: 0.503966 s, deltaX: 0.298779 m, approachRate: 0.592855 m/s, posRepo size: 4 2025-10-27T03:28:14.621Z,1761535694.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.76 m. 2025-10-27T03:28:14.668Z,1761535694.668 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.901253 2025-10-27T03:28:14.920Z,1761535694.920 [DAT](INFO): DAT read: Rx Time:03:28:15.8779 2025-10-27T03:28:14.921Z,1761535694.921 [DAT](INFO): Rx dataTimestamp_ set to:1761535694.920685 2025-10-27T03:28:14.922Z,1761535694.922 [DAT](INFO): DAT read: Bearing 37.4, 24.4 (Local) 2025-10-27T03:28:14.923Z,1761535694.923 [DAT](INFO): Local bearing/azimuth received: Bearing 37.4, 24.4 (Local) 2025-10-27T03:28:14.925Z,1761535694.925 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed -0.3 2025-10-27T03:28:14.929Z,1761535694.929 [DAT](INFO): DAT read: 03:28:15.8779 LVL= 31712, 21233, 32754, 32755, AGC= 64, IDX= 508,-0.06, 1.935,-2.846, 1.498, 2.377, PHS=-0.340, 1.105,-0.923, RAW= 346.2, 1.8, CAL= 345.8, -1.2, ROT= 164.2, 1.2 2025-10-27T03:28:14.930Z,1761535694.930 [DAT](INFO): got valid direction response: 03:28:15.8779 LVL= 31712, 21233, 32754, 32755, AGC= 64, IDX= 508,-0.06, 1.935,-2.846, 1.498, 2.377, PHS=-0.340, 1.105,-0.923, RAW= 346.2, 1.8, CAL= 345.8, -1.2, ROT= 164.2, 1.2 2025-10-27T03:28:14.935Z,1761535694.935 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T03:28:14.936Z,1761535694.936 [DAT](INFO): direction in FSK: [-0.962007,0.272221,-0.020942] 2025-10-27T03:28:14.936Z,1761535694.936 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:14.940Z,1761535694.940 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.173046 2025-10-27T03:28:15.116Z,1761535695.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503978 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:15.118Z,1761535695.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.761562 m, bearing: 227.021085 deg, lat: 36.779331 deg, lon: -121.859544 deg, deltaT: 0.503978 s, deltaX: -0.000069 m, approachRate: -0.000136 m/s, posRepo size: 4 2025-10-27T03:28:15.118Z,1761535695.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.76 m. 2025-10-27T03:28:15.173Z,1761535695.173 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.406067 2025-10-27T03:28:15.396Z,1761535695.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453467,-0.890869,0.026842],[0.879336,0.452104,0.149568],[-0.145381,-0.044221,0.988387]] 2025-10-27T03:28:15.415Z,1761535695.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.76 m. 2025-10-27T03:28:15.425Z,1761535695.425 [DAT](INFO): DAT read: Rx Time:03:28:16.3782 2025-10-27T03:28:15.425Z,1761535695.425 [DAT](INFO): Rx dataTimestamp_ set to:1761535695.424772 2025-10-27T03:28:15.426Z,1761535695.426 [DAT](INFO): DAT read: Bearing 34.4, 23.5 (Local) 2025-10-27T03:28:15.427Z,1761535695.427 [DAT](INFO): Local bearing/azimuth received: Bearing 34.4, 23.5 (Local) 2025-10-27T03:28:15.429Z,1761535695.429 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed -0.2 2025-10-27T03:28:15.434Z,1761535695.434 [DAT](INFO): DAT read: 03:28:16.3782 LVL= 32752, 27041, 32754, 32755, AGC= 65, IDX= 510,-0.39, 0.636, 2.119, 0.240, 1.145, PHS=-0.407, 1.019,-0.949, RAW= 345.5, 3.9, CAL= 345.1, 1.5, ROT= 164.9, -1.5 2025-10-27T03:28:15.435Z,1761535695.435 [DAT](INFO): got valid direction response: 03:28:16.3782 LVL= 32752, 27041, 32754, 32755, AGC= 65, IDX= 510,-0.39, 0.636, 2.119, 0.240, 1.145, PHS=-0.407, 1.019,-0.949, RAW= 345.5, 3.9, CAL= 345.1, 1.5, ROT= 164.9, -1.5 2025-10-27T03:28:15.435Z,1761535695.435 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T03:28:15.436Z,1761535695.436 [DAT](INFO): direction in FSK: [-0.965142,0.260415,0.026177] 2025-10-27T03:28:15.436Z,1761535695.436 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:15.451Z,1761535695.451 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.682632 2025-10-27T03:28:15.678Z,1761535695.678 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.911266 2025-10-27T03:28:15.798Z,1761535695.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455171,-0.889938,0.028808],[0.878428,0.454102,0.148849],[-0.145548,-0.042446,0.988440]] 2025-10-27T03:28:15.852Z,1761535695.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.504087 s, deltaX: 0.500000 m, approachRate: 0.991892 m/s, rangeRepo size: 4 2025-10-27T03:28:15.854Z,1761535695.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.259521 m, bearing: 227.270687 deg, lat: 36.779331 deg, lon: -121.859545 deg, deltaT: 0.504087 s, deltaX: 0.497959 m, approachRate: 0.987844 m/s, posRepo size: 4 2025-10-27T03:28:15.855Z,1761535695.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.26 m. 2025-10-27T03:28:15.930Z,1761535695.930 [DAT](INFO): DAT read: Rx Time:03:28:16.8781 2025-10-27T03:28:15.930Z,1761535695.930 [DAT](INFO): Rx dataTimestamp_ set to:1761535695.929949 2025-10-27T03:28:15.932Z,1761535695.932 [DAT](INFO): DAT read: Bearing 35.3, 24.1 (Local) 2025-10-27T03:28:15.932Z,1761535695.932 [DAT](INFO): Local bearing/azimuth received: Bearing 35.3, 24.1 (Local) 2025-10-27T03:28:15.934Z,1761535695.934 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed -0.1 2025-10-27T03:28:15.954Z,1761535695.954 [DAT](INFO): DAT read: 03:28:16.8781 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 509, 0.42, 1.103, 2.574, 0.684, 1.584, PHS=-0.380, 1.035,-0.945, RAW= 346.1, 3.3, CAL= 345.6, 0.6, ROT= 164.4, -0.6 2025-10-27T03:28:15.956Z,1761535695.956 [DAT](INFO): got valid direction response: 03:28:16.8781 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 509, 0.42, 1.103, 2.574, 0.684, 1.584, PHS=-0.380, 1.035,-0.945, RAW= 346.1, 3.3, CAL= 345.6, 0.6, ROT= 164.4, -0.6 2025-10-27T03:28:15.957Z,1761535695.957 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T03:28:15.958Z,1761535695.958 [DAT](INFO): direction in FSK: [-0.963110,0.268905,0.010472] 2025-10-27T03:28:15.958Z,1761535695.958 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:15.971Z,1761535695.971 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.203785 2025-10-27T03:28:16.180Z,1761535696.180 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.413086 2025-10-27T03:28:16.244Z,1761535696.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456982,-0.888979,0.029735],[0.877437,0.456026,0.148808],[-0.145847,-0.041912,0.988419]] 2025-10-27T03:28:16.273Z,1761535696.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.505177 s, deltaX: -0.200001 m, approachRate: -0.395902 m/s, rangeRepo size: 4 2025-10-27T03:28:16.275Z,1761535696.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.060417 m, bearing: 226.719440 deg, lat: 36.779331 deg, lon: -121.859545 deg, deltaT: 0.505177 s, deltaX: -0.199104 m, approachRate: -0.394128 m/s, posRepo size: 4 2025-10-27T03:28:16.275Z,1761535696.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.06 m. 2025-10-27T03:28:16.433Z,1761535696.433 [DAT](INFO): DAT read: Rx Time:03:28:17.3783 2025-10-27T03:28:16.433Z,1761535696.433 [DAT](INFO): Rx dataTimestamp_ set to:1761535696.432693 2025-10-27T03:28:16.434Z,1761535696.434 [DAT](INFO): DAT read: Bearing 32.5, 23.2 (Local) 2025-10-27T03:28:16.435Z,1761535696.435 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, 23.2 (Local) 2025-10-27T03:28:16.437Z,1761535696.437 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed -0.1 2025-10-27T03:28:16.441Z,1761535696.441 [DAT](INFO): DAT read: 03:28:17.3783 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.14, 2.796,-2.002, 2.408,-2.947, PHS=-0.438, 0.990,-0.973, RAW= 345.3, 4.8, CAL= 345.0, 3.0, ROT= 165.0, -3.0 2025-10-27T03:28:16.442Z,1761535696.442 [DAT](INFO): got valid direction response: 03:28:17.3783 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.14, 2.796,-2.002, 2.408,-2.947, PHS=-0.438, 0.990,-0.973, RAW= 345.3, 4.8, CAL= 345.0, 3.0, ROT= 165.0, -3.0 2025-10-27T03:28:16.443Z,1761535696.443 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T03:28:16.444Z,1761535696.444 [DAT](INFO): direction in FSK: [-0.964602,0.258464,0.052336] 2025-10-27T03:28:16.444Z,1761535696.444 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:16.448Z,1761535696.448 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.681259 2025-10-27T03:28:16.605Z,1761535696.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458423,-0.888244,0.029498],[0.876648,0.457395,0.149256],[-0.146068,-0.042563,0.988358]] 2025-10-27T03:28:16.648Z,1761535696.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.502744 s, deltaX: 0.299999 m, approachRate: 0.596724 m/s, rangeRepo size: 4 2025-10-27T03:28:16.650Z,1761535696.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.359192 m, bearing: 227.033758 deg, lat: 36.779331 deg, lon: -121.859546 deg, deltaT: 0.502744 s, deltaX: 0.298775 m, approachRate: 0.594288 m/s, posRepo size: 4 2025-10-27T03:28:16.651Z,1761535696.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.36 m. 2025-10-27T03:28:16.686Z,1761535696.686 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.919083 2025-10-27T03:28:16.937Z,1761535696.937 [DAT](INFO): DAT read: Rx Time:03:28:17.8783 2025-10-27T03:28:16.937Z,1761535696.937 [DAT](INFO): Rx dataTimestamp_ set to:1761535696.936696 2025-10-27T03:28:16.938Z,1761535696.938 [DAT](INFO): DAT read: Bearing 33.1, 23.1 (Local) 2025-10-27T03:28:16.939Z,1761535696.939 [DAT](INFO): Local bearing/azimuth received: Bearing 33.1, 23.1 (Local) 2025-10-27T03:28:16.946Z,1761535696.946 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.0 2025-10-27T03:28:16.950Z,1761535696.950 [DAT](INFO): DAT read: 03:28:17.8783 LVL= 32752, 31281, 32754, 32755, AGC= 66, IDX= 511,-0.10, 0.387, 1.883, 0.000, 0.920, PHS=-0.430, 1.008,-0.964, RAW= 345.2, 4.4, CAL= 344.8, 2.3, ROT= 165.2, -2.3 2025-10-27T03:28:16.957Z,1761535696.957 [DAT](INFO): got valid direction response: 03:28:17.8783 LVL= 32752, 31281, 32754, 32755, AGC= 66, IDX= 511,-0.10, 0.387, 1.883, 0.000, 0.920, PHS=-0.430, 1.008,-0.964, RAW= 345.2, 4.4, CAL= 344.8, 2.3, ROT= 165.2, -2.3 2025-10-27T03:28:16.957Z,1761535696.957 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T03:28:16.958Z,1761535696.958 [DAT](INFO): direction in FSK: [-0.966044,0.255240,0.040132] 2025-10-27T03:28:16.959Z,1761535696.959 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:16.962Z,1761535696.962 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.195591 2025-10-27T03:28:17.131Z,1761535697.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.504003 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:17.133Z,1761535697.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.359035 m, bearing: 227.292896 deg, lat: 36.779331 deg, lon: -121.859546 deg, deltaT: 0.504003 s, deltaX: -0.000156 m, approachRate: -0.000310 m/s, posRepo size: 4 2025-10-27T03:28:17.134Z,1761535697.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.36 m. 2025-10-27T03:28:17.188Z,1761535697.188 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.421429 2025-10-27T03:28:17.441Z,1761535697.441 [DAT](INFO): DAT read: Rx Time:03:28:18.3784 2025-10-27T03:28:17.441Z,1761535697.441 [DAT](INFO): Rx dataTimestamp_ set to:1761535697.440848 2025-10-27T03:28:17.442Z,1761535697.442 [DAT](INFO): DAT read: Bearing 32.5, 22.9 (Local) 2025-10-27T03:28:17.443Z,1761535697.443 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, 22.9 (Local) 2025-10-27T03:28:17.445Z,1761535697.445 [DAT](INFO): DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed -0.1 2025-10-27T03:28:17.450Z,1761535697.450 [DAT](INFO): DAT read: 03:28:18.3784 LVL= 32752, 27953, 32754, 32755, AGC= 65, IDX= 511, 0.32, 2.826,-1.964, 2.451,-2.915, PHS=-0.440, 0.995,-0.961, RAW= 344.9, 4.7, CAL= 344.6, 2.7, ROT= 165.4, -2.7 2025-10-27T03:28:17.451Z,1761535697.451 [DAT](INFO): got valid direction response: 03:28:18.3784 LVL= 32752, 27953, 32754, 32755, AGC= 65, IDX= 511, 0.32, 2.826,-1.964, 2.451,-2.915, PHS=-0.440, 0.995,-0.961, RAW= 344.9, 4.7, CAL= 344.6, 2.7, ROT= 165.4, -2.7 2025-10-27T03:28:17.451Z,1761535697.451 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T03:28:17.452Z,1761535697.452 [DAT](INFO): direction in FSK: [-0.966635,0.251790,0.047106] 2025-10-27T03:28:17.452Z,1761535697.452 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:17.474Z,1761535697.474 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.707039 2025-10-27T03:28:17.525Z,1761535697.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462918,-0.885921,0.029157],[0.874111,0.461711,0.150842],[-0.147096,-0.044341,0.988128]] 2025-10-27T03:28:17.601Z,1761535697.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.504152 s, deltaX: 0.200001 m, approachRate: 0.396707 m/s, rangeRepo size: 4 2025-10-27T03:28:17.607Z,1761535697.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.558220 m, bearing: 227.158606 deg, lat: 36.779332 deg, lon: -121.859548 deg, deltaT: 0.504152 s, deltaX: 0.199184 m, approachRate: 0.395088 m/s, posRepo size: 4 2025-10-27T03:28:17.608Z,1761535697.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m. 2025-10-27T03:28:17.696Z,1761535697.696 [DAT](INFO): DAT read: Rx Time:03:28:18.8783 2025-10-27T03:28:17.698Z,1761535697.698 [DAT](INFO): Rx dataTimestamp_ set to:1761535697.696837 2025-10-27T03:28:17.701Z,1761535697.701 [DAT](INFO): DAT read: Bearing 35.4, 24.0 (Local) 2025-10-27T03:28:17.704Z,1761535697.704 [DAT](INFO): Local bearing/azimuth received: Bearing 35.4, 24.0 (Local) 2025-10-27T03:28:17.707Z,1761535697.707 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.939034 2025-10-27T03:28:17.931Z,1761535697.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m. 2025-10-27T03:28:17.947Z,1761535697.947 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.0 2025-10-27T03:28:17.952Z,1761535697.952 [DAT](INFO): DAT read: 03:28:18.8783 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 511,-0.08, 0.416, 1.902,-0.002, 0.886, PHS=-0.368, 1.062,-0.932, RAW= 345.9, 2.7, CAL= 345.5, -0.3, ROT= 164.5, 0.3 2025-10-27T03:28:17.953Z,1761535697.953 [DAT](INFO): got valid direction response: 03:28:18.8783 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 511,-0.08, 0.416, 1.902,-0.002, 0.886, PHS=-0.368, 1.062,-0.932, RAW= 345.9, 2.7, CAL= 345.5, -0.3, ROT= 164.5, 0.3 2025-10-27T03:28:17.953Z,1761535697.953 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T03:28:17.954Z,1761535697.954 [DAT](INFO): direction in FSK: [-0.963617,0.267235,-0.005236] 2025-10-27T03:28:17.954Z,1761535697.954 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:17.958Z,1761535697.958 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.191242 2025-10-27T03:28:18.199Z,1761535698.199 [DAT](INFO): DAT read: Rx Time:03:28:19.3785 2025-10-27T03:28:18.201Z,1761535698.201 [DAT](INFO): Rx dataTimestamp_ set to:1761535698.199884 2025-10-27T03:28:18.204Z,1761535698.204 [DAT](INFO): DAT read: Bearing 41.4, 23.3 (Local) 2025-10-27T03:28:18.205Z,1761535698.205 [DAT](INFO): Local bearing/azimuth received: Bearing 41.4, 23.3 (Local) 2025-10-27T03:28:18.207Z,1761535698.207 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.439957 2025-10-27T03:28:18.377Z,1761535698.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472565,-0.880755,0.030877],[0.868556,0.471383,0.152996],[-0.149307,-0.045482,0.987744]] 2025-10-27T03:28:18.416Z,1761535698.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.503919 s, deltaX: -0.200001 m, approachRate: -0.396891 m/s, rangeRepo size: 4 2025-10-27T03:28:18.418Z,1761535698.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.358631 m, bearing: 225.853046 deg, lat: 36.779332 deg, lon: -121.859546 deg, deltaT: 0.503919 s, deltaX: -0.199589 m, approachRate: -0.396073 m/s, posRepo size: 4 2025-10-27T03:28:18.418Z,1761535698.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.36 m. 2025-10-27T03:28:18.451Z,1761535698.451 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.0 2025-10-27T03:28:18.457Z,1761535698.457 [DAT](INFO): DAT read: 03:28:19.3785 LVL= 32752, 26705, 32754, 32755, AGC= 65, IDX= 512, 0.40,-0.096, 1.524,-0.526, 0.243, PHS=-0.237, 1.327,-0.812, RAW= 345.1, -2.9, CAL= 344.6, -5.9, ROT= 165.4, 5.9 2025-10-27T03:28:18.458Z,1761535698.458 [DAT](INFO): got valid direction response: 03:28:19.3785 LVL= 32752, 26705, 32754, 32755, AGC= 65, IDX= 512, 0.40,-0.096, 1.524,-0.526, 0.243, PHS=-0.237, 1.327,-0.812, RAW= 345.1, -2.9, CAL= 344.6, -5.9, ROT= 165.4, 5.9 2025-10-27T03:28:18.459Z,1761535698.459 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T03:28:18.460Z,1761535698.460 [DAT](INFO): direction in FSK: [-0.962583,0.250734,-0.102793] 2025-10-27T03:28:18.460Z,1761535698.460 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:18.465Z,1761535698.465 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.697788 2025-10-27T03:28:18.705Z,1761535698.705 [DAT](INFO): DAT read: Rx Time:03:28:19.8784 2025-10-27T03:28:18.707Z,1761535698.707 [DAT](INFO): Rx dataTimestamp_ set to:1761535698.705627 2025-10-27T03:28:18.710Z,1761535698.710 [DAT](INFO): DAT read: Bearing 36.4, 22.6 (Local) 2025-10-27T03:28:18.712Z,1761535698.712 [DAT](INFO): Local bearing/azimuth received: Bearing 36.4, 22.6 (Local) 2025-10-27T03:28:18.718Z,1761535698.718 [DAT](INFO): DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed 0.0 2025-10-27T03:28:18.729Z,1761535698.729 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-27T03:28:18.749Z,1761535698.749 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.981907 2025-10-27T03:28:18.840Z,1761535698.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476119,-0.878754,0.033193],[0.866472,0.475239,0.152884],[-0.150122,-0.044030,0.987687]] 2025-10-27T03:28:18.910Z,1761535698.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.760860 s, deltaX: 0.200001 m, approachRate: 0.262861 m/s, rangeRepo size: 4 2025-10-27T03:28:18.917Z,1761535698.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.557812 m, bearing: 226.968703 deg, lat: 36.779332 deg, lon: -121.859548 deg, deltaT: 0.760860 s, deltaX: 0.199181 m, approachRate: 0.261784 m/s, posRepo size: 4 2025-10-27T03:28:18.917Z,1761535698.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m. 2025-10-27T03:28:18.957Z,1761535698.957 [DAT](INFO): DAT read: 03:28:19.8784 LVL= 32752, 32177, 32754, 32755, AGC= 65, IDX= 512,-0.03, 1.612, 3.111, 1.252, 2.067, PHS=-0.353, 1.089,-0.859, RAW= 344.5, 1.4, CAL= 344.0, -1.5, ROT= 166.0, 1.5 2025-10-27T03:28:18.958Z,1761535698.958 [DAT](INFO): got valid direction response: 03:28:19.8784 LVL= 32752, 32177, 32754, 32755, AGC= 65, IDX= 512,-0.03, 1.612, 3.111, 1.252, 2.067, PHS=-0.353, 1.089,-0.859, RAW= 344.5, 1.4, CAL= 344.0, -1.5, ROT= 166.0, 1.5 2025-10-27T03:28:18.959Z,1761535698.959 [DAT](INFO): #Rx 102: Read direction message, but no range. 2025-10-27T03:28:18.965Z,1761535698.965 [DAT](INFO): direction in FSK: [-0.969963,0.241839,-0.026177] 2025-10-27T03:28:18.969Z,1761535698.969 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.202122 2025-10-27T03:28:19.181Z,1761535699.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479505,-0.876829,0.035293],[0.864469,0.478896,0.152815],[-0.150894,-0.042766,0.987624]] 2025-10-27T03:28:19.208Z,1761535699.208 [DAT](INFO): DAT read: Rx Time:03:28:20.3785 2025-10-27T03:28:19.210Z,1761535699.210 [DAT](INFO): Rx dataTimestamp_ set to:1761535699.208827 2025-10-27T03:28:19.213Z,1761535699.213 [DAT](INFO): DAT read: Bearing 39.6, 25.8 (Local) 2025-10-27T03:28:19.214Z,1761535699.214 [DAT](INFO): Local bearing/azimuth received: Bearing 39.6, 25.8 (Local) 2025-10-27T03:28:19.228Z,1761535699.228 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.0 2025-10-27T03:28:19.230Z,1761535699.230 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T03:28:19.234Z,1761535699.234 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.466232 2025-10-27T03:28:19.307Z,1761535699.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.503200 s, deltaX: 0.099998 m, approachRate: 0.198725 m/s, rangeRepo size: 4 2025-10-27T03:28:19.309Z,1761535699.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.657169 m, bearing: 226.981833 deg, lat: 36.779331 deg, lon: -121.859548 deg, deltaT: 0.503200 s, deltaX: 0.099358 m, approachRate: 0.197452 m/s, posRepo size: 4 2025-10-27T03:28:19.310Z,1761535699.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.66 m. 2025-10-27T03:28:19.460Z,1761535699.460 [DAT](INFO): DAT read: 03:28:20.3785 LVL= 32752, 29777, 32754, 32755, AGC= 66, IDX= 513,-0.12, 0.736, 2.270, 0.219, 1.057, PHS=-0.218, 1.259,-0.882, RAW= 347.6, -1.7, CAL= 347.2, -4.7, ROT= 162.8, 4.7 2025-10-27T03:28:19.461Z,1761535699.461 [DAT](INFO): got valid direction response: 03:28:20.3785 LVL= 32752, 29777, 32754, 32755, AGC= 66, IDX= 513,-0.12, 0.736, 2.270, 0.219, 1.057, PHS=-0.218, 1.259,-0.882, RAW= 347.6, -1.7, CAL= 347.2, -4.7, ROT= 162.8, 4.7 2025-10-27T03:28:19.461Z,1761535699.461 [DAT](INFO): #Rx 104: Read direction message, but no range. 2025-10-27T03:28:19.462Z,1761535699.462 [DAT](INFO): direction in FSK: [-0.952066,0.294714,-0.081939] 2025-10-27T03:28:19.466Z,1761535699.466 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.699104 2025-10-27T03:28:19.624Z,1761535699.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.66 m. 2025-10-27T03:28:19.712Z,1761535699.712 [DAT](INFO): DAT read: Rx Time:03:28:20.8784 2025-10-27T03:28:19.713Z,1761535699.713 [DAT](INFO): Rx dataTimestamp_ set to:1761535699.712418 2025-10-27T03:28:19.716Z,1761535699.716 [DAT](INFO): DAT read: Bearing 28.0, 22.2 (Local) 2025-10-27T03:28:19.717Z,1761535699.717 [DAT](INFO): Local bearing/azimuth received: Bearing 28.0, 22.2 (Local) 2025-10-27T03:28:19.722Z,1761535699.722 [DAT](INFO): DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed 0.0 2025-10-27T03:28:19.725Z,1761535699.725 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-27T03:28:19.729Z,1761535699.729 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.961582 2025-10-27T03:28:19.968Z,1761535699.968 [DAT](INFO): DAT read: 03:28:20.8784 LVL= 32752, 30289, 32754, 32755, AGC= 69, IDX= 512, 0.10, 1.358, 2.436, 1.151, 1.817, PHS=-0.357, 0.664,-0.710, RAW= 344.3, 6.6, CAL= 344.1, 5.7, ROT= 165.9, -5.7 2025-10-27T03:28:19.969Z,1761535699.969 [DAT](INFO): got valid direction response: 03:28:20.8784 LVL= 32752, 30289, 32754, 32755, AGC= 69, IDX= 512, 0.10, 1.358, 2.436, 1.151, 1.817, PHS=-0.357, 0.664,-0.710, RAW= 344.3, 6.6, CAL= 344.1, 5.7, ROT= 165.9, -5.7 2025-10-27T03:28:19.969Z,1761535699.969 [DAT](INFO): #Rx 106: Read direction message, but no range. 2025-10-27T03:28:19.970Z,1761535699.970 [DAT](INFO): direction in FSK: [-0.965077,0.242411,0.099320] 2025-10-27T03:28:19.974Z,1761535699.974 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.206791 2025-10-27T03:28:20.120Z,1761535700.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.503591 s, deltaX: -0.099998 m, approachRate: -0.198571 m/s, rangeRepo size: 4 2025-10-27T03:28:20.122Z,1761535700.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.558113 m, bearing: 226.300237 deg, lat: 36.779331 deg, lon: -121.859548 deg, deltaT: 0.503591 s, deltaX: -0.099056 m, approachRate: -0.196700 m/s, posRepo size: 4 2025-10-27T03:28:20.122Z,1761535700.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m. 2025-10-27T03:28:20.218Z,1761535700.218 [DAT](INFO): DAT read: Rx Time:03:28:21.3786 2025-10-27T03:28:20.220Z,1761535700.220 [DAT](INFO): Rx dataTimestamp_ set to:1761535700.218928 2025-10-27T03:28:20.224Z,1761535700.224 [DAT](INFO): DAT read: Bearing 31.6, 23.8 (Local) 2025-10-27T03:28:20.225Z,1761535700.225 [DAT](INFO): Local bearing/azimuth received: Bearing 31.6, 23.8 (Local) 2025-10-27T03:28:20.235Z,1761535700.235 [DAT](INFO): DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.0 2025-10-27T03:28:20.237Z,1761535700.237 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-27T03:28:20.241Z,1761535700.241 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.473244 2025-10-27T03:28:20.418Z,1761535700.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487863,-0.872124,0.037263],[0.859476,0.487374,0.154165],[-0.152613,-0.043184,0.987342]] 2025-10-27T03:28:20.437Z,1761535700.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.506510 s, deltaX: 0.299999 m, approachRate: 0.592287 m/s, rangeRepo size: 4 2025-10-27T03:28:20.437Z,1761535700.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.56 m. 2025-10-27T03:28:20.468Z,1761535700.468 [DAT](INFO): DAT read: 03:28:21.3786 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2,-0.44, 2.200,-2.604, 1.789, 2.714, PHS=-0.412, 1.011,-0.969, RAW= 345.8, 4.2, CAL= 345.5, 2.0, ROT= 164.5, -2.0 2025-10-27T03:28:20.469Z,1761535700.469 [DAT](INFO): got valid direction response: 03:28:21.3786 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2,-0.44, 2.200,-2.604, 1.789, 2.714, PHS=-0.412, 1.011,-0.969, RAW= 345.8, 4.2, CAL= 345.5, 2.0, ROT= 164.5, -2.0 2025-10-27T03:28:20.469Z,1761535700.469 [DAT](INFO): #Rx 108: Read direction message, but no range. 2025-10-27T03:28:20.470Z,1761535700.470 [DAT](INFO): direction in FSK: [-0.963043,0.267076,0.034899] 2025-10-27T03:28:20.474Z,1761535700.474 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.707005 2025-10-27T03:28:20.720Z,1761535700.720 [DAT](INFO): DAT read: Rx Time:03:28:21.8785 2025-10-27T03:28:20.722Z,1761535700.722 [DAT](INFO): Rx dataTimestamp_ set to:1761535700.721114 2025-10-27T03:28:20.726Z,1761535700.726 [DAT](INFO): DAT read: Bearing 32.7, 23.5 (Local) 2025-10-27T03:28:20.727Z,1761535700.727 [DAT](INFO): Local bearing/azimuth received: Bearing 32.7, 23.5 (Local) 2025-10-27T03:28:20.733Z,1761535700.733 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed -0.1 2025-10-27T03:28:20.740Z,1761535700.740 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-27T03:28:20.745Z,1761535700.745 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.977596 2025-10-27T03:28:20.896Z,1761535700.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489282,-0.871374,0.036200],[0.858638,0.488572,0.155041],[-0.152785,-0.044776,0.987245]] 2025-10-27T03:28:20.952Z,1761535700.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.502186 s, deltaX: -0.200001 m, approachRate: -0.398260 m/s, rangeRepo size: 4 2025-10-27T03:28:20.954Z,1761535700.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.657703 m, bearing: 224.521069 deg, lat: 36.779330 deg, lon: -121.859542 deg, deltaT: 1.008696 s, deltaX: 0.099590 m, approachRate: 0.098732 m/s, posRepo size: 4 2025-10-27T03:28:20.954Z,1761535700.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.66 m. 2025-10-27T03:28:20.972Z,1761535700.972 [DAT](INFO): DAT read: 03:28:21.8785 LVL= 32752, 31649, 32754, 32755, AGC= 68, IDX= 497,-0.03, 0.551, 2.041, 0.149, 1.049, PHS=-0.395, 1.037,-0.943, RAW= 345.5, 3.4, CAL= 345.1, 0.8, ROT= 164.9, -0.8 2025-10-27T03:28:20.973Z,1761535700.973 [DAT](INFO): got valid direction response: 03:28:21.8785 LVL= 32752, 31649, 32754, 32755, AGC= 68, IDX= 497,-0.03, 0.551, 2.041, 0.149, 1.049, PHS=-0.395, 1.037,-0.943, RAW= 345.5, 3.4, CAL= 345.1, 0.8, ROT= 164.9, -0.8 2025-10-27T03:28:20.973Z,1761535700.973 [DAT](INFO): #Rx 110: Read direction message, but no range. 2025-10-27T03:28:20.974Z,1761535700.974 [DAT](INFO): direction in FSK: [-0.965379,0.260479,0.013962] 2025-10-27T03:28:20.978Z,1761535700.978 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.211189 2025-10-27T03:28:21.225Z,1761535701.225 [DAT](INFO): DAT read: Rx Time:03:28:22.3786 2025-10-27T03:28:21.226Z,1761535701.226 [DAT](INFO): Rx dataTimestamp_ set to:1761535701.225385 2025-10-27T03:28:21.230Z,1761535701.230 [DAT](INFO): DAT read: Bearing 29.3, 23.1 (Local) 2025-10-27T03:28:21.244Z,1761535701.244 [DAT](INFO): Local bearing/azimuth received: Bearing 29.3, 23.1 (Local) 2025-10-27T03:28:21.250Z,1761535701.250 [DAT](INFO): DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed -0.1 2025-10-27T03:28:21.293Z,1761535701.293 [DAT](INFO): DAT read: 03:28:22.3786 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1, 0.36, 2.391,-2.422, 2.013, 2.939, PHS=-0.446, 0.967,-0.970, RAW= 345.2, 5.2, CAL= 344.9, 3.6, ROT= 165.1, -3.6 2025-10-27T03:28:21.294Z,1761535701.294 [DAT](INFO): got valid direction response: 03:28:22.3786 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1, 0.36, 2.391,-2.422, 2.013, 2.939, PHS=-0.446, 0.967,-0.970, RAW= 345.2, 5.2, CAL= 344.9, 3.6, ROT= 165.1, -3.6 2025-10-27T03:28:21.294Z,1761535701.294 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T03:28:21.308Z,1761535701.308 [DAT](INFO): direction in FSK: [-0.964469,0.256625,0.062791] 2025-10-27T03:28:21.308Z,1761535701.308 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:21.321Z,1761535701.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490554,-0.870718,0.034742],[0.857896,0.489557,0.156042],[-0.152877,-0.046742,0.987139]] 2025-10-27T03:28:21.336Z,1761535701.336 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.568848 2025-10-27T03:28:21.382Z,1761535701.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.504271 s, deltaX: 0.200001 m, approachRate: 0.396614 m/s, rangeRepo size: 4 2025-10-27T03:28:21.393Z,1761535701.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.856945 m, bearing: 224.900493 deg, lat: 36.779330 deg, lon: -121.859539 deg, deltaT: 0.504271 s, deltaX: 0.199242 m, approachRate: 0.395108 m/s, posRepo size: 4 2025-10-27T03:28:21.394Z,1761535701.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.86 m. 2025-10-27T03:28:21.472Z,1761535701.472 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.705315 2025-10-27T03:28:21.733Z,1761535701.733 [DAT](INFO): DAT read: Rx Time:03:28:22.8785 2025-10-27T03:28:21.735Z,1761535701.735 [DAT](INFO): Rx dataTimestamp_ set to:1761535701.733619 2025-10-27T03:28:21.740Z,1761535701.740 [DAT](INFO): DAT read: Bearing 33.5, 23.9 (Local) 2025-10-27T03:28:21.741Z,1761535701.741 [DAT](INFO): Local bearing/azimuth received: Bearing 33.5, 23.9 (Local) 2025-10-27T03:28:21.782Z,1761535701.782 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed -0.2 2025-10-27T03:28:21.846Z,1761535701.846 [DAT](INFO): DAT read: 03:28:22.8785 LVL= 32752, 29089, 32754, 32755, AGC= 64, IDX= 497, 0.38, 2.420,-2.370, 2.002, 2.883, PHS=-0.362, 1.075,-0.925, RAW= 345.9, 2.4, CAL= 345.4, -0.6, ROT= 164.6, 0.6 2025-10-27T03:28:21.856Z,1761535701.856 [DAT](INFO): got valid direction response: 03:28:22.8785 LVL= 32752, 29089, 32754, 32755, AGC= 64, IDX= 497, 0.38, 2.420,-2.370, 2.002, 2.883, PHS=-0.362, 1.075,-0.925, RAW= 345.9, 2.4, CAL= 345.4, -0.6, ROT= 164.6, 0.6 2025-10-27T03:28:21.856Z,1761535701.856 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T03:28:21.857Z,1761535701.857 [DAT](INFO): direction in FSK: [-0.964043,0.265541,-0.010472] 2025-10-27T03:28:21.858Z,1761535701.858 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:21.870Z,1761535701.870 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.103344 2025-10-27T03:28:21.973Z,1761535701.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.508234 s, deltaX: -0.200001 m, approachRate: -0.393521 m/s, rangeRepo size: 4 2025-10-27T03:28:21.976Z,1761535701.976 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.209347 2025-10-27T03:28:21.984Z,1761535701.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.657761 m, bearing: 224.762922 deg, lat: 36.779326 deg, lon: -121.859535 deg, deltaT: 0.508234 s, deltaX: -0.199184 m, approachRate: -0.391915 m/s, posRepo size: 4 2025-10-27T03:28:21.984Z,1761535701.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.66 m. 2025-10-27T03:28:22.232Z,1761535702.232 [DAT](INFO): DAT read: Rx Time:03:28:23.3787 2025-10-27T03:28:22.234Z,1761535702.234 [DAT](INFO): Rx dataTimestamp_ set to:1761535702.232821 2025-10-27T03:28:22.238Z,1761535702.238 [DAT](INFO): DAT read: Bearing 31.0, 22.4 (Local) 2025-10-27T03:28:22.239Z,1761535702.239 [DAT](INFO): Local bearing/azimuth received: Bearing 31.0, 22.4 (Local) 2025-10-27T03:28:22.246Z,1761535702.246 [DAT](INFO): DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed -0.1 2025-10-27T03:28:22.248Z,1761535702.248 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-27T03:28:22.254Z,1761535702.254 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.486748 2025-10-27T03:28:22.373Z,1761535702.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490178,-0.870928,0.034778],[0.858327,0.489259,0.154596],[-0.151658,-0.045928,0.987365]] 2025-10-27T03:28:22.401Z,1761535702.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:28:22.404Z,1761535702.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.499202 s, deltaX: 0.299999 m, approachRate: 0.600958 m/s, rangeRepo size: 4 2025-10-27T03:28:22.404Z,1761535702.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.66 m. 2025-10-27T03:28:22.484Z,1761535702.484 [DAT](INFO): DAT read: 03:28:23.3787 LVL= 26240, 21377, 28578, 30323, AGC= 66, IDX= 3, 0.16,-2.986,-1.498, 2.945,-2.461, PHS=-0.423, 1.008,-0.921, RAW= 344.4, 3.9, CAL= 344.0, 1.6, ROT= 166.0, -1.6 2025-10-27T03:28:22.485Z,1761535702.485 [DAT](INFO): got valid direction response: 03:28:23.3787 LVL= 26240, 21377, 28578, 30323, AGC= 66, IDX= 3, 0.16,-2.986,-1.498, 2.945,-2.461, PHS=-0.423, 1.008,-0.921, RAW= 344.4, 3.9, CAL= 344.0, 1.6, ROT= 166.0, -1.6 2025-10-27T03:28:22.485Z,1761535702.485 [DAT](INFO): #Rx 114: Read direction message, but no range. 2025-10-27T03:28:22.486Z,1761535702.486 [DAT](INFO): direction in FSK: [-0.969917,0.241828,0.027922] 2025-10-27T03:28:22.490Z,1761535702.490 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.723064 2025-10-27T03:28:22.737Z,1761535702.737 [DAT](INFO): DAT read: Rx Time:03:28:23.8787 2025-10-27T03:28:22.738Z,1761535702.738 [DAT](INFO): Rx dataTimestamp_ set to:1761535702.737465 2025-10-27T03:28:22.763Z,1761535702.763 [DAT](INFO): DAT read: Bearing 31.7, 22.8 (Local) 2025-10-27T03:28:22.764Z,1761535702.764 [DAT](INFO): Local bearing/azimuth received: Bearing 31.7, 22.8 (Local) 2025-10-27T03:28:22.766Z,1761535702.766 [DAT](INFO): DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed -0.3 2025-10-27T03:28:22.770Z,1761535702.770 [DAT](INFO): DAT read: 03:28:23.8787 LVL= 32752, 25633, 32754, 32755, AGC= 64, IDX= 499, 0.07, 0.979, 2.476, 0.607, 1.485, PHS=-0.404, 1.036,-0.922, RAW= 344.8, 3.3, CAL= 344.3, 0.7, ROT= 165.7, -0.7 2025-10-27T03:28:22.797Z,1761535702.797 [DAT](INFO): got valid direction response: 03:28:23.8787 LVL= 32752, 25633, 32754, 32755, AGC= 64, IDX= 499, 0.07, 0.979, 2.476, 0.607, 1.485, PHS=-0.404, 1.036,-0.922, RAW= 344.8, 3.3, CAL= 344.3, 0.7, ROT= 165.7, -0.7 2025-10-27T03:28:22.798Z,1761535702.798 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T03:28:22.814Z,1761535702.814 [DAT](INFO): direction in FSK: [-0.968943,0.246981,0.012217] 2025-10-27T03:28:22.815Z,1761535702.815 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:22.868Z,1761535702.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489055,-0.871551,0.034981],[0.859094,0.488230,0.153590],[-0.150940,-0.045062,0.987515]] 2025-10-27T03:28:22.891Z,1761535702.891 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.124477 2025-10-27T03:28:22.984Z,1761535702.984 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.217171 2025-10-27T03:28:22.997Z,1761535702.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.504644 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:23.012Z,1761535703.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.956612 m, bearing: 225.870764 deg, lat: 36.779326 deg, lon: -121.859535 deg, deltaT: 1.003846 s, deltaX: 0.298851 m, approachRate: 0.297706 m/s, posRepo size: 4 2025-10-27T03:28:23.012Z,1761535703.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.96 m. 2025-10-27T03:28:23.241Z,1761535703.241 [DAT](INFO): DAT read: Rx Time:03:28:24.3789 2025-10-27T03:28:23.242Z,1761535703.242 [DAT](INFO): Rx dataTimestamp_ set to:1761535703.241216 2025-10-27T03:28:23.246Z,1761535703.246 [DAT](INFO): DAT read: Bearing 31.9, 22.8 (Local) 2025-10-27T03:28:23.255Z,1761535703.255 [DAT](INFO): Local bearing/azimuth received: Bearing 31.9, 22.8 (Local) 2025-10-27T03:28:23.258Z,1761535703.258 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed -0.3 2025-10-27T03:28:23.299Z,1761535703.299 [DAT](INFO): DAT read: 03:28:24.3789 LVL= 32752, 27057, 32754, 32755, AGC= 65, IDX= 501, 0.06, 2.185,-2.618, 1.818, 2.679, PHS=-0.392, 1.031,-0.905, RAW= 344.8, 3.1, CAL= 344.3, 0.3, ROT= 165.7, -0.3 2025-10-27T03:28:23.301Z,1761535703.301 [DAT](INFO): got valid direction response: 03:28:24.3789 LVL= 32752, 27057, 32754, 32755, AGC= 65, IDX= 501, 0.06, 2.185,-2.618, 1.818, 2.679, PHS=-0.392, 1.031,-0.905, RAW= 344.8, 3.1, CAL= 344.3, 0.3, ROT= 165.7, -0.3 2025-10-27T03:28:23.301Z,1761535703.301 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T03:28:23.302Z,1761535703.302 [DAT](INFO): direction in FSK: [-0.969002,0.246996,0.005236] 2025-10-27T03:28:23.302Z,1761535703.302 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:23.314Z,1761535703.314 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.547348 2025-10-27T03:28:23.448Z,1761535703.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487844,-0.872242,0.034656],[0.859947,0.487032,0.152613],[-0.149994,-0.044649,0.987678]] 2025-10-27T03:28:23.488Z,1761535703.488 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.721497 2025-10-27T03:28:23.500Z,1761535703.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.503751 s, deltaX: 0.300003 m, approachRate: 0.595538 m/s, rangeRepo size: 4 2025-10-27T03:28:23.502Z,1761535703.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.255348 m, bearing: 225.990836 deg, lat: 36.779326 deg, lon: -121.859535 deg, deltaT: 0.503751 s, deltaX: 0.298737 m, approachRate: 0.593024 m/s, posRepo size: 4 2025-10-27T03:28:23.507Z,1761535703.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.26 m. 2025-10-27T03:28:23.745Z,1761535703.745 [DAT](INFO): DAT read: Rx Time:03:28:24.8789 2025-10-27T03:28:23.747Z,1761535703.747 [DAT](INFO): Rx dataTimestamp_ set to:1761535703.746111 2025-10-27T03:28:23.751Z,1761535703.751 [DAT](INFO): DAT read: Bearing 30.5, 22.8 (Local) 2025-10-27T03:28:23.752Z,1761535703.752 [DAT](INFO): Local bearing/azimuth received: Bearing 30.5, 22.8 (Local) 2025-10-27T03:28:23.755Z,1761535703.755 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed -0.3 2025-10-27T03:28:23.762Z,1761535703.762 [DAT](INFO): DAT read: 03:28:24.8789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501, 0.01, 1.589, 3.053, 1.229, 2.098, PHS=-0.407, 1.000,-0.913, RAW= 344.8, 3.8, CAL= 344.4, 1.3, ROT= 165.6, -1.3 2025-10-27T03:28:23.763Z,1761535703.763 [DAT](INFO): got valid direction response: 03:28:24.8789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501, 0.01, 1.589, 3.053, 1.229, 2.098, PHS=-0.407, 1.000,-0.913, RAW= 344.8, 3.8, CAL= 344.4, 1.3, ROT= 165.6, -1.3 2025-10-27T03:28:23.764Z,1761535703.764 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T03:28:23.765Z,1761535703.765 [DAT](INFO): direction in FSK: [-0.968334,0.248626,0.022687] 2025-10-27T03:28:23.765Z,1761535703.765 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:23.774Z,1761535703.774 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.006824 2025-10-27T03:28:23.934Z,1761535703.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486230,-0.873165,0.034100],[0.861071,0.485409,0.151445],[-0.148789,-0.044275,0.987877]] 2025-10-27T03:28:23.992Z,1761535703.992 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.225254 2025-10-27T03:28:24.024Z,1761535704.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.504895 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:24.026Z,1761535704.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.255661 m, bearing: 225.924171 deg, lat: 36.779327 deg, lon: -121.859536 deg, deltaT: 0.504895 s, deltaX: 0.000313 m, approachRate: 0.000620 m/s, posRepo size: 4 2025-10-27T03:28:24.027Z,1761535704.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.26 m. 2025-10-27T03:28:24.248Z,1761535704.248 [DAT](INFO): DAT read: Rx Time:03:28:25.3791 2025-10-27T03:28:24.250Z,1761535704.250 [DAT](INFO): Rx dataTimestamp_ set to:1761535704.249105 2025-10-27T03:28:24.253Z,1761535704.253 [DAT](INFO): DAT read: Bearing 28.5, 21.1 (Local) 2025-10-27T03:28:24.253Z,1761535704.253 [DAT](INFO): Local bearing/azimuth received: Bearing 28.5, 21.1 (Local) 2025-10-27T03:28:24.256Z,1761535704.256 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed -0.3 2025-10-27T03:28:24.262Z,1761535704.262 [DAT](INFO): DAT read: 03:28:25.3791 LVL= 32752, 25329, 32754, 32755, AGC= 67, IDX= 503,-0.02,-1.483, 0.018,-1.790,-0.913, PHS=-0.469, 0.975,-0.921, RAW= 343.2, 4.9, CAL= 342.9, 3.1, ROT= 167.1, -3.1 2025-10-27T03:28:24.264Z,1761535704.264 [DAT](INFO): got valid direction response: 03:28:25.3791 LVL= 32752, 25329, 32754, 32755, AGC= 67, IDX= 503,-0.02,-1.483, 0.018,-1.790,-0.913, PHS=-0.469, 0.975,-0.921, RAW= 343.2, 4.9, CAL= 342.9, 3.1, ROT= 167.1, -3.1 2025-10-27T03:28:24.264Z,1761535704.264 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T03:28:24.266Z,1761535704.266 [DAT](INFO): direction in FSK: [-0.973335,0.222923,0.054079] 2025-10-27T03:28:24.266Z,1761535704.266 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:24.272Z,1761535704.272 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.505348 2025-10-27T03:28:24.441Z,1761535704.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482218,-0.875434,0.032878],[0.863766,0.481384,0.148921],[-0.146197,-0.043413,0.988302]] 2025-10-27T03:28:24.478Z,1761535704.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.502994 s, deltaX: 0.299999 m, approachRate: 0.596427 m/s, rangeRepo size: 4 2025-10-27T03:28:24.480Z,1761535704.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.554440 m, bearing: 227.583502 deg, lat: 36.779327 deg, lon: -121.859537 deg, deltaT: 0.502994 s, deltaX: 0.298779 m, approachRate: 0.594000 m/s, posRepo size: 4 2025-10-27T03:28:24.481Z,1761535704.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m. 2025-10-27T03:28:24.498Z,1761535704.498 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.731438 2025-10-27T03:28:24.752Z,1761535704.752 [DAT](INFO): DAT read: Rx Time:03:28:25.8791 2025-10-27T03:28:24.753Z,1761535704.753 [DAT](INFO): Rx dataTimestamp_ set to:1761535704.752599 2025-10-27T03:28:24.754Z,1761535704.754 [DAT](INFO): DAT read: Bearing 32.1, 22.7 (Local) 2025-10-27T03:28:24.754Z,1761535704.754 [DAT](INFO): Local bearing/azimuth received: Bearing 32.1, 22.7 (Local) 2025-10-27T03:28:24.757Z,1761535704.757 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed -0.4 2025-10-27T03:28:24.761Z,1761535704.761 [DAT](INFO): DAT read: 03:28:25.8791 LVL= 32752, 32097, 32754, 32755, AGC= 68, IDX= 503, 0.36, 3.017,-1.786, 2.653,-2.788, PHS=-0.376, 1.047,-0.886, RAW= 344.7, 2.5, CAL= 344.3, -0.4, ROT= 165.7, 0.4 2025-10-27T03:28:24.762Z,1761535704.762 [DAT](INFO): got valid direction response: 03:28:25.8791 LVL= 32752, 32097, 32754, 32755, AGC= 68, IDX= 503, 0.36, 3.017,-1.786, 2.653,-2.788, PHS=-0.376, 1.047,-0.886, RAW= 344.7, 2.5, CAL= 344.3, -0.4, ROT= 165.7, 0.4 2025-10-27T03:28:24.766Z,1761535704.766 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T03:28:24.801Z,1761535704.801 [DAT](INFO): direction in FSK: [-0.968992,0.246993,-0.006981] 2025-10-27T03:28:24.801Z,1761535704.801 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:24.805Z,1761535704.805 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.038086 2025-10-27T03:28:24.880Z,1761535704.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480269,-0.876533,0.032115],[0.865083,0.479405,0.147659],[-0.144825,-0.043134,0.988517]] 2025-10-27T03:28:24.988Z,1761535704.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.503494 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:24.990Z,1761535704.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.554440 m, bearing: 226.583357 deg, lat: 36.779327 deg, lon: -121.859539 deg, deltaT: 0.503494 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:28:24.990Z,1761535704.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m. 2025-10-27T03:28:25.000Z,1761535705.000 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.233311 2025-10-27T03:28:25.253Z,1761535705.253 [DAT](INFO): DAT read: Rx Time:03:28:26.3792 2025-10-27T03:28:25.254Z,1761535705.254 [DAT](INFO): Rx dataTimestamp_ set to:1761535705.253571 2025-10-27T03:28:25.255Z,1761535705.255 [DAT](INFO): DAT read: Bearing 28.4, 21.4 (Local) 2025-10-27T03:28:25.256Z,1761535705.256 [DAT](INFO): Local bearing/azimuth received: Bearing 28.4, 21.4 (Local) 2025-10-27T03:28:25.258Z,1761535705.258 [DAT](INFO): DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed -0.4 2025-10-27T03:28:25.263Z,1761535705.263 [DAT](INFO): DAT read: 03:28:26.3792 LVL= 32752, 31905, 32754, 32755, AGC= 69, IDX= 505,-0.32, 2.210,-2.576, 1.891, 2.774, PHS=-0.461, 0.979,-0.927, RAW= 343.5, 4.8, CAL= 343.2, 3.0, ROT= 166.8, -3.0 2025-10-27T03:28:25.265Z,1761535705.265 [DAT](INFO): got valid direction response: 03:28:26.3792 LVL= 32752, 31905, 32754, 32755, AGC= 69, IDX= 505,-0.32, 2.210,-2.576, 1.891, 2.774, PHS=-0.461, 0.979,-0.927, RAW= 343.5, 4.8, CAL= 343.2, 3.0, ROT= 166.8, -3.0 2025-10-27T03:28:25.265Z,1761535705.265 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T03:28:25.267Z,1761535705.267 [DAT](INFO): direction in FSK: [-0.972245,0.228038,0.052336] 2025-10-27T03:28:25.268Z,1761535705.268 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:25.296Z,1761535705.296 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:28:25.296Z,1761535705.296 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:28:25.297Z,1761535705.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:25.413Z,1761535705.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478350,-0.877623,0.030964],[0.866402,0.477400,0.146414],[-0.143279,-0.043210,0.988739]] 2025-10-27T03:28:25.504Z,1761535705.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:25.511Z,1761535705.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 0.500972 s, deltaX: 0.299999 m, approachRate: 0.598834 m/s, rangeRepo size: 4 2025-10-27T03:28:25.513Z,1761535705.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.853333 m, bearing: 227.565031 deg, lat: 36.779327 deg, lon: -121.859539 deg, deltaT: 0.500972 s, deltaX: 0.298893 m, approachRate: 0.596626 m/s, posRepo size: 4 2025-10-27T03:28:25.514Z,1761535705.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.85 m. 2025-10-27T03:28:25.757Z,1761535705.757 [DAT](INFO): DAT read: Rx Time:03:28:26.8792 2025-10-27T03:28:25.757Z,1761535705.757 [DAT](INFO): Rx dataTimestamp_ set to:1761535705.756726 2025-10-27T03:28:25.758Z,1761535705.758 [DAT](INFO): DAT read: Bearing 29.8, 21.1 (Local) 2025-10-27T03:28:25.759Z,1761535705.759 [DAT](INFO): Local bearing/azimuth received: Bearing 29.8, 21.1 (Local) 2025-10-27T03:28:25.761Z,1761535705.761 [DAT](INFO): DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed -0.3 2025-10-27T03:28:25.765Z,1761535705.765 [DAT](INFO): DAT read: 03:28:26.8792 LVL= 32752, 26145, 32754, 32755, AGC= 68, IDX= 505,-0.06, 1.085, 2.588, 0.774, 1.627, PHS=-0.440, 1.007,-0.897, RAW= 343.3, 3.9, CAL= 342.9, 1.5, ROT= 167.1, -1.5 2025-10-27T03:28:25.766Z,1761535705.766 [DAT](INFO): got valid direction response: 03:28:26.8792 LVL= 32752, 26145, 32754, 32755, AGC= 68, IDX= 505,-0.06, 1.085, 2.588, 0.774, 1.627, PHS=-0.440, 1.007,-0.897, RAW= 343.3, 3.9, CAL= 342.9, 1.5, ROT= 167.1, -1.5 2025-10-27T03:28:25.767Z,1761535705.767 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:28:25.768Z,1761535705.768 [DAT](INFO): direction in FSK: [-0.974427,0.223174,0.026177] 2025-10-27T03:28:25.768Z,1761535705.768 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:25.792Z,1761535705.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:25.793Z,1761535705.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:25.876Z,1761535705.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476740,-0.878545,0.029631],[0.867523,0.475664,0.145422],[-0.141854,-0.043623,0.988926]] 2025-10-27T03:28:25.944Z,1761535705.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 0.503155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:25.946Z,1761535705.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.853333 m, bearing: 228.098861 deg, lat: 36.779332 deg, lon: -121.859542 deg, deltaT: 0.503155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:28:25.946Z,1761535705.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.85 m. 2025-10-27T03:28:26.008Z,1761535706.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:26.260Z,1761535706.260 [DAT](INFO): DAT read: Rx Time:03:28:27.3794 2025-10-27T03:28:26.261Z,1761535706.261 [DAT](INFO): Rx dataTimestamp_ set to:1761535706.260624 2025-10-27T03:28:26.262Z,1761535706.262 [DAT](INFO): DAT read: Bearing 29.0, 21.0 (Local) 2025-10-27T03:28:26.262Z,1761535706.262 [DAT](INFO): Local bearing/azimuth received: Bearing 29.0, 21.0 (Local) 2025-10-27T03:28:26.265Z,1761535706.265 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m (trip time 24.2 ms) speed -0.4 2025-10-27T03:28:26.269Z,1761535706.269 [DAT](INFO): DAT read: 03:28:27.3794 LVL= 32752, 28401, 32754, 32755, AGC= 68, IDX= 507, 0.23,-2.711,-1.224,-3.011,-2.160, PHS=-0.449, 0.981,-0.895, RAW= 343.2, 4.3, CAL= 342.8, 2.2, ROT= 167.2, -2.2 2025-10-27T03:28:26.270Z,1761535706.270 [DAT](INFO): got valid direction response: 03:28:27.3794 LVL= 32752, 28401, 32754, 32755, AGC= 68, IDX= 507, 0.23,-2.711,-1.224,-3.011,-2.160, PHS=-0.449, 0.981,-0.895, RAW= 343.2, 4.3, CAL= 342.8, 2.2, ROT= 167.2, -2.2 2025-10-27T03:28:26.271Z,1761535706.271 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:28:26.272Z,1761535706.272 [DAT](INFO): direction in FSK: [-0.974431,0.221385,0.038388] 2025-10-27T03:28:26.272Z,1761535706.272 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:26.275Z,1761535706.275 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:26.276Z,1761535706.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:26.381Z,1761535706.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473923,-0.880156,0.026886],[0.869533,0.472585,0.143445],[-0.138960,-0.044604,0.989293]] 2025-10-27T03:28:26.474Z,1761535706.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 0.503898 s, deltaX: 0.299999 m, approachRate: 0.595357 m/s, rangeRepo size: 4 2025-10-27T03:28:26.477Z,1761535706.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.152199 m, bearing: 228.350615 deg, lat: 36.779333 deg, lon: -121.859542 deg, deltaT: 0.503898 s, deltaX: 0.298866 m, approachRate: 0.593109 m/s, posRepo size: 4 2025-10-27T03:28:26.477Z,1761535706.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.15 m. 2025-10-27T03:28:26.512Z,1761535706.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:26.765Z,1761535706.765 [DAT](INFO): DAT read: Rx Time:03:28:27.8795 2025-10-27T03:28:26.765Z,1761535706.765 [DAT](INFO): Rx dataTimestamp_ set to:1761535706.764776 2025-10-27T03:28:26.766Z,1761535706.766 [DAT](INFO): DAT read: Bearing 29.2, 20.2 (Local) 2025-10-27T03:28:26.767Z,1761535706.767 [DAT](INFO): Local bearing/azimuth received: Bearing 29.2, 20.2 (Local) 2025-10-27T03:28:26.769Z,1761535706.769 [DAT](INFO): DAT read: Range 11 to 50 : 36.5 m (trip time 24.3 ms) speed -0.3 2025-10-27T03:28:26.778Z,1761535706.778 [DAT](INFO): DAT read: 03:28:27.8795 LVL= 32752, 32145, 32754, 32755, AGC= 69, IDX= 508,-0.45, 1.123, 2.629, 0.844, 1.685, PHS=-0.460, 0.989,-0.885, RAW= 342.5, 4.2, CAL= 342.1, 2.1, ROT= 167.9, -2.1 2025-10-27T03:28:26.780Z,1761535706.780 [DAT](INFO): got valid direction response: 03:28:27.8795 LVL= 32752, 32145, 32754, 32755, AGC= 69, IDX= 508,-0.45, 1.123, 2.629, 0.844, 1.685, PHS=-0.460, 0.989,-0.885, RAW= 342.5, 4.2, CAL= 342.1, 2.1, ROT= 167.9, -2.1 2025-10-27T03:28:26.780Z,1761535706.780 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:28:26.781Z,1761535706.781 [DAT](INFO): direction in FSK: [-0.977127,0.209478,0.036644] 2025-10-27T03:28:26.781Z,1761535706.781 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:26.785Z,1761535706.785 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:26.785Z,1761535706.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:26.878Z,1761535706.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472963,-0.880709,0.025637],[0.870276,0.471507,0.142481],[-0.137572,-0.045077,0.989465]] 2025-10-27T03:28:26.971Z,1761535706.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.500000 m, deltaT: 0.504152 s, deltaX: 0.200001 m, approachRate: 0.396707 m/s, rangeRepo size: 4 2025-10-27T03:28:26.973Z,1761535706.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.351387 m, bearing: 229.136831 deg, lat: 36.779333 deg, lon: -121.859544 deg, deltaT: 0.504152 s, deltaX: 0.199188 m, approachRate: 0.395096 m/s, posRepo size: 4 2025-10-27T03:28:26.974Z,1761535706.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.35 m. 2025-10-27T03:28:27.016Z,1761535707.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:27.261Z,1761535707.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472446,-0.880982,0.025783],[0.870808,0.471103,0.140555],[-0.135973,-0.043953,0.989737]] 2025-10-27T03:28:27.269Z,1761535707.269 [DAT](INFO): DAT read: Rx Time:03:28:28.3797 2025-10-27T03:28:27.269Z,1761535707.269 [DAT](INFO): Rx dataTimestamp_ set to:1761535707.268809 2025-10-27T03:28:27.270Z,1761535707.270 [DAT](INFO): DAT read: Bearing 30.9, 21.2 (Local) 2025-10-27T03:28:27.271Z,1761535707.271 [DAT](INFO): Local bearing/azimuth received: Bearing 30.9, 21.2 (Local) 2025-10-27T03:28:27.273Z,1761535707.273 [DAT](INFO): DAT read: Range 11 to 50 : 36.8 m (trip time 24.5 ms) speed -0.3 2025-10-27T03:28:27.278Z,1761535707.278 [DAT](INFO): DAT read: 03:28:28.3797 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 510,-0.22, 1.578, 3.043, 1.266, 2.083, PHS=-0.403, 1.005,-0.861, RAW= 343.6, 3.1, CAL= 343.1, 0.3, ROT= 166.9, -0.3 2025-10-27T03:28:27.279Z,1761535707.279 [DAT](INFO): got valid direction response: 03:28:28.3797 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 510,-0.22, 1.578, 3.043, 1.266, 2.083, PHS=-0.403, 1.005,-0.861, RAW= 343.6, 3.1, CAL= 343.1, 0.3, ROT= 166.9, -0.3 2025-10-27T03:28:27.279Z,1761535707.279 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:28:27.280Z,1761535707.280 [DAT](INFO): direction in FSK: [-0.973963,0.226648,0.005236] 2025-10-27T03:28:27.280Z,1761535707.280 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:27.320Z,1761535707.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:27.320Z,1761535707.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:27.432Z,1761535707.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 0.504033 s, deltaX: 0.299999 m, approachRate: 0.595198 m/s, rangeRepo size: 4 2025-10-27T03:28:27.434Z,1761535707.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.649872 m, bearing: 228.308114 deg, lat: 36.779333 deg, lon: -121.859545 deg, deltaT: 0.504033 s, deltaX: 0.298485 m, approachRate: 0.592193 m/s, posRepo size: 4 2025-10-27T03:28:27.439Z,1761535707.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m. 2025-10-27T03:28:27.520Z,1761535707.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:27.747Z,1761535707.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473087,-0.880629,0.026107],[0.870630,0.471841,0.139176],[-0.134881,-0.043113,0.989923]] 2025-10-27T03:28:27.766Z,1761535707.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m. 2025-10-27T03:28:27.773Z,1761535707.773 [DAT](INFO): DAT read: Rx Time:03:28:28.8797 2025-10-27T03:28:27.773Z,1761535707.773 [DAT](INFO): Rx dataTimestamp_ set to:1761535707.773083 2025-10-27T03:28:27.775Z,1761535707.775 [DAT](INFO): DAT read: Bearing 31.2, 20.9 (Local) 2025-10-27T03:28:27.775Z,1761535707.775 [DAT](INFO): Local bearing/azimuth received: Bearing 31.2, 20.9 (Local) 2025-10-27T03:28:27.777Z,1761535707.777 [DAT](INFO): DAT read: Range 11 to 50 : 36.8 m (trip time 24.5 ms) speed -0.3 2025-10-27T03:28:27.782Z,1761535707.782 [DAT](INFO): DAT read: 03:28:28.8797 LVL= 32752, 31521, 32754, 32755, AGC= 65, IDX= 510,-0.00,-0.550, 0.939,-0.859,-0.041, PHS=-0.407, 1.025,-0.861, RAW= 343.3, 2.9, CAL= 342.9, -0.0, ROT= 167.1, 0.0 2025-10-27T03:28:27.784Z,1761535707.784 [DAT](INFO): got valid direction response: 03:28:28.8797 LVL= 32752, 31521, 32754, 32755, AGC= 65, IDX= 510,-0.00,-0.550, 0.939,-0.859,-0.041, PHS=-0.407, 1.025,-0.861, RAW= 343.3, 2.9, CAL= 342.9, -0.0, ROT= 167.1, 0.0 2025-10-27T03:28:27.784Z,1761535707.784 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:28:27.785Z,1761535707.785 [DAT](INFO): direction in FSK: [-0.974761,0.223250,-0.000000] 2025-10-27T03:28:27.785Z,1761535707.785 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:27.789Z,1761535707.789 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:27.789Z,1761535707.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:28.024Z,1761535708.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:28.148Z,1761535708.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474425,-0.879924,0.025583],[0.870016,0.473115,0.138686],[-0.134137,-0.043538,0.990006]] 2025-10-27T03:28:28.269Z,1761535708.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 0.504274 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:28.272Z,1761535708.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.649746 m, bearing: 228.411679 deg, lat: 36.779333 deg, lon: -121.859548 deg, deltaT: 0.504274 s, deltaX: -0.000126 m, approachRate: -0.000250 m/s, posRepo size: 4 2025-10-27T03:28:28.273Z,1761535708.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.65 m. 2025-10-27T03:28:28.277Z,1761535708.277 [DAT](INFO): DAT read: Rx Time:03:28:29.3798 2025-10-27T03:28:28.277Z,1761535708.277 [DAT](INFO): Rx dataTimestamp_ set to:1761535708.276804 2025-10-27T03:28:28.278Z,1761535708.278 [DAT](INFO): DAT read: Bearing 30.9, 20.4 (Local) 2025-10-27T03:28:28.279Z,1761535708.279 [DAT](INFO): Local bearing/azimuth received: Bearing 30.9, 20.4 (Local) 2025-10-27T03:28:28.281Z,1761535708.281 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m (trip time 24.6 ms) speed -0.2 2025-10-27T03:28:28.286Z,1761535708.286 [DAT](INFO): DAT read: 03:28:29.3798 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.06,-0.449, 1.007,-0.733, 0.061, PHS=-0.407, 0.992,-0.837, RAW= 343.0, 3.1, CAL= 342.5, 0.3, ROT= 167.5, -0.3 2025-10-27T03:28:28.287Z,1761535708.287 [DAT](INFO): got valid direction response: 03:28:29.3798 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.06,-0.449, 1.007,-0.733, 0.061, PHS=-0.407, 0.992,-0.837, RAW= 343.0, 3.1, CAL= 342.5, 0.3, ROT= 167.5, -0.3 2025-10-27T03:28:28.287Z,1761535708.287 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:28:28.288Z,1761535708.288 [DAT](INFO): direction in FSK: [-0.976283,0.216437,0.005236] 2025-10-27T03:28:28.288Z,1761535708.288 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:28.296Z,1761535708.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:28.296Z,1761535708.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:28.529Z,1761535708.529 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:28.697Z,1761535708.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476387,-0.878885,0.024846],[0.868977,0.474944,0.138948],[-0.133920,-0.044602,0.989988]] 2025-10-27T03:28:28.772Z,1761535708.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 0.503721 s, deltaX: 0.100002 m, approachRate: 0.198527 m/s, rangeRepo size: 4 2025-10-27T03:28:28.774Z,1761535708.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.749340 m, bearing: 228.664461 deg, lat: 36.779332 deg, lon: -121.859549 deg, deltaT: 0.503721 s, deltaX: 0.099594 m, approachRate: 0.197717 m/s, posRepo size: 4 2025-10-27T03:28:28.774Z,1761535708.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.75 m. 2025-10-27T03:28:28.781Z,1761535708.781 [DAT](INFO): DAT read: Rx Time:03:28:29.8798 2025-10-27T03:28:28.781Z,1761535708.781 [DAT](INFO): Rx dataTimestamp_ set to:1761535708.780850 2025-10-27T03:28:28.782Z,1761535708.782 [DAT](INFO): DAT read: Bearing 31.1, 20.1 (Local) 2025-10-27T03:28:28.791Z,1761535708.791 [DAT](INFO): Local bearing/azimuth received: Bearing 31.1, 20.1 (Local) 2025-10-27T03:28:28.793Z,1761535708.793 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m (trip time 24.6 ms) speed -0.1 2025-10-27T03:28:28.798Z,1761535708.798 [DAT](INFO): DAT read: 03:28:29.8798 LVL= 32752, 30193, 32754, 32755, AGC= 65, IDX= 511,-0.11,-2.704,-1.211,-2.989,-2.185, PHS=-0.416, 1.019,-0.848, RAW= 342.7, 2.9, CAL= 342.2, 0.1, ROT= 167.8, -0.1 2025-10-27T03:28:28.799Z,1761535708.799 [DAT](INFO): got valid direction response: 03:28:29.8798 LVL= 32752, 30193, 32754, 32755, AGC= 65, IDX= 511,-0.11,-2.704,-1.211,-2.989,-2.185, PHS=-0.416, 1.019,-0.848, RAW= 342.7, 2.9, CAL= 342.2, 0.1, ROT= 167.8, -0.1 2025-10-27T03:28:28.799Z,1761535708.799 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:28:28.800Z,1761535708.800 [DAT](INFO): direction in FSK: [-0.977414,0.211324,0.001745] 2025-10-27T03:28:28.800Z,1761535708.800 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:28.808Z,1761535708.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:28.808Z,1761535708.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:29.033Z,1761535709.033 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:29.173Z,1761535709.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482751,-0.875360,0.026393],[0.865576,0.481504,0.137593],[-0.133152,-0.043578,0.990137]] 2025-10-27T03:28:29.235Z,1761535709.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 0.504046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:28:29.237Z,1761535709.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.748722 m, bearing: 228.563929 deg, lat: 36.779332 deg, lon: -121.859549 deg, deltaT: 0.504046 s, deltaX: -0.000618 m, approachRate: -0.001226 m/s, posRepo size: 4 2025-10-27T03:28:29.237Z,1761535709.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.75 m. 2025-10-27T03:28:29.284Z,1761535709.284 [DAT](INFO): DAT read: Rx Time:03:28:30.3800 2025-10-27T03:28:29.285Z,1761535709.285 [DAT](INFO): Rx dataTimestamp_ set to:1761535709.284545 2025-10-27T03:28:29.286Z,1761535709.286 [DAT](INFO): DAT read: Range 11 to 50 : 37.2 m (trip time 24.8 ms) speed -0.1 2025-10-27T03:28:29.287Z,1761535709.287 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T03:28:29.287Z,1761535709.287 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:29.288Z,1761535709.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:29.537Z,1761535709.537 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:29.615Z,1761535709.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486550,-0.873196,0.028250],[0.863471,0.485551,0.136596],[-0.132991,-0.042068,0.990224]] 2025-10-27T03:28:29.642Z,1761535709.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 0.503695 s, deltaX: 0.299999 m, approachRate: 0.595597 m/s, rangeRepo size: 4 2025-10-27T03:28:29.642Z,1761535709.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.75 m. 2025-10-27T03:28:29.789Z,1761535709.789 [DAT](INFO): DAT read: Rx Time:03:28:30.8799 2025-10-27T03:28:29.789Z,1761535709.789 [DAT](INFO): Rx dataTimestamp_ set to:1761535709.788851 2025-10-27T03:28:29.793Z,1761535709.793 [DAT](INFO): DAT read: Bearing 36.0, 22.6 (Local) 2025-10-27T03:28:29.793Z,1761535709.793 [DAT](INFO): Local bearing/azimuth received: Bearing 36.0, 22.6 (Local) 2025-10-27T03:28:29.796Z,1761535709.796 [DAT](INFO): DAT read: Range 11 to 50 : 37.1 m (trip time 24.7 ms) speed -0.1 2025-10-27T03:28:29.802Z,1761535709.802 [DAT](INFO): DAT read: 03:28:30.8799 LVL= 32752, 25777, 32754, 32755, AGC= 65, IDX= 512, 0.01,-2.260,-0.567,-2.722,-1.875, PHS=-0.283, 1.353,-0.891, RAW= 345.2, -1.8, CAL= 344.8, -4.8, ROT= 165.2, 4.8 2025-10-27T03:28:29.814Z,1761535709.814 [DAT](INFO): got valid direction response: 03:28:30.8799 LVL= 32752, 25777, 32754, 32755, AGC= 65, IDX= 512, 0.01,-2.260,-0.567,-2.722,-1.875, PHS=-0.283, 1.353,-0.891, RAW= 345.2, -1.8, CAL= 344.8, -4.8, ROT= 165.2, 4.8 2025-10-27T03:28:29.814Z,1761535709.814 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:28:29.815Z,1761535709.815 [DAT](INFO): direction in FSK: [-0.963433,0.254550,-0.083678] 2025-10-27T03:28:29.815Z,1761535709.815 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:29.818Z,1761535709.818 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:29.819Z,1761535709.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:28:30.028Z,1761535710.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490551,-0.870889,0.030211],[0.861202,0.489804,0.135733],[-0.133006,-0.040566,0.990285]] 2025-10-27T03:28:30.041Z,1761535710.041 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:28:30.096Z,1761535710.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.099998 m, deltaT: 0.504306 s, deltaX: -0.100002 m, approachRate: -0.198297 m/s, rangeRepo size: 4 2025-10-27T03:28:30.098Z,1761535710.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.947514 m, bearing: 225.793087 deg, lat: 36.779331 deg, lon: -121.859549 deg, deltaT: 1.008001 s, deltaX: 0.198792 m, approachRate: 0.197214 m/s, posRepo size: 4 2025-10-27T03:28:30.098Z,1761535710.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:30.292Z,1761535710.292 [DAT](INFO): DAT read: user:346> 2025-10-27T03:28:30.293Z,1761535710.293 [DAT](INFO): DAT read: Tx time:03:28:31.7644 2025-10-27T03:28:30.293Z,1761535710.293 [DAT](INFO): Ping request sent. 2025-10-27T03:28:30.293Z,1761535710.293 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:28:30.293Z,1761535710.293 [DAT](INFO): publishing transmit ping time 2025-10-27T03:28:30.294Z,1761535710.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000776 2025-10-27T03:28:30.421Z,1761535710.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494954,-0.868360,0.031161],[0.858642,0.494285,0.135708],[-0.133246,-0.040413,0.990259]] 2025-10-27T03:28:30.451Z,1761535710.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:30.544Z,1761535710.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251109 2025-10-27T03:28:30.796Z,1761535710.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502823 2025-10-27T03:28:30.825Z,1761535710.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498918,-0.866101,0.030810],[0.856257,0.498113,0.136776],[-0.133809,-0.041859,0.990123]] 2025-10-27T03:28:30.855Z,1761535710.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:31.049Z,1761535711.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755704 2025-10-27T03:28:31.232Z,1761535711.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502417,-0.864097,0.030229],[0.854133,0.501447,0.137864],[-0.134286,-0.043445,0.989990]] 2025-10-27T03:28:31.278Z,1761535711.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:31.300Z,1761535711.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912 2025-10-27T03:28:31.554Z,1761535711.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259716 2025-10-27T03:28:31.634Z,1761535711.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506031,-0.861989,0.030131],[0.851997,0.504995,0.138134],[-0.134286,-0.044228,0.989955]] 2025-10-27T03:28:31.655Z,1761535711.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:31.807Z,1761535711.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513713 2025-10-27T03:28:32.056Z,1761535712.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763236 2025-10-27T03:28:32.060Z,1761535712.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509113,-0.860113,0.031767],[0.850190,0.508304,0.137130],[-0.134095,-0.042807,0.990044]] 2025-10-27T03:28:32.120Z,1761535712.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:32.309Z,1761535712.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015202 2025-10-27T03:28:32.492Z,1761535712.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511705,-0.858507,0.033521],[0.848697,0.511158,0.135756],[-0.133682,-0.041017,0.990175]] 2025-10-27T03:28:32.543Z,1761535712.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:32.560Z,1761535712.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267028 2025-10-27T03:28:32.814Z,1761535712.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521294 2025-10-27T03:28:32.926Z,1761535712.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513224,-0.857580,0.034028],[0.847864,0.512763,0.134910],[-0.133144,-0.040388,0.990273]] 2025-10-27T03:28:32.946Z,1761535712.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:33.064Z,1761535713.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871 2025-10-27T03:28:33.317Z,1761535713.317 [DAT](INFO): DAT read: Rx Time:03:28:34.2185 2025-10-27T03:28:33.317Z,1761535713.317 [DAT](INFO): Rx dataTimestamp_ set to:1761535713.316860 2025-10-27T03:28:33.318Z,1761535713.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024934 2025-10-27T03:28:33.357Z,1761535713.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514257,-0.856999,0.033052],[0.847343,0.513660,0.134769],[-0.132474,-0.041299,0.990326]] 2025-10-27T03:28:33.409Z,1761535713.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:33.568Z,1761535713.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274801 2025-10-27T03:28:33.781Z,1761535713.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514785,-0.856779,0.030435],[0.847173,0.513818,0.135235],[-0.131505,-0.043834,0.990346]] 2025-10-27T03:28:33.816Z,1761535713.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.95 m. 2025-10-27T03:28:33.826Z,1761535713.826 [DAT](INFO): DAT read: 03:28:34.2185 LVL= 32752, 24705, 32754, 32755, AGC= 69, IDX= 92, 0.40,-1.455, 0.021,-1.767,-0.969, PHS=-0.384, 1.035,-0.842, RAW= 343.5, 2.3, CAL= 343.1, -0.6, ROT= 166.9, 0.6 2025-10-27T03:28:33.827Z,1761535713.827 [DAT](INFO): got valid direction response: 03:28:34.2185 LVL= 32752, 24705, 32754, 32755, AGC= 69, IDX= 92, 0.40,-1.455, 0.021,-1.767,-0.969, PHS=-0.384, 1.035,-0.842, RAW= 343.5, 2.3, CAL= 343.1, -0.6, ROT= 166.9, 0.6 2025-10-27T03:28:33.828Z,1761535713.828 [DAT](INFO): DAT read: Bearing 31.2, 20.2 (Local) 2025-10-27T03:28:33.828Z,1761535713.828 [DAT](INFO): Local bearing/azimuth received: Bearing 31.2, 20.2 (Local) 2025-10-27T03:28:33.830Z,1761535713.830 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m (Round-trip 50.0 ms) speed 0.2 m/s 2025-10-27T03:28:33.830Z,1761535713.830 [DAT](INFO): DAT read: user:347> 2025-10-27T03:28:33.831Z,1761535713.831 [DAT](INFO): DAT read: Tx time:03:28:35.3128 2025-10-27T03:28:33.832Z,1761535713.832 [DAT](INFO): Ping request sent. 2025-10-27T03:28:33.832Z,1761535713.832 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:28:33.832Z,1761535713.832 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:28:33.833Z,1761535713.833 [DAT](INFO): direction in FSK: [-0.973923,0.226639,-0.010472] 2025-10-27T03:28:33.833Z,1761535713.833 [DAT](INFO): publishing transmit ping time 2025-10-27T03:28:33.834Z,1761535713.834 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:33.837Z,1761535713.837 [DAT](INFO): publishing transmit ping time 2025-10-27T03:28:33.837Z,1761535713.837 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:34.146Z,1761535714.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514788,-0.856861,0.027971],[0.847361,0.513497,0.135281],[-0.130280,-0.045940,0.990412]] 2025-10-27T03:28:34.228Z,1761535714.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 4.030648 s, deltaX: 0.400002 m, approachRate: 0.099240 m/s, rangeRepo size: 4 2025-10-27T03:28:34.230Z,1761535714.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.345879 m, bearing: 225.588628 deg, lat: 36.779331 deg, lon: -121.859548 deg, deltaT: 4.030648 s, deltaX: 0.398365 m, approachRate: 0.098834 m/s, posRepo size: 4 2025-10-27T03:28:34.230Z,1761535714.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.35 m. 2025-10-27T03:28:34.603Z,1761535714.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513859,-0.857440,0.027315],[0.848151,0.512557,0.133886],[-0.128800,-0.045632,0.990620]] 2025-10-27T03:28:34.621Z,1761535714.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.35 m. 2025-10-27T03:28:34.704Z,1761535714.704 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:28:35.069Z,1761535715.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512430,-0.858300,0.027125],[0.849246,0.511200,0.132122],[-0.127267,-0.044668,0.990862]] 2025-10-27T03:28:35.107Z,1761535715.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.35 m. 2025-10-27T03:28:35.407Z,1761535715.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510395,-0.859515,0.027033],[0.850720,0.509263,0.130104],[-0.125593,-0.043407,0.991132]] 2025-10-27T03:28:35.441Z,1761535715.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.35 m. 2025-10-27T03:28:35.708Z,1761535715.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:28:35.828Z,1761535715.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507811,-0.861121,0.024448],[0.852569,0.506432,0.129046],[-0.123506,-0.044687,0.991337]] 2025-10-27T03:28:35.866Z,1761535715.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.35 m. 2025-10-27T03:28:36.233Z,1761535716.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505151,-0.862784,0.020644],[0.854451,0.503350,0.128658],[-0.121395,-0.047353,0.991474]] 2025-10-27T03:28:36.287Z,1761535716.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.35 m. 2025-10-27T03:28:36.669Z,1761535716.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.35 m. 2025-10-27T03:28:36.856Z,1761535716.856 [DAT](INFO): DAT read: Rx Time:03:28:37.7676 2025-10-27T03:28:36.857Z,1761535716.857 [DAT](INFO): Rx dataTimestamp_ set to:1761535716.856341 2025-10-27T03:28:37.101Z,1761535717.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500181,-0.865759,0.016758],[0.857946,0.498103,0.125787],[-0.117248,-0.048538,0.991916]] 2025-10-27T03:28:37.170Z,1761535717.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.35 m. 2025-10-27T03:28:37.365Z,1761535717.365 [DAT](INFO): DAT read: 03:28:37.7676 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 451,-0.02, 1.189, 2.707, 0.862, 1.666, PHS=-0.375, 1.085,-0.848, RAW= 343.6, 1.6, CAL= 343.1, -1.3, ROT= 166.9, 1.3 2025-10-27T03:28:37.366Z,1761535717.366 [DAT](INFO): got valid direction response: 03:28:37.7676 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 451,-0.02, 1.189, 2.707, 0.862, 1.666, PHS=-0.375, 1.085,-0.848, RAW= 343.6, 1.6, CAL= 343.1, -1.3, ROT= 166.9, 1.3 2025-10-27T03:28:37.370Z,1761535717.370 [DAT](INFO): DAT read: Bearing 30.0, 19.9 (Local) 2025-10-27T03:28:37.371Z,1761535717.371 [DAT](INFO): Local bearing/azimuth received: Bearing 30.0, 19.9 (Local) 2025-10-27T03:28:37.372Z,1761535717.372 [DAT](INFO): DAT read: Range 11 to 50 : 37.9 m (Round-trip 50.6 ms) speed -0.3 m/s 2025-10-27T03:28:37.373Z,1761535717.373 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T03:28:37.374Z,1761535717.374 [DAT](INFO): direction in FSK: [-0.973725,0.226593,-0.022687] 2025-10-27T03:28:37.374Z,1761535717.374 [DAT](INFO): publishing direction and range info 2025-10-27T03:28:37.456Z,1761535717.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497438,-0.867329,0.017209],[0.859843,0.495580,0.122757],[-0.114999,-0.046267,0.992287]] 2025-10-27T03:28:37.496Z,1761535717.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.900002 m, deltaT: 3.539835 s, deltaX: 0.400002 m, approachRate: 0.113000 m/s, rangeRepo size: 4 2025-10-27T03:28:37.498Z,1761535717.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.744030 m, bearing: 226.888203 deg, lat: 36.779324 deg, lon: -121.859540 deg, deltaT: 3.539835 s, deltaX: 0.398151 m, approachRate: 0.112477 m/s, posRepo size: 4 2025-10-27T03:28:37.499Z,1761535717.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:37.866Z,1761535717.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494959,-0.868739,0.017544],[0.861560,0.493290,0.119916],[-0.112830,-0.044238,0.992629]] 2025-10-27T03:28:37.885Z,1761535717.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:38.270Z,1761535718.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493433,-0.869617,0.017013],[0.862667,0.491800,0.118063],[-0.111037,-0.043579,0.992860]] 2025-10-27T03:28:38.317Z,1761535718.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:38.674Z,1761535718.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492151,-0.870362,0.016061],[0.863602,0.490483,0.116696],[-0.109445,-0.043562,0.993038]] 2025-10-27T03:28:38.717Z,1761535718.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:39.129Z,1761535719.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492103,-0.870406,0.015076],[0.863800,0.490372,0.115689],[-0.108089,-0.043908,0.993171]] 2025-10-27T03:28:39.200Z,1761535719.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:39.484Z,1761535719.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492569,-0.870157,0.014245],[0.863672,0.490780,0.114915],[-0.106985,-0.044301,0.993273]] 2025-10-27T03:28:39.502Z,1761535719.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:39.887Z,1761535719.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492877,-0.869990,0.013792],[0.863626,0.491079,0.113984],[-0.105938,-0.044269,0.993387]] 2025-10-27T03:28:39.907Z,1761535719.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:40.290Z,1761535720.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493617,-0.869573,0.013623],[0.863308,0.491834,0.113130],[-0.105075,-0.044082,0.993487]] 2025-10-27T03:28:40.346Z,1761535720.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:40.701Z,1761535720.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495200,-0.868679,0.013195],[0.862478,0.493377,0.112742],[-0.104446,-0.044449,0.993537]] 2025-10-27T03:28:40.729Z,1761535720.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:41.137Z,1761535721.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496754,-0.867797,0.012815],[0.861650,0.494895,0.112418],[-0.103898,-0.044802,0.993578]] 2025-10-27T03:28:41.198Z,1761535721.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:41.502Z,1761535721.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498539,-0.866775,0.012640],[0.860658,0.496658,0.112244],[-0.103568,-0.045080,0.993600]] 2025-10-27T03:28:41.529Z,1761535721.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:41.974Z,1761535721.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:42.324Z,1761535722.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502369,-0.864522,0.015054],[0.858459,0.500775,0.110783],[-0.103313,-0.042731,0.993731]] 2025-10-27T03:28:42.361Z,1761535722.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:42.730Z,1761535722.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503960,-0.863594,0.015135],[0.857550,0.502371,0.110596],[-0.103114,-0.042757,0.993750]] 2025-10-27T03:28:42.755Z,1761535722.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:43.179Z,1761535723.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507323,-0.861635,0.014437],[0.855626,0.505638,0.110613],[-0.102608,-0.043764,0.993759]] 2025-10-27T03:28:43.224Z,1761535723.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:43.596Z,1761535723.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:43.952Z,1761535723.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508983,-0.860666,0.013811],[0.854664,0.507212,0.110844],[-0.102405,-0.044614,0.993742]] 2025-10-27T03:28:43.976Z,1761535723.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:44.386Z,1761535724.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511069,-0.859407,0.015089],[0.853482,0.509470,0.109586],[-0.101866,-0.043128,0.993863]] 2025-10-27T03:28:44.434Z,1761535724.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:44.786Z,1761535724.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511259,-0.859282,0.015767],[0.853440,0.509774,0.108496],[-0.101266,-0.042013,0.993972]] 2025-10-27T03:28:44.806Z,1761535724.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:45.214Z,1761535725.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511268,-0.859272,0.016005],[0.853528,0.509852,0.107426],[-0.100468,-0.041263,0.994084]] 2025-10-27T03:28:45.258Z,1761535725.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:45.593Z,1761535725.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511219,-0.859320,0.014966],[0.853645,0.509710,0.107173],[-0.099725,-0.042013,0.994128]] 2025-10-27T03:28:45.628Z,1761535725.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:45.993Z,1761535725.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511045,-0.859460,0.012710],[0.853861,0.509304,0.107387],[-0.098768,-0.044026,0.994136]] 2025-10-27T03:28:46.038Z,1761535726.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:46.398Z,1761535726.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510592,-0.859757,0.010625],[0.854252,0.508650,0.107372],[-0.097718,-0.045747,0.994162]] 2025-10-27T03:28:46.450Z,1761535726.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:46.845Z,1761535726.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510229,-0.859981,0.009901],[0.854604,0.508264,0.106399],[-0.096533,-0.045827,0.994274]] 2025-10-27T03:28:46.873Z,1761535726.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:47.252Z,1761535727.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509600,-0.860358,0.009615],[0.855124,0.507674,0.105024],[-0.095239,-0.045299,0.994423]] 2025-10-27T03:28:47.261Z,1761535727.261 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050307170575,35.0, +11.6,495.5, 0 2025-10-27T03:28:47.304Z,1761535727.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:47.657Z,1761535727.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508920,-0.860760,0.009592],[0.855656,0.507057,0.103665],[-0.094095,-0.044550,0.994566]] 2025-10-27T03:28:47.676Z,1761535727.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:48.066Z,1761535728.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508068,-0.861262,0.009694],[0.856303,0.506292,0.102051],[-0.092800,-0.043548,0.994732]] 2025-10-27T03:28:48.089Z,1761535728.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:48.494Z,1761535728.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507219,-0.861762,0.009787],[0.856946,0.505525,0.100442],[-0.091504,-0.042560,0.994895]] 2025-10-27T03:28:48.562Z,1761535728.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:48.886Z,1761535728.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506680,-0.862093,0.008410],[0.857416,0.504902,0.099557],[-0.090074,-0.043233,0.994996]] 2025-10-27T03:28:48.910Z,1761535728.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:49.338Z,1761535729.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:49.717Z,1761535729.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506189,-0.862404,0.005654],[0.857958,0.504224,0.098322],[-0.087644,-0.044918,0.995139]] 2025-10-27T03:28:49.749Z,1761535729.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:50.113Z,1761535730.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506082,-0.862470,0.005215],[0.858127,0.504122,0.097359],[-0.086598,-0.044797,0.995236]] 2025-10-27T03:28:50.155Z,1761535730.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:50.549Z,1761535730.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505792,-0.862641,0.005058],[0.858392,0.503866,0.096343],[-0.085658,-0.044388,0.995335]] 2025-10-27T03:28:50.593Z,1761535730.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:50.949Z,1761535730.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505109,-0.863040,0.005122],[0.858898,0.503249,0.095047],[-0.084608,-0.043610,0.995460]] 2025-10-27T03:28:50.968Z,1761535730.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:51.356Z,1761535731.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504826,-0.863206,0.005092],[0.859157,0.503012,0.093958],[-0.083667,-0.043058,0.995563]] 2025-10-27T03:28:51.408Z,1761535731.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:51.832Z,1761535731.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:52.194Z,1761535732.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504829,-0.863211,0.003679],[0.859360,0.502970,0.092309],[-0.081532,-0.043439,0.995724]] 2025-10-27T03:28:52.221Z,1761535732.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:52.599Z,1761535732.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505085,-0.863065,0.002715],[0.859302,0.503172,0.091749],[-0.080552,-0.044009,0.995778]] 2025-10-27T03:28:52.636Z,1761535732.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:53.043Z,1761535733.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:53.406Z,1761535733.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504694,-0.863297,0.001715],[0.859716,0.502779,0.090011],[-0.078568,-0.043953,0.995939]] 2025-10-27T03:28:53.460Z,1761535733.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:53.810Z,1761535733.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504323,-0.863513,0.001773],[0.860014,0.502462,0.088928],[-0.077681,-0.043324,0.996036]] 2025-10-27T03:28:53.836Z,1761535733.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:54.240Z,1761535734.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504016,-0.863693,0.001612],[0.860285,0.502191,0.087827],[-0.076665,-0.042879,0.996134]] 2025-10-27T03:28:54.288Z,1761535734.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:54.634Z,1761535734.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503710,-0.863872,0.001123],[0.860561,0.501892,0.086830],[-0.075574,-0.042770,0.996222]] 2025-10-27T03:28:54.690Z,1761535734.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:55.044Z,1761535735.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503747,-0.863851,0.000261],[0.860625,0.501891,0.086196],[-0.074591,-0.043196,0.996278]] 2025-10-27T03:28:55.062Z,1761535735.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:55.443Z,1761535735.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503590,-0.863942,-0.000894],[0.860814,0.501678,0.085548],[-0.073460,-0.043851,0.996334]] 2025-10-27T03:28:55.537Z,1761535735.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:55.846Z,1761535735.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503220,-0.864156,-0.001920],[0.861126,0.501266,0.084823],[-0.072338,-0.044338,0.996394]] 2025-10-27T03:28:55.872Z,1761535735.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:56.250Z,1761535736.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502566,-0.864534,-0.002838],[0.861607,0.500588,0.083934],[-0.071143,-0.044628,0.996467]] 2025-10-27T03:28:56.284Z,1761535736.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:56.654Z,1761535736.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501744,-0.865008,-0.003673],[0.862191,0.499758,0.082875],[-0.069852,-0.044748,0.996553]] 2025-10-27T03:28:56.705Z,1761535736.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:57.058Z,1761535737.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500815,-0.865544,-0.004193],[0.862825,0.498846,0.081770],[-0.068684,-0.044570,0.996642]] 2025-10-27T03:28:57.093Z,1761535737.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:57.462Z,1761535737.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499937,-0.866049,-0.004776],[0.863430,0.497980,0.080650],[-0.067468,-0.044444,0.996731]] 2025-10-27T03:28:57.524Z,1761535737.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:57.866Z,1761535737.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499222,-0.866458,-0.005204],[0.863922,0.497283,0.079676],[-0.066448,-0.044272,0.996807]] 2025-10-27T03:28:57.885Z,1761535737.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:58.273Z,1761535738.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498541,-0.866847,-0.005766],[0.864397,0.496609,0.078726],[-0.065380,-0.044232,0.996880]] 2025-10-27T03:28:58.292Z,1761535738.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:58.673Z,1761535738.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497832,-0.867251,-0.006284],[0.864877,0.495906,0.077874],[-0.064420,-0.044203,0.996943]] 2025-10-27T03:28:58.732Z,1761535738.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:59.077Z,1761535739.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497530,-0.867419,-0.006959],[0.865112,0.495587,0.077301],[-0.063603,-0.044480,0.996984]] 2025-10-27T03:28:59.096Z,1761535739.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:59.484Z,1761535739.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496773,-0.867848,-0.007554],[0.865615,0.494829,0.076514],[-0.062665,-0.044549,0.997040]] 2025-10-27T03:28:59.561Z,1761535739.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:28:59.886Z,1761535739.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496394,-0.868059,-0.008143],[0.865884,0.494437,0.076010],[-0.061955,-0.044782,0.997074]] 2025-10-27T03:28:59.910Z,1761535739.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:00.289Z,1761535740.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495563,-0.868532,-0.008271],[0.866404,0.493632,0.075303],[-0.061320,-0.044484,0.997126]] 2025-10-27T03:29:00.325Z,1761535740.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:00.760Z,1761535740.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:01.132Z,1761535741.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:01.510Z,1761535741.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493290,-0.869821,-0.008757],[0.867806,0.491405,0.073709],[-0.059811,-0.043959,0.997241]] 2025-10-27T03:29:01.573Z,1761535741.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:01.906Z,1761535741.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492496,-0.870266,-0.009224],[0.868289,0.490600,0.073394],[-0.059347,-0.044156,0.997260]] 2025-10-27T03:29:01.937Z,1761535741.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:02.327Z,1761535742.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491485,-0.870832,-0.009671],[0.868895,0.489581,0.073026],[-0.058859,-0.044295,0.997283]] 2025-10-27T03:29:02.354Z,1761535742.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:02.732Z,1761535742.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490366,-0.871459,-0.010059],[0.869554,0.488455,0.072715],[-0.058455,-0.044404,0.997302]] 2025-10-27T03:29:02.783Z,1761535742.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:03.134Z,1761535743.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488919,-0.872268,-0.010334],[0.870397,0.487014,0.072294],[-0.058027,-0.044341,0.997330]] 2025-10-27T03:29:03.157Z,1761535743.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:03.541Z,1761535743.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487447,-0.873089,-0.010550],[0.871243,0.485547,0.071963],[-0.057707,-0.044269,0.997352]] 2025-10-27T03:29:03.577Z,1761535743.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:03.942Z,1761535743.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485506,-0.874168,-0.010692],[0.872349,0.483621,0.071541],[-0.057368,-0.044061,0.997380]] 2025-10-27T03:29:03.967Z,1761535743.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:04.345Z,1761535744.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483819,-0.875099,-0.011032],[0.873302,0.481927,0.071342],[-0.057115,-0.044151,0.997391]] 2025-10-27T03:29:04.381Z,1761535744.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:04.749Z,1761535744.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481587,-0.876323,-0.011448],[0.874557,0.479689,0.071056],[-0.056776,-0.044232,0.997407]] 2025-10-27T03:29:04.813Z,1761535744.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:05.159Z,1761535745.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479356,-0.877539,-0.011966],[0.875805,0.477443,0.070801],[-0.056417,-0.044418,0.997419]] 2025-10-27T03:29:05.177Z,1761535745.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:05.558Z,1761535745.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476765,-0.878945,-0.012327],[0.877240,0.474852,0.070471],[-0.056086,-0.044412,0.997438]] 2025-10-27T03:29:05.582Z,1761535745.582 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +37, +196, 2025-10-27T03:29:05.603Z,1761535745.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:05.828Z,1761535745.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:29:05.961Z,1761535745.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473949,-0.880462,-0.012627],[0.878787,0.472042,0.070065],[-0.055730,-0.044303,0.997462]] 2025-10-27T03:29:06.001Z,1761535746.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:06.413Z,1761535746.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468823,-0.883195,-0.013096],[0.881551,0.466917,0.069690],[-0.055435,-0.044217,0.997483]] 2025-10-27T03:29:06.436Z,1761535746.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:06.810Z,1761535746.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466754,-0.884282,-0.013656],[0.882654,0.464818,0.069751],[-0.055332,-0.044611,0.997471]] 2025-10-27T03:29:06.831Z,1761535746.831 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:29:06.860Z,1761535746.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:07.212Z,1761535747.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464999,-0.885198,-0.014179],[0.883574,0.463025,0.070032],[-0.055427,-0.045094,0.997444]] 2025-10-27T03:29:07.230Z,1761535747.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:07.615Z,1761535747.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463311,-0.886075,-0.014649],[0.884452,0.461300,0.070332],[-0.055562,-0.045542,0.997416]] 2025-10-27T03:29:07.652Z,1761535747.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:08.025Z,1761535748.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461401,-0.887069,-0.014757],[0.885439,0.459381,0.070478],[-0.055740,-0.045585,0.997404]] 2025-10-27T03:29:08.050Z,1761535748.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:08.422Z,1761535748.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460287,-0.887651,-0.014533],[0.885978,0.458257,0.071018],[-0.056380,-0.045565,0.997369]] 2025-10-27T03:29:08.468Z,1761535748.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:08.831Z,1761535748.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458871,-0.888389,-0.014226],[0.886687,0.456852,0.071220],[-0.056772,-0.045294,0.997359]] 2025-10-27T03:29:08.868Z,1761535748.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:09.230Z,1761535749.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457885,-0.888906,-0.013682],[0.887157,0.455883,0.071571],[-0.057383,-0.044910,0.997342]] 2025-10-27T03:29:09.260Z,1761535749.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:09.634Z,1761535749.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457113,-0.889311,-0.013149],[0.887517,0.455128,0.071912],[-0.057967,-0.044541,0.997324]] 2025-10-27T03:29:09.679Z,1761535749.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:10.038Z,1761535750.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456741,-0.889512,-0.012492],[0.887656,0.454770,0.072467],[-0.058779,-0.044187,0.997293]] 2025-10-27T03:29:10.063Z,1761535750.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:10.444Z,1761535750.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456922,-0.889424,-0.012105],[0.887505,0.454939,0.073243],[-0.059637,-0.044210,0.997241]] 2025-10-27T03:29:10.462Z,1761535750.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:10.846Z,1761535750.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456719,-0.889532,-0.011813],[0.887568,0.454731,0.073783],[-0.060261,-0.044183,0.997204]] 2025-10-27T03:29:10.890Z,1761535750.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:11.259Z,1761535751.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456588,-0.889601,-0.011693],[0.887597,0.454582,0.074346],[-0.060823,-0.044324,0.997164]] 2025-10-27T03:29:11.278Z,1761535751.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:11.665Z,1761535751.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456412,-0.889691,-0.011739],[0.887656,0.454379,0.074876],[-0.061283,-0.044594,0.997124]] 2025-10-27T03:29:11.732Z,1761535751.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:12.108Z,1761535752.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455894,-0.889957,-0.011687],[0.887894,0.453849,0.075273],[-0.061685,-0.044693,0.997094]] 2025-10-27T03:29:12.141Z,1761535752.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:12.608Z,1761535752.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:12.997Z,1761535752.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:13.405Z,1761535753.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452107,-0.891882,-0.012075],[0.889805,0.450030,0.075634],[-0.062023,-0.044939,0.997063]] 2025-10-27T03:29:13.443Z,1761535753.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:13.812Z,1761535753.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450034,-0.892927,-0.012265],[0.890862,0.447956,0.075499],[-0.061921,-0.044903,0.997070]] 2025-10-27T03:29:13.864Z,1761535753.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:14.217Z,1761535754.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447821,-0.894035,-0.012572],[0.891987,0.445735,0.075361],[-0.061772,-0.044962,0.997077]] 2025-10-27T03:29:14.235Z,1761535754.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:14.640Z,1761535754.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445367,-0.895254,-0.012950],[0.893230,0.443273,0.075167],[-0.061553,-0.045044,0.997087]] 2025-10-27T03:29:14.696Z,1761535754.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:15.031Z,1761535755.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442373,-0.896730,-0.013453],[0.894750,0.440275,0.074700],[-0.061063,-0.045083,0.997115]] 2025-10-27T03:29:15.049Z,1761535755.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:15.428Z,1761535755.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439431,-0.898164,-0.014174],[0.896240,0.437318,0.074211],[-0.060455,-0.045314,0.997142]] 2025-10-27T03:29:15.467Z,1761535755.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:15.830Z,1761535755.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436458,-0.899603,-0.014785],[0.897728,0.434336,0.073732],[-0.059908,-0.045453,0.997169]] 2025-10-27T03:29:15.889Z,1761535755.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:16.241Z,1761535756.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433536,-0.901002,-0.015528],[0.899186,0.431400,0.073203],[-0.059257,-0.045698,0.997196]] 2025-10-27T03:29:16.259Z,1761535756.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:16.668Z,1761535756.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430381,-0.902504,-0.016081],[0.900744,0.428249,0.072546],[-0.058586,-0.045707,0.997235]] 2025-10-27T03:29:16.767Z,1761535756.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:17.041Z,1761535757.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427786,-0.903727,-0.016655],[0.902012,0.425646,0.072113],[-0.058081,-0.045872,0.997257]] 2025-10-27T03:29:17.060Z,1761535757.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:17.445Z,1761535757.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425204,-0.904937,-0.017060],[0.903263,0.423068,0.071620],[-0.057594,-0.045862,0.997286]] 2025-10-27T03:29:17.465Z,1761535757.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:17.852Z,1761535757.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423236,-0.905850,-0.017521],[0.904212,0.421091,0.071288],[-0.057198,-0.046014,0.997302]] 2025-10-27T03:29:17.917Z,1761535757.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:18.254Z,1761535758.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421744,-0.906543,-0.017685],[0.904920,0.419602,0.071091],[-0.057026,-0.045985,0.997313]] 2025-10-27T03:29:18.283Z,1761535758.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:18.691Z,1761535758.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420776,-0.906988,-0.017894],[0.905382,0.418631,0.070932],[-0.056844,-0.046048,0.997321]] 2025-10-27T03:29:18.751Z,1761535758.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:19.062Z,1761535759.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420584,-0.907078,-0.017845],[0.905465,0.418440,0.070997],[-0.056933,-0.046018,0.997317]] 2025-10-27T03:29:19.081Z,1761535759.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:19.469Z,1761535759.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420458,-0.907141,-0.017603],[0.905522,0.418331,0.070920],[-0.056970,-0.045758,0.997327]] 2025-10-27T03:29:19.523Z,1761535759.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:19.869Z,1761535759.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420774,-0.906999,-0.017345],[0.905367,0.418660,0.070958],[-0.057097,-0.045561,0.997329]] 2025-10-27T03:29:19.917Z,1761535759.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:20.273Z,1761535760.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421375,-0.906724,-0.017158],[0.905078,0.419265,0.071074],[-0.057251,-0.045478,0.997324]] 2025-10-27T03:29:20.304Z,1761535760.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:20.720Z,1761535760.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422433,-0.906235,-0.017003],[0.904564,0.420314,0.071421],[-0.057577,-0.045551,0.997301]] 2025-10-27T03:29:20.780Z,1761535760.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:21.083Z,1761535761.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423541,-0.905717,-0.016998],[0.904032,0.421407,0.071718],[-0.057793,-0.045742,0.997280]] 2025-10-27T03:29:21.101Z,1761535761.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:21.496Z,1761535761.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424498,-0.905273,-0.016819],[0.903567,0.422361,0.071952],[-0.058033,-0.045741,0.997266]] 2025-10-27T03:29:21.528Z,1761535761.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:21.948Z,1761535761.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:22.302Z,1761535762.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425880,-0.904624,-0.016753],[0.902907,0.423735,0.072168],[-0.058186,-0.045861,0.997252]] 2025-10-27T03:29:22.320Z,1761535762.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:22.740Z,1761535762.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426207,-0.904471,-0.016732],[0.902756,0.424064,0.072120],[-0.058135,-0.045843,0.997256]] 2025-10-27T03:29:22.787Z,1761535762.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:29:22.789Z,1761535762.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:23.005Z,1761535763.005 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:29:23.005Z,1761535763.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:29:23.102Z,1761535763.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426100,-0.904522,-0.016718],[0.902820,0.423970,0.071874],[-0.057924,-0.045719,0.997274]] 2025-10-27T03:29:23.130Z,1761535763.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:23.260Z,1761535763.260 [DAT](INFO): DAT read: user:348> 2025-10-27T03:29:23.261Z,1761535763.261 [DAT](INFO): DAT read: Tx time:03:29:24.6128 2025-10-27T03:29:23.262Z,1761535763.262 [DAT](INFO): Ping request sent. 2025-10-27T03:29:23.262Z,1761535763.262 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:29:23.262Z,1761535763.262 [DAT](INFO): publishing transmit ping time 2025-10-27T03:29:23.262Z,1761535763.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T03:29:23.509Z,1761535763.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246840 2025-10-27T03:29:23.553Z,1761535763.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:23.762Z,1761535763.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499881 2025-10-27T03:29:23.910Z,1761535763.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425067,-0.904998,-0.017245],[0.903362,0.422944,0.071097],[-0.057049,-0.045800,0.997320]] 2025-10-27T03:29:23.969Z,1761535763.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:24.015Z,1761535764.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752942 2025-10-27T03:29:24.264Z,1761535764.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002233 2025-10-27T03:29:24.319Z,1761535764.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423981,-0.905502,-0.017488],[0.903906,0.421871,0.070558],[-0.056513,-0.045723,0.997354]] 2025-10-27T03:29:24.337Z,1761535764.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:24.516Z,1761535764.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254497 2025-10-27T03:29:24.750Z,1761535764.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422956,-0.905970,-0.018042],[0.904420,0.420836,0.070148],[-0.055960,-0.045987,0.997373]] 2025-10-27T03:29:24.770Z,1761535764.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508376 2025-10-27T03:29:24.802Z,1761535764.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:25.020Z,1761535765.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758213 2025-10-27T03:29:25.122Z,1761535765.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421631,-0.906576,-0.018648],[0.905079,0.419502,0.069643],[-0.055313,-0.046242,0.997398]] 2025-10-27T03:29:25.169Z,1761535765.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:25.272Z,1761535765.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010222 2025-10-27T03:29:25.524Z,1761535765.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262324 2025-10-27T03:29:25.546Z,1761535765.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420010,-0.907313,-0.019328],[0.905875,0.417873,0.069080],[-0.054601,-0.046524,0.997424]] 2025-10-27T03:29:25.585Z,1761535765.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:25.779Z,1761535765.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516657 2025-10-27T03:29:26.006Z,1761535766.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417677,-0.908377,-0.019947],[0.907008,0.415549,0.068237],[-0.053696,-0.046593,0.997470]] 2025-10-27T03:29:26.028Z,1761535766.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766313 2025-10-27T03:29:26.064Z,1761535766.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:26.281Z,1761535766.281 [DAT](INFO): DAT read: Rx Time:03:29:27.0776 2025-10-27T03:29:26.281Z,1761535766.281 [DAT](INFO): Rx dataTimestamp_ set to:1761535766.280853 2025-10-27T03:29:26.282Z,1761535766.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020317 2025-10-27T03:29:26.385Z,1761535766.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415401,-0.909408,-0.020449],[0.908098,0.413286,0.067472],[-0.052908,-0.046598,0.997512]] 2025-10-27T03:29:26.419Z,1761535766.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.74 m. 2025-10-27T03:29:26.532Z,1761535766.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270190 2025-10-27T03:29:26.819Z,1761535766.819 [DAT](INFO): DAT read: 03:29:27.0776 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 9,-0.06, 1.857,-2.876, 1.449, 2.356, PHS=-0.397, 1.096,-0.951, RAW= 345.2, 2.8, CAL= 344.7, -0.2, ROT= 165.3, 0.2 2025-10-27T03:29:26.820Z,1761535766.820 [DAT](INFO): got valid direction response: 03:29:27.0776 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 9,-0.06, 1.857,-2.876, 1.449, 2.356, PHS=-0.397, 1.096,-0.951, RAW= 345.2, 2.8, CAL= 344.7, -0.2, ROT= 165.3, 0.2 2025-10-27T03:29:26.821Z,1761535766.821 [DAT](INFO): DAT read: Bearing 29.2, 18.0 (Local) 2025-10-27T03:29:26.821Z,1761535766.821 [DAT](INFO): Local bearing/azimuth received: Bearing 29.2, 18.0 (Local) 2025-10-27T03:29:26.823Z,1761535766.823 [DAT](INFO): DAT read: Range 11 to 50 : 45.4 m (Round-trip 60.6 ms) speed -0.2 m/s 2025-10-27T03:29:26.823Z,1761535766.823 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:29:26.824Z,1761535766.824 [DAT](INFO): direction in FSK: [-0.967262,0.253756,-0.003491] 2025-10-27T03:29:26.824Z,1761535766.824 [DAT](INFO): publishing direction and range info 2025-10-27T03:29:26.841Z,1761535766.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411376,-0.911222,-0.021069],[0.909998,0.409292,0.066210],[-0.051708,-0.046410,0.997583]] 2025-10-27T03:29:26.944Z,1761535766.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.400002 m, deltaT: 49.425284 s, deltaX: 7.500000 m, approachRate: 0.151744 m/s, rangeRepo size: 4 2025-10-27T03:29:26.946Z,1761535766.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.212696 m, bearing: 230.990917 deg, lat: 36.779324 deg, lon: -121.859540 deg, deltaT: 49.425284 s, deltaX: 7.468666 m, approachRate: 0.151110 m/s, posRepo size: 4 2025-10-27T03:29:26.946Z,1761535766.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:27.324Z,1761535767.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409385,-0.912110,-0.021421],[0.910931,0.407316,0.065564],[-0.051077,-0.046354,0.997618]] 2025-10-27T03:29:27.342Z,1761535767.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:27.734Z,1761535767.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407846,-0.912792,-0.021727],[0.911644,0.405781,0.065165],[-0.050666,-0.046384,0.997638]] 2025-10-27T03:29:27.752Z,1761535767.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:28.164Z,1761535768.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406468,-0.913401,-0.021956],[0.912276,0.404408,0.064859],[-0.050363,-0.046393,0.997653]] 2025-10-27T03:29:28.208Z,1761535768.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:28.566Z,1761535768.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405324,-0.913905,-0.022149],[0.912797,0.403266,0.064633],[-0.050137,-0.046415,0.997663]] 2025-10-27T03:29:28.591Z,1761535768.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:28.989Z,1761535768.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404616,-0.914218,-0.022163],[0.913110,0.402559,0.064627],[-0.050161,-0.046387,0.997663]] 2025-10-27T03:29:29.039Z,1761535769.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:29.420Z,1761535769.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404186,-0.914413,-0.021982],[0.913292,0.402135,0.064693],[-0.050316,-0.046224,0.997663]] 2025-10-27T03:29:29.453Z,1761535769.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:29.872Z,1761535769.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404259,-0.914388,-0.021665],[0.913241,0.402213,0.064933],[-0.050660,-0.046035,0.997654]] 2025-10-27T03:29:29.924Z,1761535769.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:30.292Z,1761535770.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404601,-0.914243,-0.021380],[0.913067,0.402555,0.065250],[-0.051048,-0.045922,0.997640]] 2025-10-27T03:29:30.309Z,1761535770.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:30.720Z,1761535770.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405467,-0.913862,-0.021251],[0.912657,0.403404,0.065745],[-0.051509,-0.046052,0.997610]] 2025-10-27T03:29:30.758Z,1761535770.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:31.118Z,1761535771.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406782,-0.913277,-0.021276],[0.912043,0.404685,0.066394],[-0.052026,-0.046413,0.997567]] 2025-10-27T03:29:31.169Z,1761535771.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:31.531Z,1761535771.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408215,-0.912645,-0.020998],[0.911366,0.406100,0.067035],[-0.052652,-0.046502,0.997530]] 2025-10-27T03:29:31.550Z,1761535771.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:31.926Z,1761535771.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409983,-0.911855,-0.020842],[0.910543,0.407849,0.067606],[-0.053146,-0.046695,0.997494]] 2025-10-27T03:29:31.973Z,1761535771.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:32.331Z,1761535772.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411805,-0.911040,-0.020584],[0.909691,0.409655,0.068158],[-0.053663,-0.046793,0.997462]] 2025-10-27T03:29:32.360Z,1761535772.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:32.736Z,1761535772.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413938,-0.910082,-0.020164],[0.908699,0.411792,0.068510],[-0.054046,-0.046682,0.997447]] 2025-10-27T03:29:32.754Z,1761535772.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:33.141Z,1761535773.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416160,-0.909074,-0.019881],[0.907658,0.414003,0.068977],[-0.054474,-0.046751,0.997420]] 2025-10-27T03:29:33.177Z,1761535773.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:33.542Z,1761535773.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418542,-0.907983,-0.019743],[0.906548,0.416373,0.069315],[-0.054716,-0.046910,0.997399]] 2025-10-27T03:29:33.573Z,1761535773.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:34.045Z,1761535774.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:34.351Z,1761535774.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422944,-0.905948,-0.019414],[0.904507,0.420785,0.069332],[-0.054642,-0.046884,0.997405]] 2025-10-27T03:29:34.369Z,1761535774.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:34.755Z,1761535774.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424803,-0.905076,-0.019479],[0.903664,0.422657,0.068933],[-0.054157,-0.046885,0.997431]] 2025-10-27T03:29:34.773Z,1761535774.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:35.158Z,1761535775.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426571,-0.904240,-0.019683],[0.902864,0.424430,0.068529],[-0.053613,-0.047003,0.997455]] 2025-10-27T03:29:35.200Z,1761535775.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:35.577Z,1761535775.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428282,-0.903424,-0.020003],[0.902095,0.426147,0.067993],[-0.052902,-0.047165,0.997485]] 2025-10-27T03:29:35.595Z,1761535775.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:35.983Z,1761535775.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429299,-0.902929,-0.020530],[0.901670,0.427172,0.067198],[-0.051906,-0.047359,0.997528]] 2025-10-27T03:29:36.040Z,1761535776.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:36.416Z,1761535776.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429808,-0.902669,-0.021298],[0.901501,0.427690,0.066162],[-0.050613,-0.047637,0.997582]] 2025-10-27T03:29:36.439Z,1761535776.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:36.814Z,1761535776.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430106,-0.902502,-0.022309],[0.901439,0.427992,0.065046],[-0.049156,-0.048087,0.997633]] 2025-10-27T03:29:36.848Z,1761535776.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:36.952Z,1761535776.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:29:37.218Z,1761535777.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430168,-0.902454,-0.023051],[0.901487,0.428078,0.063802],[-0.047711,-0.048226,0.997696]] 2025-10-27T03:29:37.278Z,1761535777.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:37.657Z,1761535777.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429643,-0.902655,-0.024914],[0.901912,0.427609,0.060871],[-0.044293,-0.048623,0.997835]] 2025-10-27T03:29:37.688Z,1761535777.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:37.956Z,1761535777.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:29:38.102Z,1761535778.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429342,-0.902771,-0.025900],[0.902140,0.427339,0.059365],[-0.042525,-0.048853,0.997900]] 2025-10-27T03:29:38.113Z,1761535778.113 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 88.77, 84.01, 84.01, 2025-10-27T03:29:38.130Z,1761535778.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:38.504Z,1761535778.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428794,-0.903004,-0.026835],[0.902488,0.426835,0.057688],[-0.040638,-0.048954,0.997974]] 2025-10-27T03:29:38.529Z,1761535778.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:38.910Z,1761535778.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428362,-0.903183,-0.027705],[0.902775,0.426450,0.056026],[-0.038787,-0.049011,0.998045]] 2025-10-27T03:29:39.001Z,1761535779.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:39.313Z,1761535779.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427792,-0.903430,-0.028413],[0.903124,0.425941,0.054238],[-0.036898,-0.048863,0.998124]] 2025-10-27T03:29:39.384Z,1761535779.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:39.722Z,1761535779.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427615,-0.903485,-0.029337],[0.903282,0.425810,0.052614],[-0.035044,-0.048998,0.998184]] 2025-10-27T03:29:39.741Z,1761535779.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:40.118Z,1761535780.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427558,-0.903485,-0.030169],[0.903374,0.425799,0.051094],[-0.033317,-0.049099,0.998238]] 2025-10-27T03:29:40.165Z,1761535780.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:40.564Z,1761535780.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428174,-0.903159,-0.031162],[0.903137,0.426441,0.049918],[-0.031795,-0.049517,0.998267]] 2025-10-27T03:29:40.584Z,1761535780.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:40.997Z,1761535780.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428784,-0.902839,-0.032034],[0.902900,0.427084,0.048697],[-0.030284,-0.049804,0.998300]] 2025-10-27T03:29:41.056Z,1761535781.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:41.444Z,1761535781.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429676,-0.902394,-0.032609],[0.902519,0.428016,0.047563],[-0.028964,-0.049867,0.998336]] 2025-10-27T03:29:41.470Z,1761535781.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:41.884Z,1761535781.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:42.266Z,1761535782.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432640,-0.900953,-0.033258],[0.901170,0.431061,0.045607],[-0.026754,-0.049703,0.998406]] 2025-10-27T03:29:42.284Z,1761535782.284 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 115, -48,A 2025-10-27T03:29:42.300Z,1761535782.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:42.683Z,1761535782.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434478,-0.900064,-0.033371],[0.900312,0.432940,0.044722],[-0.025805,-0.049475,0.998442]] 2025-10-27T03:29:42.709Z,1761535782.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:43.086Z,1761535783.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436867,-0.898893,-0.033735],[0.899181,0.435353,0.044055],[-0.024914,-0.049580,0.998459]] 2025-10-27T03:29:43.133Z,1761535783.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:43.496Z,1761535783.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439301,-0.897702,-0.033851],[0.898015,0.437817,0.043413],[-0.024152,-0.049470,0.998484]] 2025-10-27T03:29:43.522Z,1761535783.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:43.894Z,1761535783.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442021,-0.896356,-0.034108],[0.896699,0.440559,0.042872],[-0.023402,-0.049535,0.998498]] 2025-10-27T03:29:43.912Z,1761535783.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:44.359Z,1761535784.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:44.729Z,1761535784.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447305,-0.893713,-0.034563],[0.894116,0.445896,0.041647],[-0.021809,-0.049532,0.998534]] 2025-10-27T03:29:44.747Z,1761535784.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:45.152Z,1761535785.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449991,-0.892361,-0.034633],[0.892783,0.448609,0.041088],[-0.021128,-0.049409,0.998555]] 2025-10-27T03:29:45.198Z,1761535785.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:45.555Z,1761535785.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452224,-0.891222,-0.034884],[0.891678,0.450883,0.040182],[-0.020082,-0.049276,0.998583]] 2025-10-27T03:29:45.573Z,1761535785.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:45.966Z,1761535785.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454277,-0.890176,-0.034921],[0.890654,0.452979,0.039304],[-0.019169,-0.048958,0.998617]] 2025-10-27T03:29:45.994Z,1761535785.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:46.362Z,1761535786.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456226,-0.889166,-0.035244],[0.889679,0.454966,0.038434],[-0.018139,-0.048891,0.998639]] 2025-10-27T03:29:46.410Z,1761535786.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:46.765Z,1761535786.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457989,-0.888240,-0.035730],[0.888794,0.456764,0.037567],[-0.017048,-0.048962,0.998655]] 2025-10-27T03:29:46.803Z,1761535786.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:47.170Z,1761535787.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459187,-0.887601,-0.036212],[0.888199,0.458007,0.036512],[-0.015823,-0.048929,0.998677]] 2025-10-27T03:29:47.226Z,1761535787.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:47.612Z,1761535787.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:47.988Z,1761535787.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461504,-0.886336,-0.037721],[0.887037,0.460392,0.034709],[-0.013398,-0.049478,0.998685]] 2025-10-27T03:29:48.007Z,1761535788.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:48.381Z,1761535788.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462083,-0.886011,-0.038254],[0.886753,0.461017,0.033662],[-0.012189,-0.049476,0.998701]] 2025-10-27T03:29:48.432Z,1761535788.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:48.786Z,1761535788.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462699,-0.885663,-0.038864],[0.886447,0.461674,0.032690],[-0.011010,-0.049577,0.998710]] 2025-10-27T03:29:48.805Z,1761535788.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:49.192Z,1761535789.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463181,-0.885387,-0.039418],[0.886209,0.462199,0.031717],[-0.009863,-0.049623,0.998719]] 2025-10-27T03:29:49.234Z,1761535789.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:49.594Z,1761535789.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463459,-0.885224,-0.039808],[0.886076,0.462527,0.030639],[-0.008711,-0.049473,0.998738]] 2025-10-27T03:29:49.628Z,1761535789.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:50.005Z,1761535790.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463971,-0.884941,-0.040126],[0.885817,0.463080,0.029774],[-0.007766,-0.049358,0.998751]] 2025-10-27T03:29:50.048Z,1761535790.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:50.406Z,1761535790.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464452,-0.884675,-0.040437],[0.885572,0.463600,0.028935],[-0.006852,-0.049249,0.998763]] 2025-10-27T03:29:50.491Z,1761535790.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:50.905Z,1761535790.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466285,-0.883683,-0.041028],[0.884617,0.465478,0.027995],[-0.005641,-0.049347,0.998766]] 2025-10-27T03:29:50.930Z,1761535790.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:51.363Z,1761535791.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:51.720Z,1761535791.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468323,-0.882591,-0.041307],[0.883544,0.467549,0.027350],[-0.004825,-0.049305,0.998772]] 2025-10-27T03:29:51.755Z,1761535791.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:52.120Z,1761535792.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469541,-0.881941,-0.041353],[0.882899,0.468779,0.027130],[-0.004541,-0.049249,0.998776]] 2025-10-27T03:29:52.197Z,1761535792.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:52.518Z,1761535792.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471250,-0.881031,-0.041321],[0.881988,0.470484,0.027231],[-0.004550,-0.049277,0.998775]] 2025-10-27T03:29:52.560Z,1761535792.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:52.922Z,1761535792.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472784,-0.880214,-0.041203],[0.881167,0.472024,0.027180],[-0.004476,-0.049157,0.998781]] 2025-10-27T03:29:52.965Z,1761535792.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:53.348Z,1761535793.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474825,-0.879117,-0.041160],[0.880068,0.474053,0.027458],[-0.004627,-0.049262,0.998775]] 2025-10-27T03:29:53.397Z,1761535793.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:53.788Z,1761535793.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476723,-0.878102,-0.040897],[0.879040,0.475945,0.027647],[-0.004812,-0.049130,0.998781]] 2025-10-27T03:29:53.806Z,1761535793.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:54.231Z,1761535794.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478737,-0.877011,-0.040770],[0.877944,0.477949,0.027892],[-0.004976,-0.049147,0.998779]] 2025-10-27T03:29:54.276Z,1761535794.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:54.594Z,1761535794.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480758,-0.875919,-0.040470],[0.876837,0.479959,0.028201],[-0.005278,-0.049043,0.998783]] 2025-10-27T03:29:54.623Z,1761535794.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:54.997Z,1761535794.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482505,-0.874972,-0.040170],[0.875876,0.481702,0.028354],[-0.005460,-0.048865,0.998790]] 2025-10-27T03:29:55.018Z,1761535795.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:55.509Z,1761535795.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:55.922Z,1761535795.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486196,-0.872941,-0.039847],[0.873831,0.485379,0.028760],[-0.005765,-0.048802,0.998792]] 2025-10-27T03:29:55.942Z,1761535795.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:56.323Z,1761535796.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488271,-0.871781,-0.039863],[0.872672,0.487438,0.029119],[-0.005955,-0.049005,0.998781]] 2025-10-27T03:29:56.368Z,1761535796.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:56.729Z,1761535796.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490116,-0.870748,-0.039795],[0.871636,0.489278,0.029279],[-0.006023,-0.049037,0.998779]] 2025-10-27T03:29:56.758Z,1761535796.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:57.172Z,1761535797.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:57.554Z,1761535797.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493644,-0.868749,-0.039881],[0.869644,0.492801,0.029420],[-0.005905,-0.049205,0.998771]] 2025-10-27T03:29:57.598Z,1761535797.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:57.985Z,1761535797.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495259,-0.867827,-0.039937],[0.868727,0.494424,0.029300],[-0.005681,-0.049205,0.998773]] 2025-10-27T03:29:58.011Z,1761535798.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:58.390Z,1761535798.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496718,-0.866984,-0.040122],[0.867896,0.495898,0.029020],[-0.005263,-0.049236,0.998773]] 2025-10-27T03:29:58.489Z,1761535798.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:58.853Z,1761535798.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498279,-0.866076,-0.040369],[0.867004,0.497473,0.028728],[-0.004798,-0.049314,0.998772]] 2025-10-27T03:29:58.890Z,1761535798.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:59.301Z,1761535799.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501267,-0.864330,-0.040797],[0.865285,0.500506,0.027857],[-0.003659,-0.049265,0.998779]] 2025-10-27T03:29:59.338Z,1761535799.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:29:59.740Z,1761535799.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502763,-0.863440,-0.041241],[0.864420,0.502029,0.027302],[-0.002870,-0.049376,0.998776]] 2025-10-27T03:29:59.758Z,1761535799.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:00.141Z,1761535800.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504068,-0.862660,-0.041628],[0.863662,0.503371,0.026571],[-0.001968,-0.049346,0.998780]] 2025-10-27T03:30:00.160Z,1761535800.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:00.618Z,1761535800.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:00.951Z,1761535800.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506660,-0.861096,-0.042536],[0.862146,0.506051,0.024846],[0.000131,-0.049261,0.998786]] 2025-10-27T03:30:00.986Z,1761535800.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:01.350Z,1761535801.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508009,-0.860275,-0.043048],[0.861351,0.507448,0.023912],[0.001274,-0.049227,0.998787]] 2025-10-27T03:30:01.401Z,1761535801.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:01.772Z,1761535801.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509169,-0.859570,-0.043426],[0.860663,0.508663,0.022840],[0.002456,-0.049004,0.998796]] 2025-10-27T03:30:01.806Z,1761535801.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:02.204Z,1761535802.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510172,-0.858939,-0.044148],[0.860064,0.509730,0.021591],[0.003958,-0.048985,0.998792]] 2025-10-27T03:30:02.233Z,1761535802.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:02.606Z,1761535802.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511121,-0.858339,-0.044834],[0.859492,0.510747,0.020296],[0.005477,-0.048908,0.998788]] 2025-10-27T03:30:02.658Z,1761535802.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:03.039Z,1761535803.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512176,-0.857667,-0.045653],[0.858852,0.511868,0.019088],[0.006997,-0.048986,0.998775]] 2025-10-27T03:30:03.074Z,1761535803.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:03.467Z,1761535803.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512881,-0.857206,-0.046385],[0.858417,0.512647,0.017711],[0.008597,-0.048901,0.998767]] 2025-10-27T03:30:03.496Z,1761535803.496 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -38.81, , +0.49, 7.96, 0.00 2025-10-27T03:30:03.511Z,1761535803.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:03.899Z,1761535803.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513443,-0.856825,-0.047192],[0.858062,0.513287,0.016304],[0.010253,-0.048865,0.998753]] 2025-10-27T03:30:03.918Z,1761535803.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:04.302Z,1761535804.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514068,-0.856396,-0.048172],[0.857666,0.513990,0.014952],[0.011955,-0.049002,0.998727]] 2025-10-27T03:30:04.384Z,1761535804.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:04.709Z,1761535804.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514682,-0.855972,-0.049142],[0.857273,0.514682,0.013631],[0.013625,-0.049144,0.998699]] 2025-10-27T03:30:04.760Z,1761535804.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:05.109Z,1761535805.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514962,-0.855751,-0.050044],[0.857075,0.515049,0.012134],[0.015392,-0.049140,0.998673]] 2025-10-27T03:30:05.127Z,1761535805.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:05.510Z,1761535805.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515196,-0.855561,-0.050880],[0.856902,0.515368,0.010690],[0.017076,-0.049107,0.998648]] 2025-10-27T03:30:05.588Z,1761535805.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:05.914Z,1761535805.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515507,-0.855320,-0.051779],[0.856682,0.515760,0.009371],[0.018690,-0.049189,0.998615]] 2025-10-27T03:30:05.959Z,1761535805.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:06.318Z,1761535806.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515817,-0.855079,-0.052655],[0.856459,0.516151,0.008097],[0.020255,-0.049273,0.998580]] 2025-10-27T03:30:06.367Z,1761535806.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:06.728Z,1761535806.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516326,-0.854719,-0.053505],[0.856120,0.516729,0.007062],[0.021612,-0.049453,0.998543]] 2025-10-27T03:30:06.789Z,1761535806.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:07.126Z,1761535807.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516610,-0.854499,-0.054273],[0.855911,0.517089,0.005896],[0.023026,-0.049499,0.998509]] 2025-10-27T03:30:07.155Z,1761535807.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:07.529Z,1761535807.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517027,-0.854208,-0.054871],[0.855625,0.517573,0.004860],[0.024248,-0.049461,0.998482]] 2025-10-27T03:30:07.580Z,1761535807.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:07.937Z,1761535807.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517722,-0.853750,-0.055448],[0.855174,0.518325,0.003998],[0.025327,-0.049488,0.998454]] 2025-10-27T03:30:07.994Z,1761535807.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:08.091Z,1761535808.091 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:30:08.340Z,1761535808.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518373,-0.853322,-0.055954],[0.854748,0.519034,0.003126],[0.026375,-0.049447,0.998428]] 2025-10-27T03:30:08.361Z,1761535808.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:08.797Z,1761535808.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519392,-0.852693,-0.056089],[0.854109,0.520088,0.002527],[0.027017,-0.049219,0.998423]] 2025-10-27T03:30:08.850Z,1761535808.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:09.095Z,1761535809.095 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:30:09.235Z,1761535809.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:09.602Z,1761535809.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522174,-0.850979,-0.056303],[0.852384,0.522912,0.001873],[0.027848,-0.048970,0.998412]] 2025-10-27T03:30:09.663Z,1761535809.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:10.008Z,1761535810.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524039,-0.849832,-0.056297],[0.851237,0.524779,0.001913],[0.027918,-0.048925,0.998412]] 2025-10-27T03:30:10.026Z,1761535810.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:10.463Z,1761535810.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525955,-0.848649,-0.056266],[0.850053,0.526693,0.002011],[0.027929,-0.048887,0.998414]] 2025-10-27T03:30:10.512Z,1761535810.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:10.856Z,1761535810.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:11.218Z,1761535811.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530090,-0.846097,-0.055894],[0.847498,0.530792,0.002651],[0.027425,-0.048776,0.998433]] 2025-10-27T03:30:11.236Z,1761535811.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:11.623Z,1761535811.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531710,-0.845111,-0.055421],[0.846492,0.532394,0.002831],[0.027113,-0.048419,0.998459]] 2025-10-27T03:30:11.666Z,1761535811.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:12.026Z,1761535812.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533575,-0.843937,-0.055397],[0.845325,0.534243,0.003194],[0.026900,-0.048533,0.998459]] 2025-10-27T03:30:12.052Z,1761535812.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:12.519Z,1761535812.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536588,-0.842068,-0.054722],[0.843444,0.537201,0.004066],[0.025973,-0.048337,0.998493]] 2025-10-27T03:30:12.581Z,1761535812.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:12.972Z,1761535812.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537698,-0.841374,-0.054509],[0.842750,0.538287,0.004494],[0.025560,-0.048354,0.998503]] 2025-10-27T03:30:12.999Z,1761535812.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:13.411Z,1761535813.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:13.779Z,1761535813.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538881,-0.840653,-0.053950],[0.842024,0.539412,0.005421],[0.024544,-0.048348,0.998529]] 2025-10-27T03:30:13.836Z,1761535813.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:14.183Z,1761535814.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538963,-0.840626,-0.053544],[0.841985,0.539472,0.005697],[0.024096,-0.048154,0.998549]] 2025-10-27T03:30:14.208Z,1761535814.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:14.586Z,1761535814.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538835,-0.840726,-0.053259],[0.842082,0.539314,0.006142],[0.023560,-0.048158,0.998562]] 2025-10-27T03:30:14.629Z,1761535814.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:14.990Z,1761535814.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537944,-0.841312,-0.053011],[0.842678,0.538371,0.007099],[0.022567,-0.048490,0.998569]] 2025-10-27T03:30:15.009Z,1761535815.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:15.396Z,1761535815.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536565,-0.842204,-0.052822],[0.843583,0.536938,0.008042],[0.021589,-0.048875,0.998572]] 2025-10-27T03:30:15.420Z,1761535815.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:15.797Z,1761535815.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534630,-0.843456,-0.052459],[0.844832,0.534960,0.008726],[0.020704,-0.048984,0.998585]] 2025-10-27T03:30:15.845Z,1761535815.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:16.202Z,1761535816.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532619,-0.844747,-0.052152],[0.846121,0.532909,0.009345],[0.019898,-0.049104,0.998595]] 2025-10-27T03:30:16.244Z,1761535816.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:16.607Z,1761535816.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530805,-0.845902,-0.051926],[0.847277,0.531058,0.009945],[0.019164,-0.049274,0.998601]] 2025-10-27T03:30:16.645Z,1761535816.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:17.009Z,1761535817.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528666,-0.847271,-0.051425],[0.848632,0.528879,0.010480],[0.018319,-0.049181,0.998622]] 2025-10-27T03:30:17.039Z,1761535817.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:17.415Z,1761535817.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526819,-0.848447,-0.050985],[0.849798,0.526991,0.011090],[0.017459,-0.049169,0.998638]] 2025-10-27T03:30:17.472Z,1761535817.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:17.814Z,1761535817.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524950,-0.849646,-0.050287],[0.850973,0.525079,0.011660],[0.016498,-0.048914,0.998667]] 2025-10-27T03:30:17.874Z,1761535817.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:18.220Z,1761535818.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523707,-0.850447,-0.049719],[0.851762,0.523776,0.012679],[0.015259,-0.048988,0.998683]] 2025-10-27T03:30:18.239Z,1761535818.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:18.622Z,1761535818.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522201,-0.851419,-0.048904],[0.852705,0.522220,0.013398],[0.014132,-0.048697,0.998714]] 2025-10-27T03:30:18.666Z,1761535818.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:19.026Z,1761535819.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521228,-0.852068,-0.047976],[0.853321,0.521191,0.014262],[0.012853,-0.048372,0.998747]] 2025-10-27T03:30:19.068Z,1761535819.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:19.440Z,1761535819.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520487,-0.852566,-0.047163],[0.853791,0.520394,0.015202],[0.011583,-0.048180,0.998771]] 2025-10-27T03:30:19.462Z,1761535819.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:19.835Z,1761535819.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519808,-0.853027,-0.046316],[0.854222,0.519656,0.016210],[0.010241,-0.047991,0.998795]] 2025-10-27T03:30:19.876Z,1761535819.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:20.239Z,1761535820.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519437,-0.853300,-0.045431],[0.854463,0.519226,0.017271],[0.008852,-0.047790,0.998818]] 2025-10-27T03:30:20.272Z,1761535820.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:20.641Z,1761535820.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519334,-0.853413,-0.044477],[0.854540,0.519057,0.018465],[0.007328,-0.047597,0.998840]] 2025-10-27T03:30:20.649Z,1761535820.649 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050307183913,35.0, +110,1495.1, 0 2025-10-27T03:30:20.665Z,1761535820.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:21.048Z,1761535821.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519235,-0.853520,-0.043568],[0.854612,0.518896,0.019651],[0.005834,-0.047437,0.998857]] 2025-10-27T03:30:21.066Z,1761535821.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:21.457Z,1761535821.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519467,-0.853420,-0.042764],[0.854479,0.519072,0.020746],[0.004493,-0.047318,0.998870]] 2025-10-27T03:30:21.484Z,1761535821.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:21.853Z,1761535821.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519679,-0.853326,-0.042043],[0.854356,0.519230,0.021829],[0.003202,-0.047264,0.998877]] 2025-10-27T03:30:21.936Z,1761535821.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:22.335Z,1761535822.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519893,-0.853233,-0.041296],[0.854229,0.519398,0.022763],[0.002027,-0.047111,0.998888]] 2025-10-27T03:30:22.361Z,1761535822.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:22.789Z,1761535822.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:30:22.791Z,1761535822.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:22.996Z,1761535822.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:30:22.996Z,1761535822.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:30:23.142Z,1761535823.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521047,-0.852566,-0.040497],[0.853528,0.520465,0.024632],[0.000076,-0.047400,0.998876]] 2025-10-27T03:30:23.161Z,1761535823.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:23.249Z,1761535823.249 [DAT](INFO): DAT read: user:349> 2025-10-27T03:30:23.250Z,1761535823.250 [DAT](INFO): DAT read: Tx time:03:30:24.6128 2025-10-27T03:30:23.250Z,1761535823.250 [DAT](INFO): Ping request sent. 2025-10-27T03:30:23.250Z,1761535823.250 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:30:23.250Z,1761535823.250 [DAT](INFO): publishing transmit ping time 2025-10-27T03:30:23.251Z,1761535823.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766 2025-10-27T03:30:23.500Z,1761535823.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249914 2025-10-27T03:30:23.550Z,1761535823.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521912,-0.852045,-0.040332],[0.852999,0.521298,0.025325],[-0.000553,-0.047621,0.998865]] 2025-10-27T03:30:23.635Z,1761535823.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:23.755Z,1761535823.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504509 2025-10-27T03:30:23.953Z,1761535823.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522200,-0.851881,-0.040062],[0.852822,0.521561,0.025850],[-0.001126,-0.047665,0.998863]] 2025-10-27T03:30:23.996Z,1761535823.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:24.004Z,1761535824.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753998 2025-10-27T03:30:24.256Z,1761535824.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005907 2025-10-27T03:30:24.353Z,1761535824.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522413,-0.851758,-0.039903],[0.852691,0.521752,0.026329],[-0.001606,-0.047779,0.998857]] 2025-10-27T03:30:24.400Z,1761535824.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:24.508Z,1761535824.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257916 2025-10-27T03:30:24.760Z,1761535824.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509934 2025-10-27T03:30:24.824Z,1761535824.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:25.012Z,1761535825.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762441 2025-10-27T03:30:25.162Z,1761535825.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521618,-0.852257,-0.039651],[0.853176,0.520934,0.026796],[-0.002182,-0.047807,0.998854]] 2025-10-27T03:30:25.186Z,1761535825.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:25.264Z,1761535825.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013993 2025-10-27T03:30:25.516Z,1761535825.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265895 2025-10-27T03:30:25.576Z,1761535825.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520659,-0.852850,-0.039513],[0.853762,0.519977,0.026721],[-0.002243,-0.047648,0.998862]] 2025-10-27T03:30:25.618Z,1761535825.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:25.769Z,1761535825.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518658 2025-10-27T03:30:25.970Z,1761535825.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519680,-0.853439,-0.039678],[0.854358,0.519005,0.026554],[-0.002069,-0.047698,0.998860]] 2025-10-27T03:30:26.020Z,1761535826.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770076 2025-10-27T03:30:26.022Z,1761535826.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:26.272Z,1761535826.272 [DAT](INFO): DAT read: Rx Time:03:30:27.0874 2025-10-27T03:30:26.273Z,1761535826.273 [DAT](INFO): Rx dataTimestamp_ set to:1761535826.272537 2025-10-27T03:30:26.273Z,1761535826.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023393 2025-10-27T03:30:26.400Z,1761535826.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518660,-0.854049,-0.039904],[0.854979,0.517992,0.026376],[-0.001856,-0.047797,0.998855]] 2025-10-27T03:30:26.450Z,1761535826.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.21 m. 2025-10-27T03:30:26.525Z,1761535826.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274474 2025-10-27T03:30:26.782Z,1761535826.782 [DAT](INFO): DAT read: 03:30:27.0874 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 14,-0.32, 0.896, 2.534, 0.831, 1.413, PHS=-0.415, 1.166,-0.625, RAW= 336.2, -1.5, CAL= 335.6, -4.4, ROT= 174.4, 4.4 2025-10-27T03:30:26.784Z,1761535826.784 [DAT](INFO): got valid direction response: 03:30:27.0874 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 14,-0.32, 0.896, 2.534, 0.831, 1.413, PHS=-0.415, 1.166,-0.625, RAW= 336.2, -1.5, CAL= 335.6, -4.4, ROT= 174.4, 4.4 2025-10-27T03:30:26.785Z,1761535826.785 [DAT](INFO): DAT read: Bearing 25.0, 5.9 (Local) 2025-10-27T03:30:26.785Z,1761535826.785 [DAT](INFO): Local bearing/azimuth received: Bearing 25.0, 5.9 (Local) 2025-10-27T03:30:26.786Z,1761535826.786 [DAT](INFO): DAT read: Range 11 to 50 : 52.8 m (Round-trip 70.4 ms) speed 0.2 m/s 2025-10-27T03:30:26.792Z,1761535826.792 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:30:26.793Z,1761535826.793 [DAT](INFO): direction in FSK: [-0.992294,0.097296,-0.076719] 2025-10-27T03:30:26.793Z,1761535826.793 [DAT](INFO): publishing direction and range info 2025-10-27T03:30:26.837Z,1761535826.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517223,-0.854912,-0.040074],[0.855849,0.516576,0.025906],[-0.001446,-0.047696,0.998861]] 2025-10-27T03:30:26.948Z,1761535826.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 59.990747 s, deltaX: 7.399998 m, approachRate: 0.123352 m/s, rangeRepo size: 4 2025-10-27T03:30:26.950Z,1761535826.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.583466 m, bearing: 233.470073 deg, lat: 36.779324 deg, lon: -121.859540 deg, deltaT: 59.990747 s, deltaX: 7.370770 m, approachRate: 0.122865 m/s, posRepo size: 4 2025-10-27T03:30:26.950Z,1761535826.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:27.209Z,1761535827.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515767,-0.855768,-0.040563],[0.856728,0.515145,0.025331],[-0.000781,-0.047816,0.998856]] 2025-10-27T03:30:27.244Z,1761535827.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:27.694Z,1761535827.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:28.015Z,1761535828.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512555,-0.857647,-0.041582],[0.858654,0.511997,0.023923],[0.000772,-0.047967,0.998849]] 2025-10-27T03:30:28.059Z,1761535828.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:28.436Z,1761535828.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510602,-0.858783,-0.042161],[0.859815,0.510090,0.022940],[0.001806,-0.047964,0.998847]] 2025-10-27T03:30:28.459Z,1761535828.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:28.821Z,1761535828.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508750,-0.859859,-0.042608],[0.860910,0.508282,0.021991],[0.002748,-0.047869,0.998850]] 2025-10-27T03:30:28.874Z,1761535828.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:29.227Z,1761535829.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506794,-0.860982,-0.043238],[0.862058,0.506376,0.020956],[0.003852,-0.047894,0.998845]] 2025-10-27T03:30:29.246Z,1761535829.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:29.668Z,1761535829.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:30.034Z,1761535830.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502675,-0.863330,-0.044478],[0.864454,0.502358,0.018850],[0.006070,-0.047925,0.998832]] 2025-10-27T03:30:30.078Z,1761535830.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:30.447Z,1761535830.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500768,-0.864399,-0.045238],[0.865551,0.500503,0.017810],[0.007247,-0.048074,0.998817]] 2025-10-27T03:30:30.497Z,1761535830.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:30.844Z,1761535830.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498759,-0.865529,-0.045817],[0.866700,0.498548,0.016740],[0.008353,-0.048059,0.998810]] 2025-10-27T03:30:30.899Z,1761535830.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:31.246Z,1761535831.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496786,-0.866634,-0.046365],[0.867822,0.496629,0.015664],[0.009452,-0.048018,0.998802]] 2025-10-27T03:30:31.280Z,1761535831.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:31.672Z,1761535831.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494878,-0.867694,-0.046947],[0.868898,0.494776,0.014582],[0.010575,-0.048009,0.998791]] 2025-10-27T03:30:31.777Z,1761535831.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:32.141Z,1761535832.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490875,-0.869910,-0.047937],[0.871137,0.490882,0.012446],[0.012704,-0.047869,0.998773]] 2025-10-27T03:30:32.185Z,1761535832.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:32.543Z,1761535832.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488868,-0.871008,-0.048510],[0.872250,0.488925,0.011488],[0.013711,-0.047929,0.998757]] 2025-10-27T03:30:32.561Z,1761535832.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:32.949Z,1761535832.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486939,-0.872048,-0.049215],[0.873312,0.487045,0.010623],[0.014706,-0.048153,0.998732]] 2025-10-27T03:30:32.989Z,1761535832.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:33.365Z,1761535833.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484907,-0.873150,-0.049743],[0.874426,0.485062,0.009715],[0.015646,-0.048207,0.998715]] 2025-10-27T03:30:33.383Z,1761535833.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:33.793Z,1761535833.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482744,-0.874338,-0.049912],[0.875607,0.482944,0.008757],[0.016448,-0.047931,0.998715]] 2025-10-27T03:30:33.848Z,1761535833.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:34.158Z,1761535834.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480622,-0.875489,-0.050222],[0.876758,0.480868,0.007866],[0.017263,-0.047813,0.998707]] 2025-10-27T03:30:34.177Z,1761535834.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:34.567Z,1761535834.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478520,-0.876631,-0.050369],[0.877895,0.478800,0.007140],[0.017858,-0.047636,0.998705]] 2025-10-27T03:30:34.586Z,1761535834.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:34.966Z,1761535834.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476612,-0.877650,-0.050717],[0.878920,0.476924,0.006530],[0.018457,-0.047688,0.998692]] 2025-10-27T03:30:35.012Z,1761535835.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:35.371Z,1761535835.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474714,-0.878666,-0.050917],[0.879937,0.475051,0.006020],[0.018899,-0.047662,0.998685]] 2025-10-27T03:30:35.411Z,1761535835.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:35.819Z,1761535835.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472888,-0.879633,-0.051218],[0.880912,0.473247,0.005628],[0.019288,-0.047780,0.998672]] 2025-10-27T03:30:35.881Z,1761535835.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:36.278Z,1761535836.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470961,-0.880656,-0.051380],[0.881938,0.471336,0.005319],[0.019533,-0.047819,0.998665]] 2025-10-27T03:30:36.297Z,1761535836.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:36.678Z,1761535836.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469167,-0.881607,-0.051493],[0.882890,0.469553,0.005080],[0.019700,-0.047846,0.998660]] 2025-10-27T03:30:36.722Z,1761535836.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:37.081Z,1761535837.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467363,-0.882569,-0.051419],[0.883846,0.467753,0.004922],[0.019707,-0.047747,0.998665]] 2025-10-27T03:30:37.139Z,1761535837.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:37.487Z,1761535837.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465851,-0.883371,-0.051361],[0.884647,0.466235,0.004979],[0.019548,-0.047756,0.998668]] 2025-10-27T03:30:37.509Z,1761535837.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:37.894Z,1761535837.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464391,-0.884156,-0.051077],[0.885423,0.464758,0.005153],[0.019183,-0.047618,0.998681]] 2025-10-27T03:30:37.962Z,1761535837.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:38.293Z,1761535838.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462792,-0.885006,-0.050883],[0.886266,0.463146,0.005310],[0.018867,-0.047553,0.998691]] 2025-10-27T03:30:38.329Z,1761535838.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:38.702Z,1761535838.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461323,-0.885777,-0.050794],[0.887040,0.461658,0.005631],[0.018462,-0.047654,0.998693]] 2025-10-27T03:30:38.746Z,1761535838.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:39.102Z,1761535839.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459656,-0.886657,-0.050557],[0.887914,0.459971,0.005920],[0.018006,-0.047611,0.998704]] 2025-10-27T03:30:39.159Z,1761535839.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:39.216Z,1761535839.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:30:39.508Z,1761535839.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457890,-0.887583,-0.050336],[0.888839,0.458175,0.006392],[0.017389,-0.047667,0.998712]] 2025-10-27T03:30:39.535Z,1761535839.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:39.927Z,1761535839.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456029,-0.888559,-0.050004],[0.889809,0.456281,0.006918],[0.016669,-0.047649,0.998725]] 2025-10-27T03:30:39.963Z,1761535839.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:40.219Z,1761535840.219 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:30:40.314Z,1761535840.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454172,-0.889530,-0.049638],[0.890774,0.454383,0.007593],[0.015800,-0.047665,0.998738]] 2025-10-27T03:30:40.333Z,1761535840.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:40.725Z,1761535840.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451969,-0.890669,-0.049320],[0.891906,0.452149,0.008071],[0.015111,-0.047636,0.998750]] 2025-10-27T03:30:40.744Z,1761535840.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:41.215Z,1761535841.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:41.536Z,1761535841.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447809,-0.892818,-0.048411],[0.894031,0.447904,0.009468],[0.013230,-0.047521,0.998783]] 2025-10-27T03:30:41.572Z,1761535841.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:41.938Z,1761535841.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445675,-0.893903,-0.048066],[0.895110,0.445729,0.010182],[0.012322,-0.047562,0.998792]] 2025-10-27T03:30:41.983Z,1761535841.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:42.341Z,1761535842.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443640,-0.894934,-0.047711],[0.896134,0.443647,0.011030],[0.011295,-0.047649,0.998800]] 2025-10-27T03:30:42.360Z,1761535842.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:42.747Z,1761535842.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441347,-0.896087,-0.047332],[0.897277,0.441313,0.011746],[0.010363,-0.047654,0.998810]] 2025-10-27T03:30:42.766Z,1761535842.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:43.149Z,1761535843.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439165,-0.897180,-0.046920],[0.898358,0.439086,0.012541],[0.009351,-0.047658,0.998820]] 2025-10-27T03:30:43.194Z,1761535843.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:43.557Z,1761535843.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436577,-0.898466,-0.046478],[0.899627,0.436463,0.013104],[0.008512,-0.047534,0.998833]] 2025-10-27T03:30:43.603Z,1761535843.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:44.028Z,1761535844.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:44.363Z,1761535844.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431837,-0.900790,-0.045773],[0.901927,0.431648,0.014448],[0.006743,-0.047523,0.998847]] 2025-10-27T03:30:44.382Z,1761535844.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:44.766Z,1761535844.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429555,-0.901893,-0.045509],[0.903021,0.429330,0.015107],[0.005913,-0.047585,0.998850]] 2025-10-27T03:30:44.790Z,1761535844.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:45.169Z,1761535845.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427183,-0.903036,-0.045179],[0.904151,0.426926,0.015676],[0.005131,-0.047545,0.998856]] 2025-10-27T03:30:45.217Z,1761535845.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:45.613Z,1761535845.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424533,-0.904296,-0.044956],[0.905401,0.424255,0.016007],[0.004598,-0.047498,0.998861]] 2025-10-27T03:30:45.659Z,1761535845.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:45.989Z,1761535845.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422354,-0.905325,-0.044762],[0.906423,0.422046,0.016587],[0.003875,-0.047579,0.998860]] 2025-10-27T03:30:46.087Z,1761535846.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:46.382Z,1761535846.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420053,-0.906402,-0.044612],[0.907493,0.419724,0.016968],[0.003345,-0.047612,0.998860]] 2025-10-27T03:30:46.424Z,1761535846.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:46.786Z,1761535846.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417804,-0.907448,-0.044480],[0.908532,0.417459,0.017237],[0.002927,-0.047613,0.998862]] 2025-10-27T03:30:46.821Z,1761535846.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:47.190Z,1761535847.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415576,-0.908476,-0.044372],[0.909555,0.415218,0.017431],[0.002588,-0.047603,0.998863]] 2025-10-27T03:30:47.295Z,1761535847.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:47.616Z,1761535847.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413562,-0.909406,-0.044124],[0.910473,0.413193,0.017595],[0.002231,-0.047451,0.998871]] 2025-10-27T03:30:47.634Z,1761535847.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:48.088Z,1761535848.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:48.414Z,1761535848.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409919,-0.911057,-0.044063],[0.912120,0.409532,0.017908],[0.001730,-0.047532,0.998868]] 2025-10-27T03:30:48.446Z,1761535848.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:48.806Z,1761535848.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408103,-0.911868,-0.044137],[0.912934,0.407714,0.017903],[0.001670,-0.047600,0.998865]] 2025-10-27T03:30:48.825Z,1761535848.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:49.283Z,1761535849.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:49.614Z,1761535849.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405122,-0.913203,-0.044016],[0.914262,0.404721,0.018066],[0.001317,-0.047561,0.998867]] 2025-10-27T03:30:49.645Z,1761535849.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:50.049Z,1761535850.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403708,-0.913825,-0.044080],[0.914887,0.403309,0.017986],[0.001342,-0.047589,0.998866]] 2025-10-27T03:30:50.089Z,1761535850.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:50.442Z,1761535850.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402120,-0.914535,-0.043879],[0.915586,0.401734,0.017678],[0.001461,-0.047283,0.998880]] 2025-10-27T03:30:50.476Z,1761535850.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:50.846Z,1761535850.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400997,-0.915025,-0.043938],[0.916078,0.400616,0.017553],[0.001540,-0.047289,0.998880]] 2025-10-27T03:30:50.864Z,1761535850.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:51.253Z,1761535851.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399781,-0.915557,-0.043927],[0.916609,0.399409,0.017337],[0.001672,-0.047195,0.998884]] 2025-10-27T03:30:51.308Z,1761535851.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:51.665Z,1761535851.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398675,-0.916032,-0.044082],[0.917090,0.398316,0.017036],[0.001953,-0.047219,0.998883]] 2025-10-27T03:30:51.683Z,1761535851.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:52.146Z,1761535852.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:52.462Z,1761535852.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396311,-0.917037,-0.044507],[0.918112,0.395992,0.016157],[0.002808,-0.047266,0.998878]] 2025-10-27T03:30:52.481Z,1761535852.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:52.867Z,1761535852.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395045,-0.917572,-0.044728],[0.918656,0.394747,0.015675],[0.003273,-0.047282,0.998876]] 2025-10-27T03:30:52.893Z,1761535852.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:53.272Z,1761535853.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393449,-0.918242,-0.045050],[0.919338,0.393184,0.014962],[0.003974,-0.047303,0.998873]] 2025-10-27T03:30:53.314Z,1761535853.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:53.674Z,1761535853.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391653,-0.918994,-0.045363],[0.920101,0.391427,0.014129],[0.004772,-0.047273,0.998871]] 2025-10-27T03:30:53.718Z,1761535853.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:54.104Z,1761535854.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390022,-0.919665,-0.045809],[0.920789,0.389831,0.013404],[0.005531,-0.047409,0.998860]] 2025-10-27T03:30:54.150Z,1761535854.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:54.482Z,1761535854.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387879,-0.920557,-0.046085],[0.921688,0.387731,0.012471],[0.006388,-0.047314,0.998860]] 2025-10-27T03:30:54.500Z,1761535854.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:54.898Z,1761535854.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385753,-0.921425,-0.046596],[0.922573,0.385649,0.011566],[0.007312,-0.047450,0.998847]] 2025-10-27T03:30:54.924Z,1761535854.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:55.292Z,1761535855.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383776,-0.922222,-0.047138],[0.923389,0.383716,0.010693],[0.008226,-0.047630,0.998831]] 2025-10-27T03:30:55.340Z,1761535855.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:55.698Z,1761535855.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381689,-0.923059,-0.047702],[0.924245,0.381673,0.009786],[0.009173,-0.047823,0.998814]] 2025-10-27T03:30:55.738Z,1761535855.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:56.140Z,1761535856.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377546,-0.924714,-0.048602],[0.925924,0.377628,0.007838],[0.011105,-0.047961,0.998787]] 2025-10-27T03:30:56.203Z,1761535856.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:56.526Z,1761535856.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375538,-0.925520,-0.048832],[0.926730,0.375665,0.006909],[0.011950,-0.047849,0.998783]] 2025-10-27T03:30:56.546Z,1761535856.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:56.928Z,1761535856.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373859,-0.926178,-0.049227],[0.927399,0.374023,0.006175],[0.012693,-0.047961,0.998769]] 2025-10-27T03:30:56.946Z,1761535856.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:57.329Z,1761535857.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372083,-0.926884,-0.049398],[0.928102,0.372289,0.005311],[0.013468,-0.047822,0.998765]] 2025-10-27T03:30:57.381Z,1761535857.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:57.735Z,1761535857.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370929,-0.927336,-0.049601],[0.928557,0.371158,0.004837],[0.013924,-0.047851,0.998757]] 2025-10-27T03:30:57.773Z,1761535857.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:58.160Z,1761535858.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369796,-0.927779,-0.049767],[0.929002,0.370049,0.004373],[0.014359,-0.047851,0.998751]] 2025-10-27T03:30:58.218Z,1761535858.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:58.598Z,1761535858.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:58.946Z,1761535858.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368817,-0.928153,-0.050065],[0.929386,0.369085,0.004120],[0.014654,-0.048049,0.998737]] 2025-10-27T03:30:58.970Z,1761535858.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:59.350Z,1761535859.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368552,-0.928265,-0.049944],[0.929492,0.368820,0.004074],[0.014639,-0.047924,0.998744]] 2025-10-27T03:30:59.409Z,1761535859.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:30:59.753Z,1761535859.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368584,-0.928255,-0.049876],[0.929480,0.368851,0.004085],[0.014605,-0.047864,0.998747]] 2025-10-27T03:30:59.776Z,1761535859.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:00.211Z,1761535860.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368594,-0.928265,-0.049626],[0.929478,0.368855,0.004140],[0.014462,-0.047652,0.998759]] 2025-10-27T03:31:00.267Z,1761535860.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:00.562Z,1761535860.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368814,-0.928181,-0.049559],[0.929393,0.369067,0.004298],[0.014302,-0.047645,0.998762]] 2025-10-27T03:31:00.653Z,1761535860.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:00.968Z,1761535860.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369303,-0.927990,-0.049503],[0.929203,0.369540,0.004616],[0.014010,-0.047703,0.998763]] 2025-10-27T03:31:00.987Z,1761535860.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:01.379Z,1761535861.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369528,-0.927904,-0.049437],[0.929117,0.369753,0.004846],[0.013783,-0.047724,0.998765]] 2025-10-27T03:31:01.448Z,1761535861.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:01.773Z,1761535861.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369832,-0.927784,-0.049405],[0.929000,0.370045,0.005098],[0.013553,-0.047782,0.998766]] 2025-10-27T03:31:01.806Z,1761535861.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:02.226Z,1761535862.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369819,-0.927792,-0.049361],[0.929008,0.370023,0.005279],[0.013367,-0.047809,0.998767]] 2025-10-27T03:31:02.282Z,1761535862.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:02.584Z,1761535862.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369540,-0.927910,-0.049226],[0.929121,0.369737,0.005374],[0.013214,-0.047723,0.998773]] 2025-10-27T03:31:02.602Z,1761535862.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:02.988Z,1761535862.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369154,-0.928066,-0.049189],[0.929277,0.369343,0.005516],[0.013048,-0.047747,0.998774]] 2025-10-27T03:31:03.006Z,1761535863.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:03.408Z,1761535863.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368571,-0.928305,-0.049032],[0.929510,0.368756,0.005568],[0.012912,-0.047628,0.998782]] 2025-10-27T03:31:03.448Z,1761535863.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:03.794Z,1761535863.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368245,-0.928434,-0.049041],[0.929643,0.368414,0.005873],[0.012615,-0.047753,0.998780]] 2025-10-27T03:31:03.841Z,1761535863.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:04.253Z,1761535864.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367419,-0.928759,-0.049089],[0.929971,0.367586,0.005917],[0.012549,-0.047825,0.998777]] 2025-10-27T03:31:04.309Z,1761535864.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:04.604Z,1761535864.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366675,-0.929056,-0.049042],[0.930268,0.366830,0.006123],[0.012302,-0.047868,0.998778]] 2025-10-27T03:31:04.623Z,1761535864.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:05.006Z,1761535865.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365818,-0.929395,-0.049017],[0.930608,0.365963,0.006304],[0.012080,-0.047922,0.998778]] 2025-10-27T03:31:05.032Z,1761535865.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:05.412Z,1761535865.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364656,-0.929851,-0.049012],[0.931065,0.364800,0.006304],[0.012018,-0.047932,0.998778]] 2025-10-27T03:31:05.461Z,1761535865.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:05.814Z,1761535865.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363706,-0.930226,-0.048967],[0.931439,0.363841,0.006438],[0.011827,-0.047951,0.998780]] 2025-10-27T03:31:05.833Z,1761535865.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:06.254Z,1761535866.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363010,-0.930505,-0.048837],[0.931714,0.363130,0.006693],[0.011506,-0.047931,0.998784]] 2025-10-27T03:31:06.332Z,1761535866.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:06.623Z,1761535866.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362251,-0.930808,-0.048694],[0.932013,0.362359,0.006915],[0.011208,-0.047889,0.998790]] 2025-10-27T03:31:06.650Z,1761535866.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:07.026Z,1761535867.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361784,-0.930998,-0.048522],[0.932199,0.361872,0.007266],[0.010794,-0.047861,0.998796]] 2025-10-27T03:31:07.060Z,1761535867.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:07.430Z,1761535867.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361519,-0.931110,-0.048358],[0.932308,0.361582,0.007759],[0.010261,-0.047890,0.998800]] 2025-10-27T03:31:07.490Z,1761535867.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:07.836Z,1761535867.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361282,-0.931206,-0.048274],[0.932405,0.361321,0.008219],[0.009789,-0.047980,0.998800]] 2025-10-27T03:31:07.854Z,1761535867.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:08.288Z,1761535868.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361455,-0.931151,-0.048042],[0.932345,0.361460,0.008897],[0.009081,-0.048008,0.998806]] 2025-10-27T03:31:08.346Z,1761535868.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:08.642Z,1761535868.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361624,-0.931100,-0.047768],[0.932285,0.361601,0.009421],[0.008501,-0.047941,0.998814]] 2025-10-27T03:31:08.677Z,1761535868.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:09.047Z,1761535869.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361718,-0.931074,-0.047551],[0.932252,0.361676,0.009791],[0.008082,-0.047871,0.998821]] 2025-10-27T03:31:09.066Z,1761535869.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:09.450Z,1761535869.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362103,-0.930936,-0.047327],[0.932107,0.362037,0.010260],[0.007583,-0.047829,0.998827]] 2025-10-27T03:31:09.498Z,1761535869.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:09.854Z,1761535869.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362761,-0.930689,-0.047136],[0.931856,0.362668,0.010828],[0.007018,-0.047852,0.998830]] 2025-10-27T03:31:09.907Z,1761535869.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:10.266Z,1761535870.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363523,-0.930394,-0.047098],[0.931562,0.363404,0.011382],[0.006526,-0.048012,0.998825]] 2025-10-27T03:31:10.346Z,1761535870.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:10.347Z,1761535870.347 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:31:10.662Z,1761535870.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363888,-0.930259,-0.046943],[0.931422,0.363755,0.011645],[0.006243,-0.047961,0.998830]] 2025-10-27T03:31:10.745Z,1761535870.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:11.066Z,1761535871.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364394,-0.930067,-0.046821],[0.931225,0.364249,0.011898],[0.005988,-0.047936,0.998832]] 2025-10-27T03:31:11.103Z,1761535871.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:11.352Z,1761535871.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:31:11.470Z,1761535871.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364934,-0.929856,-0.046801],[0.931015,0.364782,0.012053],[0.005864,-0.047971,0.998832]] 2025-10-27T03:31:11.547Z,1761535871.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:11.933Z,1761535871.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:12.384Z,1761535872.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:12.682Z,1761535872.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366644,-0.929193,-0.046612],[0.930343,0.366493,0.012053],[0.005884,-0.047785,0.998840]] 2025-10-27T03:31:12.771Z,1761535872.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:13.085Z,1761535873.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367356,-0.928907,-0.046704],[0.930061,0.367208,0.012024],[0.005981,-0.047854,0.998836]] 2025-10-27T03:31:13.104Z,1761535873.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:13.491Z,1761535873.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367591,-0.928814,-0.046712],[0.929966,0.367462,0.011626],[0.006366,-0.047714,0.998841]] 2025-10-27T03:31:13.534Z,1761535873.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:13.898Z,1761535873.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368339,-0.928510,-0.046866],[0.929668,0.368219,0.011478],[0.006600,-0.047797,0.998835]] 2025-10-27T03:31:13.924Z,1761535873.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:14.301Z,1761535874.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369048,-0.928218,-0.047052],[0.929384,0.368942,0.011242],[0.006925,-0.047878,0.998829]] 2025-10-27T03:31:14.396Z,1761535874.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:14.712Z,1761535874.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369711,-0.927947,-0.047196],[0.929119,0.369619,0.010982],[0.007254,-0.047911,0.998825]] 2025-10-27T03:31:14.778Z,1761535874.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:15.105Z,1761535875.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369802,-0.927904,-0.047344],[0.929077,0.369741,0.010371],[0.007882,-0.047822,0.998825]] 2025-10-27T03:31:15.140Z,1761535875.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:15.509Z,1761535875.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370253,-0.927719,-0.047445],[0.928894,0.370211,0.009993],[0.008293,-0.047771,0.998824]] 2025-10-27T03:31:15.565Z,1761535875.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:15.916Z,1761535875.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370803,-0.927489,-0.047635],[0.928670,0.370782,0.009605],[0.008754,-0.047799,0.998819]] 2025-10-27T03:31:15.941Z,1761535875.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:16.321Z,1761535876.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371356,-0.927261,-0.047771],[0.928445,0.371355,0.009206],[0.009203,-0.047772,0.998816]] 2025-10-27T03:31:16.357Z,1761535876.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:16.727Z,1761535876.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371822,-0.927066,-0.047927],[0.928254,0.371843,0.008797],[0.009666,-0.047759,0.998812]] 2025-10-27T03:31:16.777Z,1761535876.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:17.125Z,1761535877.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372496,-0.926792,-0.047992],[0.927980,0.372531,0.008553],[0.009952,-0.047721,0.998811]] 2025-10-27T03:31:17.144Z,1761535877.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:17.531Z,1761535877.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373285,-0.926459,-0.048292],[0.927659,0.373336,0.008305],[0.010335,-0.047898,0.998799]] 2025-10-27T03:31:17.567Z,1761535877.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:17.933Z,1761535877.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374392,-0.926001,-0.048503],[0.927211,0.374448,0.008272],[0.010502,-0.048070,0.998789]] 2025-10-27T03:31:17.962Z,1761535877.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:18.341Z,1761535878.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375118,-0.925705,-0.048544],[0.926915,0.375185,0.008065],[0.010747,-0.048021,0.998788]] 2025-10-27T03:31:18.438Z,1761535878.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:18.745Z,1761535878.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375785,-0.925434,-0.048563],[0.926641,0.375866,0.007796],[0.011039,-0.047930,0.998790]] 2025-10-27T03:31:18.805Z,1761535878.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:19.198Z,1761535879.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377000,-0.924929,-0.048757],[0.926146,0.377085,0.007798],[0.011173,-0.048096,0.998780]] 2025-10-27T03:31:19.218Z,1761535879.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:19.598Z,1761535879.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378132,-0.924463,-0.048825],[0.925683,0.378221,0.007759],[0.011294,-0.048130,0.998777]] 2025-10-27T03:31:19.643Z,1761535879.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:20.002Z,1761535880.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379222,-0.924015,-0.048847],[0.925235,0.379316,0.007696],[0.011417,-0.048113,0.998777]] 2025-10-27T03:31:20.036Z,1761535880.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:20.410Z,1761535880.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380613,-0.923438,-0.048943],[0.924664,0.380705,0.007780],[0.011449,-0.048217,0.998771]] 2025-10-27T03:31:20.492Z,1761535880.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:20.812Z,1761535880.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382096,-0.922829,-0.048883],[0.924052,0.382187,0.007856],[0.011432,-0.048172,0.998774]] 2025-10-27T03:31:20.877Z,1761535880.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:21.213Z,1761535881.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383744,-0.922143,-0.048918],[0.923368,0.383833,0.007933],[0.011461,-0.048213,0.998771]] 2025-10-27T03:31:21.241Z,1761535881.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:21.617Z,1761535881.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385646,-0.921350,-0.048908],[0.922575,0.385734,0.008016],[0.011480,-0.048213,0.998771]] 2025-10-27T03:31:21.664Z,1761535881.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:22.072Z,1761535882.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:22.431Z,1761535882.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389636,-0.919680,-0.048713],[0.920897,0.389719,0.008166],[0.011475,-0.048042,0.998779]] 2025-10-27T03:31:22.493Z,1761535882.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:22.829Z,1761535882.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391780,-0.918769,-0.048709],[0.919987,0.391860,0.008287],[0.011473,-0.048058,0.998779]] 2025-10-27T03:31:22.907Z,1761535882.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:31:22.909Z,1761535882.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:22.992Z,1761535882.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:31:22.992Z,1761535882.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:31:23.233Z,1761535883.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393862,-0.917881,-0.048656],[0.919098,0.393941,0.008346],[0.011507,-0.048007,0.998781]] 2025-10-27T03:31:23.244Z,1761535883.244 [DAT](INFO): DAT read: user:350> 2025-10-27T03:31:23.245Z,1761535883.245 [DAT](INFO): DAT read: Tx time:03:31:24.6128 2025-10-27T03:31:23.245Z,1761535883.245 [DAT](INFO): Ping request sent. 2025-10-27T03:31:23.245Z,1761535883.245 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:31:23.245Z,1761535883.245 [DAT](INFO): publishing transmit ping time 2025-10-27T03:31:23.246Z,1761535883.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T03:31:23.292Z,1761535883.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:23.499Z,1761535883.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253009 2025-10-27T03:31:23.638Z,1761535883.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395866,-0.917020,-0.048619],[0.918235,0.395947,0.008363],[0.011581,-0.047955,0.998782]] 2025-10-27T03:31:23.701Z,1761535883.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:23.749Z,1761535883.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504090 2025-10-27T03:31:24.000Z,1761535884.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755014 2025-10-27T03:31:24.111Z,1761535884.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:24.252Z,1761535884.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006767 2025-10-27T03:31:24.446Z,1761535884.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399801,-0.915314,-0.048577],[0.916525,0.399893,0.008251],[0.011874,-0.047821,0.998785]] 2025-10-27T03:31:24.514Z,1761535884.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.269005 2025-10-27T03:31:24.547Z,1761535884.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:24.764Z,1761535884.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518691 2025-10-27T03:31:24.856Z,1761535884.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401476,-0.914575,-0.048673],[0.915788,0.401583,0.007989],[0.012240,-0.047781,0.998783]] 2025-10-27T03:31:24.928Z,1761535884.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:25.017Z,1761535885.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771888 2025-10-27T03:31:25.254Z,1761535885.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403338,-0.913749,-0.048788],[0.914966,0.403455,0.007877],[0.012486,-0.047816,0.998778]] 2025-10-27T03:31:25.268Z,1761535885.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022828 2025-10-27T03:31:25.273Z,1761535885.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:25.523Z,1761535885.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277146 2025-10-27T03:31:25.662Z,1761535885.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405171,-0.912937,-0.048811],[0.914153,0.405295,0.007775],[0.012685,-0.047771,0.998778]] 2025-10-27T03:31:25.729Z,1761535885.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:25.773Z,1761535885.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528113 2025-10-27T03:31:26.024Z,1761535886.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778757 2025-10-27T03:31:26.065Z,1761535886.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406931,-0.912147,-0.048942],[0.913366,0.407069,0.007563],[0.013024,-0.047779,0.998773]] 2025-10-27T03:31:26.101Z,1761535886.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:26.277Z,1761535886.277 [DAT](INFO): DAT read: Rx Time:03:31:27.0970 2025-10-27T03:31:26.277Z,1761535886.277 [DAT](INFO): Rx dataTimestamp_ set to:1761535886.276927 2025-10-27T03:31:26.278Z,1761535886.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032635 2025-10-27T03:31:26.465Z,1761535886.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408596,-0.911396,-0.049060],[0.912617,0.408750,0.007320],[0.013382,-0.047763,0.998769]] 2025-10-27T03:31:26.505Z,1761535886.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.58 m. 2025-10-27T03:31:26.530Z,1761535886.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285025 2025-10-27T03:31:26.785Z,1761535886.785 [DAT](INFO): DAT read: 03:31:27.0970 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 32, 0.01, 1.051, 2.600, 0.790, 1.551, PHS=-0.398, 1.094,-0.805, RAW= 341.8, 1.3, CAL= 341.3, -1.6, ROT= 168.7, 1.6 2025-10-27T03:31:26.786Z,1761535886.786 [DAT](INFO): got valid direction response: 03:31:27.0970 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 32, 0.01, 1.051, 2.600, 0.790, 1.551, PHS=-0.398, 1.094,-0.805, RAW= 341.8, 1.3, CAL= 341.3, -1.6, ROT= 168.7, 1.6 2025-10-27T03:31:26.787Z,1761535886.787 [DAT](INFO): DAT read: Bearing 28.5, 10.6 (Local) 2025-10-27T03:31:26.788Z,1761535886.788 [DAT](INFO): Local bearing/azimuth received: Bearing 28.5, 10.6 (Local) 2025-10-27T03:31:26.789Z,1761535886.789 [DAT](INFO): DAT read: Range 11 to 50 : 60.0 m (Round-trip 80.0 ms) speed -0.1 m/s 2025-10-27T03:31:26.790Z,1761535886.790 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:31:26.791Z,1761535886.791 [DAT](INFO): direction in FSK: [-0.980232,0.195870,-0.027922] 2025-10-27T03:31:26.794Z,1761535886.794 [DAT](INFO): publishing direction and range info 2025-10-27T03:31:26.962Z,1761535886.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411694,-0.909980,-0.049442],[0.911213,0.411877,0.006910],[0.014076,-0.047897,0.998753]] 2025-10-27T03:31:27.013Z,1761535887.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.000000 m, deltaT: 60.004033 s, deltaX: 7.200001 m, approachRate: 0.119992 m/s, rangeRepo size: 4 2025-10-27T03:31:27.016Z,1761535887.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.750996 m, bearing: 234.467056 deg, lat: 36.779324 deg, lon: -121.859540 deg, deltaT: 60.004033 s, deltaX: 7.167530 m, approachRate: 0.119451 m/s, posRepo size: 4 2025-10-27T03:31:27.016Z,1761535887.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:27.374Z,1761535887.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413004,-0.909383,-0.049500],[0.910617,0.413197,0.006744],[0.014320,-0.047861,0.998751]] 2025-10-27T03:31:27.393Z,1761535887.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:27.766Z,1761535887.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414285,-0.908787,-0.049737],[0.910029,0.414493,0.006555],[0.014658,-0.047977,0.998741]] 2025-10-27T03:31:27.817Z,1761535887.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:28.170Z,1761535888.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415341,-0.908299,-0.049841],[0.909543,0.415561,0.006350],[0.014944,-0.047970,0.998737]] 2025-10-27T03:31:28.212Z,1761535888.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:28.605Z,1761535888.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416628,-0.907702,-0.049984],[0.908952,0.416853,0.006336],[0.015085,-0.048073,0.998730]] 2025-10-27T03:31:28.648Z,1761535888.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:29.011Z,1761535889.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:29.383Z,1761535889.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418778,-0.906720,-0.049831],[0.907963,0.419003,0.006345],[0.015126,-0.047901,0.998738]] 2025-10-27T03:31:29.427Z,1761535889.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:29.786Z,1761535889.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419884,-0.906208,-0.049844],[0.907452,0.420107,0.006427],[0.015116,-0.047929,0.998736]] 2025-10-27T03:31:29.839Z,1761535889.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:30.190Z,1761535890.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421139,-0.905623,-0.049888],[0.906872,0.421355,0.006619],[0.015026,-0.048029,0.998733]] 2025-10-27T03:31:30.209Z,1761535890.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:30.656Z,1761535890.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422591,-0.904949,-0.049829],[0.906201,0.422790,0.007014],[0.014720,-0.048119,0.998733]] 2025-10-27T03:31:30.695Z,1761535890.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:30.998Z,1761535890.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423907,-0.904342,-0.049678],[0.905591,0.424089,0.007350],[0.014421,-0.048104,0.998738]] 2025-10-27T03:31:31.032Z,1761535891.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:31.402Z,1761535891.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425519,-0.903595,-0.049488],[0.904841,0.425677,0.007821],[0.013999,-0.048106,0.998744]] 2025-10-27T03:31:31.447Z,1761535891.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:31.809Z,1761535891.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427427,-0.902701,-0.049358],[0.903950,0.427555,0.008464],[0.013463,-0.048234,0.998745]] 2025-10-27T03:31:31.878Z,1761535891.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:32.214Z,1761535892.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429093,-0.901929,-0.049027],[0.903166,0.429198,0.008910],[0.013007,-0.048103,0.998758]] 2025-10-27T03:31:32.239Z,1761535892.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:32.654Z,1761535892.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431069,-0.901002,-0.048727],[0.902233,0.431143,0.009523],[0.012428,-0.048068,0.998767]] 2025-10-27T03:31:32.716Z,1761535892.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:33.018Z,1761535893.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433164,-0.900021,-0.048278],[0.901240,0.433200,0.010272],[0.011669,-0.047960,0.998781]] 2025-10-27T03:31:33.037Z,1761535893.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:33.428Z,1761535893.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435540,-0.898886,-0.048053],[0.900102,0.435538,0.011062],[0.010985,-0.048071,0.998784]] 2025-10-27T03:31:33.450Z,1761535893.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:33.826Z,1761535893.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437969,-0.897724,-0.047687],[0.898931,0.437931,0.011791],[0.010298,-0.048031,0.998793]] 2025-10-27T03:31:33.902Z,1761535893.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:34.229Z,1761535894.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440544,-0.896496,-0.047077],[0.897681,0.440467,0.012563],[0.009473,-0.047795,0.998812]] 2025-10-27T03:31:34.264Z,1761535894.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:34.645Z,1761535894.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443491,-0.895059,-0.046745],[0.896237,0.443373,0.013438],[0.008697,-0.047854,0.998816]] 2025-10-27T03:31:34.726Z,1761535894.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:35.035Z,1761535895.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446520,-0.893575,-0.046302],[0.894739,0.446359,0.014326],[0.007866,-0.047825,0.998825]] 2025-10-27T03:31:35.071Z,1761535895.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:35.437Z,1761535895.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449633,-0.892036,-0.045840],[0.893185,0.449433,0.015148],[0.007089,-0.047755,0.998834]] 2025-10-27T03:31:35.463Z,1761535895.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:35.852Z,1761535895.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452721,-0.890494,-0.045434],[0.891629,0.452488,0.015883],[0.006414,-0.047701,0.998841]] 2025-10-27T03:31:35.901Z,1761535895.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:36.246Z,1761535896.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455872,-0.888912,-0.044902],[0.890028,0.455600,0.016711],[0.005602,-0.047582,0.998852]] 2025-10-27T03:31:36.264Z,1761535896.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:36.729Z,1761535896.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459117,-0.887259,-0.044527],[0.888362,0.458810,0.017483],[0.004917,-0.047583,0.998855]] 2025-10-27T03:31:36.772Z,1761535896.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:37.053Z,1761535897.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462228,-0.885661,-0.044154],[0.886750,0.461894,0.018098],[0.004365,-0.047519,0.998861]] 2025-10-27T03:31:37.079Z,1761535897.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:37.458Z,1761535897.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465535,-0.883942,-0.043866],[0.885021,0.465173,0.018757],[0.003825,-0.047554,0.998861]] 2025-10-27T03:31:37.497Z,1761535897.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:37.867Z,1761535897.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468798,-0.882226,-0.043653],[0.883299,0.468413,0.019295],[0.003425,-0.047604,0.998860]] 2025-10-27T03:31:37.922Z,1761535897.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:38.268Z,1761535898.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472082,-0.880486,-0.043390],[0.881550,0.471675,0.019818],[0.003017,-0.047606,0.998862]] 2025-10-27T03:31:38.286Z,1761535898.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:38.670Z,1761535898.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475177,-0.878830,-0.043189],[0.879886,0.474758,0.020148],[0.002798,-0.047575,0.998864]] 2025-10-27T03:31:38.757Z,1761535898.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:39.074Z,1761535899.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478026,-0.877296,-0.042931],[0.878341,0.477603,0.020287],[0.002706,-0.047406,0.998872]] 2025-10-27T03:31:39.120Z,1761535899.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:39.479Z,1761535899.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480635,-0.875875,-0.042811],[0.876916,0.480216,0.020255],[0.002818,-0.047277,0.998878]] 2025-10-27T03:31:39.501Z,1761535899.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:39.948Z,1761535899.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:40.286Z,1761535900.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485234,-0.873314,-0.043255],[0.874376,0.484846,0.019760],[0.003715,-0.047409,0.998869]] 2025-10-27T03:31:40.312Z,1761535900.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:40.691Z,1761535900.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487235,-0.872183,-0.043587],[0.873260,0.486868,0.019381],[0.004317,-0.047506,0.998862]] 2025-10-27T03:31:40.757Z,1761535900.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:41.093Z,1761535901.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488898,-0.871242,-0.043785],[0.872327,0.488560,0.018831],[0.004985,-0.047402,0.998863]] 2025-10-27T03:31:41.150Z,1761535901.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:41.471Z,1761535901.471 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:31:41.503Z,1761535901.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490352,-0.870401,-0.044238],[0.871504,0.490052,0.018134],[0.005895,-0.047446,0.998856]] 2025-10-27T03:31:41.524Z,1761535901.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:41.901Z,1761535901.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491732,-0.869591,-0.044847],[0.870719,0.491472,0.017401],[0.006909,-0.047606,0.998842]] 2025-10-27T03:31:41.948Z,1761535901.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:42.305Z,1761535902.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492933,-0.868888,-0.045279],[0.870032,0.492714,0.016643],[0.007849,-0.047598,0.998836]] 2025-10-27T03:31:42.357Z,1761535902.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:42.475Z,1761535902.475 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:31:42.717Z,1761535902.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493901,-0.868310,-0.045827],[0.869472,0.493729,0.015792],[0.008913,-0.047645,0.998825]] 2025-10-27T03:31:42.769Z,1761535902.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:43.215Z,1761535903.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494695,-0.867823,-0.046476],[0.869008,0.494574,0.014887],[0.010067,-0.047753,0.998808]] 2025-10-27T03:31:43.251Z,1761535903.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:43.631Z,1761535903.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495531,-0.867314,-0.047066],[0.868519,0.495455,0.014078],[0.011109,-0.047853,0.998793]] 2025-10-27T03:31:43.650Z,1761535903.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:44.060Z,1761535904.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496314,-0.866833,-0.047685],[0.868058,0.496286,0.013267],[0.012165,-0.047978,0.998774]] 2025-10-27T03:31:44.113Z,1761535904.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:44.501Z,1761535904.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497057,-0.866371,-0.048322],[0.867617,0.497078,0.012438],[0.013244,-0.048108,0.998754]] 2025-10-27T03:31:44.531Z,1761535904.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:44.902Z,1761535904.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498015,-0.865797,-0.048765],[0.867055,0.498073,0.011818],[0.014056,-0.048167,0.998740]] 2025-10-27T03:31:44.965Z,1761535904.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:45.307Z,1761535905.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498984,-0.865227,-0.048962],[0.866487,0.499073,0.011255],[0.014697,-0.048041,0.998737]] 2025-10-27T03:31:45.332Z,1761535905.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:45.719Z,1761535905.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500044,-0.864614,-0.048980],[0.865868,0.500154,0.010855],[0.015113,-0.047838,0.998741]] 2025-10-27T03:31:45.739Z,1761535905.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:46.113Z,1761535906.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501321,-0.863883,-0.048817],[0.865127,0.501440,0.010660],[0.015270,-0.047577,0.998751]] 2025-10-27T03:31:46.174Z,1761535906.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:46.519Z,1761535906.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502991,-0.862909,-0.048858],[0.864156,0.503109,0.010754],[0.015301,-0.047630,0.998748]] 2025-10-27T03:31:46.537Z,1761535906.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:46.921Z,1761535906.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504972,-0.861757,-0.048765],[0.863006,0.505071,0.011185],[0.014991,-0.047732,0.998748]] 2025-10-27T03:31:46.969Z,1761535906.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:47.333Z,1761535907.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507401,-0.860337,-0.048636],[0.861590,0.507463,0.011983],[0.014372,-0.047984,0.998745]] 2025-10-27T03:31:47.370Z,1761535907.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:47.733Z,1761535907.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510044,-0.858783,-0.048440],[0.860041,0.510062,0.012923],[0.013609,-0.048252,0.998742]] 2025-10-27T03:31:47.751Z,1761535907.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:48.135Z,1761535908.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512838,-0.857147,-0.047923],[0.858393,0.512802,0.013988],[0.012585,-0.048310,0.998753]] 2025-10-27T03:31:48.196Z,1761535908.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:48.537Z,1761535908.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515772,-0.855422,-0.047240],[0.856650,0.515677,0.015125],[0.011423,-0.048269,0.998769]] 2025-10-27T03:31:48.566Z,1761535908.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:48.941Z,1761535908.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518796,-0.853650,-0.046171],[0.854840,0.518634,0.016363],[0.009978,-0.047958,0.998800]] 2025-10-27T03:31:48.998Z,1761535908.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:49.352Z,1761535909.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522111,-0.851681,-0.045159],[0.852836,0.521877,0.017773],[0.008430,-0.047792,0.998822]] 2025-10-27T03:31:49.391Z,1761535909.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:49.750Z,1761535909.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525765,-0.849486,-0.044096],[0.850603,0.525451,0.019370],[0.006715,-0.047692,0.998839]] 2025-10-27T03:31:49.773Z,1761535909.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:50.156Z,1761535910.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529573,-0.847176,-0.042962],[0.848251,0.529175,0.021084],[0.004873,-0.047609,0.998854]] 2025-10-27T03:31:50.202Z,1761535910.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:50.558Z,1761535910.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533570,-0.844714,-0.041977],[0.845751,0.533088,0.022879],[0.003051,-0.047709,0.998857]] 2025-10-27T03:31:50.591Z,1761535910.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:50.961Z,1761535910.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537430,-0.842320,-0.040817],[0.843308,0.536868,0.024588],[0.001202,-0.047636,0.998864]] 2025-10-27T03:31:51.011Z,1761535911.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:51.371Z,1761535911.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541266,-0.839916,-0.039648],[0.840851,0.540630,0.026233],[-0.000598,-0.047537,0.998869]] 2025-10-27T03:31:51.389Z,1761535911.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:51.781Z,1761535911.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548723,-0.835167,-0.037410],[0.835995,0.547957,0.029263],[-0.003940,-0.047331,0.998871]] 2025-10-27T03:31:51.798Z,1761535911.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:52.178Z,1761535912.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552002,-0.833048,-0.036393],[0.833826,0.551186,0.030464],[-0.005318,-0.047161,0.998873]] 2025-10-27T03:31:52.226Z,1761535912.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:52.582Z,1761535912.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555163,-0.830986,-0.035445],[0.831715,0.554302,0.031610],[-0.006620,-0.047029,0.998872]] 2025-10-27T03:31:52.621Z,1761535912.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:52.986Z,1761535912.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558158,-0.829009,-0.034700],[0.829699,0.557254,0.032683],[-0.007758,-0.047033,0.998863]] 2025-10-27T03:31:53.037Z,1761535913.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:53.389Z,1761535913.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560901,-0.827177,-0.034186],[0.827838,0.559959,0.033619],[-0.008666,-0.047158,0.998850]] 2025-10-27T03:31:53.408Z,1761535913.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:53.790Z,1761535913.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563223,-0.825615,-0.033764],[0.826252,0.562253,0.034342],[-0.009369,-0.047239,0.998840]] 2025-10-27T03:31:53.832Z,1761535913.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:54.194Z,1761535914.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565406,-0.824135,-0.033418],[0.824752,0.564409,0.035019],[-0.009999,-0.047361,0.998828]] 2025-10-27T03:31:54.237Z,1761535914.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:54.598Z,1761535914.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566902,-0.823120,-0.033102],[0.823721,0.565898,0.035270],[-0.010299,-0.047262,0.998829]] 2025-10-27T03:31:54.621Z,1761535914.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:55.009Z,1761535915.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568235,-0.822210,-0.032861],[0.822799,0.567223,0.035495],[-0.010545,-0.047207,0.998829]] 2025-10-27T03:31:55.047Z,1761535915.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:55.406Z,1761535915.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569130,-0.821588,-0.032920],[0.822182,0.568121,0.035431],[-0.010407,-0.047231,0.998830]] 2025-10-27T03:31:55.436Z,1761535915.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:55.813Z,1761535915.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570197,-0.820843,-0.033049],[0.821443,0.569184,0.035515],[-0.010341,-0.047398,0.998823]] 2025-10-27T03:31:55.860Z,1761535915.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:56.216Z,1761535916.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570854,-0.820384,-0.033101],[0.820988,0.569845,0.035431],[-0.010205,-0.047401,0.998824]] 2025-10-27T03:31:56.252Z,1761535916.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:56.618Z,1761535916.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571434,-0.819966,-0.033445],[0.820589,0.570432,0.035216],[-0.009798,-0.047568,0.998820]] 2025-10-27T03:31:56.646Z,1761535916.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:57.034Z,1761535917.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572058,-0.819521,-0.033705],[0.820159,0.571062,0.035037],[-0.009466,-0.047687,0.998818]] 2025-10-27T03:31:57.080Z,1761535917.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:57.426Z,1761535917.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572689,-0.819072,-0.033893],[0.819722,0.571701,0.034844],[-0.009163,-0.047737,0.998818]] 2025-10-27T03:31:57.444Z,1761535917.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:57.841Z,1761535917.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573180,-0.818727,-0.033933],[0.819382,0.572209,0.034489],[-0.008821,-0.047572,0.998829]] 2025-10-27T03:31:57.859Z,1761535917.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:58.233Z,1761535918.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573898,-0.818212,-0.034203],[0.818884,0.572940,0.034180],[-0.008370,-0.047624,0.998830]] 2025-10-27T03:31:58.278Z,1761535918.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:58.637Z,1761535918.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574654,-0.817676,-0.034346],[0.818358,0.573711,0.033858],[-0.007981,-0.047564,0.998836]] 2025-10-27T03:31:58.680Z,1761535918.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:59.061Z,1761535919.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575712,-0.816919,-0.034628],[0.817617,0.574778,0.033652],[-0.007587,-0.047686,0.998834]] 2025-10-27T03:31:59.105Z,1761535919.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:59.447Z,1761535919.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576630,-0.816261,-0.034863],[0.816975,0.575713,0.033282],[-0.007096,-0.047673,0.998838]] 2025-10-27T03:31:59.465Z,1761535919.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:31:59.850Z,1761535919.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577853,-0.815386,-0.035107],[0.816114,0.576948,0.033001],[-0.006654,-0.047721,0.998839]] 2025-10-27T03:31:59.873Z,1761535919.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:00.253Z,1761535920.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579243,-0.814390,-0.035313],[0.815131,0.578349,0.032779],[-0.006272,-0.047772,0.998839]] 2025-10-27T03:32:00.296Z,1761535920.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:00.692Z,1761535920.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580520,-0.813475,-0.035426],[0.814225,0.579644,0.032392],[-0.005816,-0.047649,0.998847]] 2025-10-27T03:32:00.737Z,1761535920.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:01.090Z,1761535921.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582085,-0.812350,-0.035570],[0.813110,0.581225,0.032075],[-0.005382,-0.047593,0.998852]] 2025-10-27T03:32:01.133Z,1761535921.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:01.500Z,1761535921.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583895,-0.811046,-0.035654],[0.811814,0.583049,0.031802],[-0.005005,-0.047513,0.998858]] 2025-10-27T03:32:01.517Z,1761535921.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:01.905Z,1761535921.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585694,-0.809742,-0.035777],[0.810519,0.584866,0.031472],[-0.004560,-0.047431,0.998864]] 2025-10-27T03:32:01.923Z,1761535921.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:02.316Z,1761535922.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587559,-0.808379,-0.036012],[0.809171,0.586747,0.031143],[-0.004045,-0.047438,0.998866]] 2025-10-27T03:32:02.380Z,1761535922.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:02.717Z,1761535922.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589550,-0.806921,-0.036171],[0.807724,0.588753,0.030868],[-0.003612,-0.047415,0.998869]] 2025-10-27T03:32:02.750Z,1761535922.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:03.125Z,1761535923.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591522,-0.805470,-0.036322],[0.806282,0.590741,0.030560],[-0.003158,-0.047363,0.998873]] 2025-10-27T03:32:03.168Z,1761535923.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:03.518Z,1761535923.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593610,-0.803920,-0.036595],[0.804748,0.592842,0.030300],[-0.002663,-0.047437,0.998871]] 2025-10-27T03:32:03.537Z,1761535923.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:03.922Z,1761535923.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595705,-0.802356,-0.036885],[0.803200,0.594951,0.030028],[-0.002148,-0.047514,0.998868]] 2025-10-27T03:32:03.952Z,1761535923.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:04.334Z,1761535924.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597727,-0.800844,-0.037037],[0.801698,0.596990,0.029720],[-0.001690,-0.047457,0.998872]] 2025-10-27T03:32:04.379Z,1761535924.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:04.732Z,1761535924.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599606,-0.799432,-0.037170],[0.800295,0.598890,0.029304],[-0.001166,-0.047318,0.998879]] 2025-10-27T03:32:04.750Z,1761535924.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:05.152Z,1761535925.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601637,-0.797890,-0.037486],[0.798770,0.600938,0.029002],[-0.000613,-0.047391,0.998876]] 2025-10-27T03:32:05.194Z,1761535925.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:05.539Z,1761535925.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603507,-0.796463,-0.037755],[0.797357,0.602828,0.028623],[-0.000038,-0.047378,0.998877]] 2025-10-27T03:32:05.557Z,1761535925.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:05.942Z,1761535925.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605490,-0.794941,-0.038090],[0.795853,0.604826,0.028350],[0.000501,-0.047480,0.998872]] 2025-10-27T03:32:05.975Z,1761535925.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:06.346Z,1761535926.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607325,-0.793538,-0.038135],[0.794453,0.606676,0.028085],[0.000849,-0.047354,0.998878]] 2025-10-27T03:32:06.394Z,1761535926.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:06.751Z,1761535926.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609146,-0.792134,-0.038279],[0.793057,0.608509,0.027872],[0.001215,-0.047335,0.998878]] 2025-10-27T03:32:06.776Z,1761535926.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:07.236Z,1761535927.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:07.558Z,1761535927.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613038,-0.789114,-0.038514],[0.790052,0.612416,0.027655],[0.001764,-0.047381,0.998875]] 2025-10-27T03:32:07.582Z,1761535927.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:07.962Z,1761535927.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615029,-0.787561,-0.038559],[0.788502,0.614410,0.027637],[0.001925,-0.047402,0.998874]] 2025-10-27T03:32:07.988Z,1761535927.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:08.366Z,1761535928.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616859,-0.786125,-0.038640],[0.787071,0.616247,0.027559],[0.002147,-0.047412,0.998873]] 2025-10-27T03:32:08.427Z,1761535928.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:08.777Z,1761535928.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618794,-0.784609,-0.038498],[0.785551,0.618178,0.027682],[0.002079,-0.047371,0.998875]] 2025-10-27T03:32:08.796Z,1761535928.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:09.208Z,1761535929.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620545,-0.783233,-0.038345],[0.784168,0.619928,0.027738],[0.002046,-0.047281,0.998880]] 2025-10-27T03:32:09.262Z,1761535929.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:09.578Z,1761535929.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622631,-0.781579,-0.038276],[0.782514,0.622003,0.028015],[0.001912,-0.047395,0.998874]] 2025-10-27T03:32:09.613Z,1761535929.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:09.982Z,1761535929.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624241,-0.780301,-0.038124],[0.781229,0.623615,0.028016],[0.001914,-0.047272,0.998880]] 2025-10-27T03:32:10.000Z,1761535930.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:10.387Z,1761535930.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625810,-0.779046,-0.038065],[0.779973,0.625187,0.027995],[0.001988,-0.047209,0.998883]] 2025-10-27T03:32:10.425Z,1761535930.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:10.790Z,1761535930.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627351,-0.777813,-0.037902],[0.778734,0.626724,0.028114],[0.001887,-0.047153,0.998886]] 2025-10-27T03:32:10.847Z,1761535930.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:11.230Z,1761535931.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628955,-0.776521,-0.037826],[0.777439,0.628320,0.028324],[0.001772,-0.047221,0.998883]] 2025-10-27T03:32:11.289Z,1761535931.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:11.597Z,1761535931.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630319,-0.775417,-0.037776],[0.776335,0.629677,0.028476],[0.001706,-0.047276,0.998880]] 2025-10-27T03:32:11.616Z,1761535931.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:12.002Z,1761535932.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631516,-0.774443,-0.037753],[0.775361,0.630873,0.028559],[0.001700,-0.047308,0.998879]] 2025-10-27T03:32:12.020Z,1761535932.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:12.464Z,1761535932.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:12.615Z,1761535932.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:32:12.851Z,1761535932.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:13.260Z,1761535933.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633818,-0.772555,-0.037855],[0.773480,0.633181,0.028475],[0.001971,-0.047328,0.998877]] 2025-10-27T03:32:13.348Z,1761535933.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:13.618Z,1761535933.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634278,-0.772179,-0.037821],[0.773102,0.633642,0.028470],[0.001981,-0.047297,0.998879]] 2025-10-27T03:32:13.619Z,1761535933.619 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:32:13.638Z,1761535933.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:14.023Z,1761535934.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634384,-0.772090,-0.037860],[0.773015,0.633754,0.028337],[0.002115,-0.047243,0.998881]] 2025-10-27T03:32:14.047Z,1761535934.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:14.426Z,1761535934.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634343,-0.772120,-0.037941],[0.773049,0.633720,0.028197],[0.002273,-0.047217,0.998882]] 2025-10-27T03:32:14.477Z,1761535934.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:14.832Z,1761535934.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634384,-0.772081,-0.038058],[0.773015,0.633761,0.028205],[0.002343,-0.047312,0.998877]] 2025-10-27T03:32:14.851Z,1761535934.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:15.250Z,1761535935.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634114,-0.772301,-0.038094],[0.773236,0.633493,0.028139],[0.002401,-0.047299,0.998878]] 2025-10-27T03:32:15.335Z,1761535935.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:15.734Z,1761535935.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634001,-0.772388,-0.038204],[0.773328,0.633378,0.028203],[0.002414,-0.047425,0.998872]] 2025-10-27T03:32:15.779Z,1761535935.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:16.135Z,1761535936.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633693,-0.772632,-0.038382],[0.773581,0.633074,0.028119],[0.002573,-0.047511,0.998867]] 2025-10-27T03:32:16.153Z,1761535936.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:16.538Z,1761535936.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633435,-0.772848,-0.038284],[0.773792,0.632813,0.028159],[0.002464,-0.047461,0.998870]] 2025-10-27T03:32:16.596Z,1761535936.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:16.943Z,1761535936.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633204,-0.773046,-0.038132],[0.773982,0.632577,0.028257],[0.002277,-0.047406,0.998873]] 2025-10-27T03:32:16.968Z,1761535936.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:17.349Z,1761535937.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633327,-0.772947,-0.038073],[0.773882,0.632685,0.028567],[0.002008,-0.047556,0.998867]] 2025-10-27T03:32:17.426Z,1761535937.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:17.750Z,1761535937.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633379,-0.772925,-0.037652],[0.773840,0.632722,0.028895],[0.001489,-0.047438,0.998873]] 2025-10-27T03:32:17.768Z,1761535937.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:18.155Z,1761535938.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633822,-0.772582,-0.037241],[0.773478,0.633140,0.029415],[0.000853,-0.047449,0.998873]] 2025-10-27T03:32:18.173Z,1761535938.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:18.560Z,1761535938.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634349,-0.772177,-0.036673],[0.773047,0.633643,0.029917],[0.000136,-0.047327,0.998879]] 2025-10-27T03:32:18.600Z,1761535938.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:18.966Z,1761535938.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635297,-0.771423,-0.036097],[0.772267,0.634559,0.030636],[-0.000728,-0.047340,0.998879]] 2025-10-27T03:32:19.007Z,1761535939.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:19.374Z,1761535939.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636607,-0.770371,-0.035512],[0.771187,0.635826,0.031560],[-0.001733,-0.047477,0.998871]] 2025-10-27T03:32:19.422Z,1761535939.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:19.770Z,1761535939.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638146,-0.769136,-0.034618],[0.769909,0.637320,0.032605],[-0.003015,-0.047459,0.998869]] 2025-10-27T03:32:19.796Z,1761535939.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:20.175Z,1761535940.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639939,-0.767685,-0.033726],[0.768414,0.639065,0.033714],[-0.004328,-0.047491,0.998862]] 2025-10-27T03:32:20.194Z,1761535940.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:20.578Z,1761535940.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641690,-0.766266,-0.032707],[0.766943,0.640776,0.034689],[-0.005624,-0.047344,0.998863]] 2025-10-27T03:32:20.626Z,1761535940.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:20.986Z,1761535940.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643661,-0.764656,-0.031640],[0.765279,0.642708,0.035708],[-0.006970,-0.047197,0.998861]] 2025-10-27T03:32:21.030Z,1761535941.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:21.411Z,1761535941.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648063,-0.761010,-0.029636],[0.761526,0.647033,0.037764],[-0.009564,-0.047042,0.998847]] 2025-10-27T03:32:21.459Z,1761535941.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:21.463Z,1761535941.463 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T03:22:21.1Z 2025-10-27T03:32:21.463Z,1761535941.463 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T03:32:21.463Z,1761535941.463 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T03:32:21.463Z,1761535941.463 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T03:32:21.463Z,1761535941.463 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T03:32:21.464Z,1761535941.464 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T03:32:21.826Z,1761535941.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:21.830Z,1761535941.830 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T03:32:21.830Z,1761535941.830 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T03:32:21.830Z,1761535941.830 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T03:32:21.830Z,1761535941.830 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T03:32:21.830Z,1761535941.830 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T03:32:22.194Z,1761535942.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650131,-0.759279,-0.028719],[0.759747,0.649072,0.038598],[-0.010666,-0.046913,0.998842]] 2025-10-27T03:32:22.230Z,1761535942.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:22.604Z,1761535942.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652334,-0.757417,-0.027908],[0.757841,0.651245,0.039468],[-0.011719,-0.046897,0.998831]] 2025-10-27T03:32:22.653Z,1761535942.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:23.019Z,1761535943.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656379,-0.753959,-0.026701],[0.754314,0.655241,0.040861],[-0.013312,-0.046961,0.998808]] 2025-10-27T03:32:23.036Z,1761535943.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:32:23.037Z,1761535943.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:23.038Z,1761535943.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 60.00 m and bearing: 237.043716 deg. Not drifting fast enough. 2025-10-27T03:32:23.260Z,1761535943.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:32:23.260Z,1761535943.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:32:23.428Z,1761535943.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658037,-0.752530,-0.026178],[0.752857,0.656886,0.041325],[-0.013902,-0.046902,0.998803]] 2025-10-27T03:32:23.494Z,1761535943.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:23.496Z,1761535943.496 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T03:32:23.496Z,1761535943.496 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T03:32:23.496Z,1761535943.496 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T03:32:23.496Z,1761535943.496 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T03:32:23.529Z,1761535943.529 [DAT](INFO): DAT read: user:351> 2025-10-27T03:32:23.530Z,1761535943.530 [DAT](INFO): DAT read: Tx time:03:32:24.8629 2025-10-27T03:32:23.530Z,1761535943.530 [DAT](INFO): Ping request sent. 2025-10-27T03:32:23.530Z,1761535943.530 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:32:23.531Z,1761535943.531 [DAT](INFO): publishing transmit ping time 2025-10-27T03:32:23.532Z,1761535943.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001223 2025-10-27T03:32:23.781Z,1761535943.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250282 2025-10-27T03:32:23.821Z,1761535943.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659271,-0.751465,-0.025717],[0.751771,0.658120,0.041454],[-0.014227,-0.046663,0.998809]] 2025-10-27T03:32:23.855Z,1761535943.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:24.032Z,1761535944.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501351 2025-10-27T03:32:24.219Z,1761535944.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660174,-0.750673,-0.025704],[0.750981,0.659029,0.041331],[-0.014086,-0.046589,0.998815]] 2025-10-27T03:32:24.238Z,1761535944.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:24.286Z,1761535944.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755031 2025-10-27T03:32:24.536Z,1761535944.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005327 2025-10-27T03:32:24.622Z,1761535944.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661240,-0.749730,-0.025837],[0.750044,0.660090,0.041412],[-0.013994,-0.046762,0.998808]] 2025-10-27T03:32:24.665Z,1761535944.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:24.789Z,1761535944.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258526 2025-10-27T03:32:25.022Z,1761535945.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661860,-0.749170,-0.026183],[0.749504,0.660713,0.041244],[-0.013600,-0.046922,0.998806]] 2025-10-27T03:32:25.040Z,1761535945.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509490 2025-10-27T03:32:25.058Z,1761535945.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:25.292Z,1761535945.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761457 2025-10-27T03:32:25.480Z,1761535945.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662079,-0.748961,-0.026625],[0.749321,0.660946,0.040853],[-0.012999,-0.046999,0.998810]] 2025-10-27T03:32:25.544Z,1761535945.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013415 2025-10-27T03:32:25.550Z,1761535945.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:25.797Z,1761535945.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266240 2025-10-27T03:32:25.960Z,1761535945.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:26.048Z,1761535946.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517751 2025-10-27T03:32:26.288Z,1761535946.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661746,-0.749210,-0.027854],[0.749643,0.660654,0.039656],[-0.011309,-0.047122,0.998825]] 2025-10-27T03:32:26.301Z,1761535946.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770512 2025-10-27T03:32:26.342Z,1761535946.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:26.552Z,1761535946.552 [DAT](INFO): DAT read: Rx Time:03:32:27.3557 2025-10-27T03:32:26.552Z,1761535946.552 [DAT](INFO): Rx dataTimestamp_ set to:1761535946.552136 2025-10-27T03:32:26.553Z,1761535946.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022486 2025-10-27T03:32:26.748Z,1761535946.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661376,-0.749507,-0.028659],[0.749984,0.660306,0.038977],[-0.010290,-0.047272,0.998829]] 2025-10-27T03:32:26.805Z,1761535946.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274276 2025-10-27T03:32:26.848Z,1761535946.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.75 m. 2025-10-27T03:32:27.061Z,1761535947.061 [DAT](INFO): DAT read: 03:32:27.3557 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 8, 0.20, 0.810, 2.844, 1.494, 1.777, PHS=-0.865, 1.112,-0.326, RAW= 314.7, 0.9, CAL= 312.8, -2.2, ROT= 197.2, 2.2 2025-10-27T03:32:27.062Z,1761535947.062 [DAT](INFO): got valid direction response: 03:32:27.3557 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 8, 0.20, 0.810, 2.844, 1.494, 1.777, PHS=-0.865, 1.112,-0.326, RAW= 314.7, 0.9, CAL= 312.8, -2.2, ROT= 197.2, 2.2 2025-10-27T03:32:27.063Z,1761535947.063 [DAT](INFO): DAT read: Bearing 13.1, -16.4 (Local) 2025-10-27T03:32:27.063Z,1761535947.063 [DAT](INFO): Local bearing/azimuth received: Bearing 13.1, -16.4 (Local) 2025-10-27T03:32:27.065Z,1761535947.065 [DAT](INFO): DAT read: Range 11 to 50 : 66.4 m (Round-trip 88.6 ms) speed -0.2 m/s 2025-10-27T03:32:27.065Z,1761535947.065 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:32:27.066Z,1761535947.066 [DAT](INFO): direction in FSK: [-0.954574,-0.295490,-0.038388] 2025-10-27T03:32:27.067Z,1761535947.067 [DAT](INFO): publishing direction and range info 2025-10-27T03:32:27.171Z,1761535947.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660747,-0.750034,-0.029379],[0.750552,0.659707,0.038201],[-0.009271,-0.047292,0.998838]] 2025-10-27T03:32:27.224Z,1761535947.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.400002 m, deltaT: 60.275898 s, deltaX: 6.400002 m, approachRate: 0.106178 m/s, rangeRepo size: 4 2025-10-27T03:32:27.226Z,1761535947.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.125061 m, bearing: 245.919116 deg, lat: 36.779324 deg, lon: -121.859547 deg, deltaT: 60.275898 s, deltaX: 6.374065 m, approachRate: 0.105748 m/s, posRepo size: 4 2025-10-27T03:32:27.226Z,1761535947.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:27.554Z,1761535947.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659897,-0.750692,-0.031586],[0.751314,0.658831,0.038339],[-0.007971,-0.049031,0.998765]] 2025-10-27T03:32:27.604Z,1761535947.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:28.019Z,1761535948.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:28.363Z,1761535948.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659671,-0.750003,-0.048264],[0.751507,0.657545,0.053592],[-0.008458,-0.071624,0.997396]] 2025-10-27T03:32:28.390Z,1761535948.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:28.836Z,1761535948.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659823,-0.748953,-0.060852],[0.751382,0.656794,0.063616],[-0.007678,-0.087699,0.996117]] 2025-10-27T03:32:28.873Z,1761535948.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:29.234Z,1761535949.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659822,-0.748442,-0.066853],[0.751393,0.656402,0.067421],[-0.006578,-0.094718,0.995482]] 2025-10-27T03:32:29.272Z,1761535949.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:29.638Z,1761535949.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659353,-0.749064,-0.064465],[0.751815,0.656306,0.063542],[-0.005288,-0.090362,0.995895]] 2025-10-27T03:32:29.700Z,1761535949.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:30.067Z,1761535950.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658448,-0.750384,-0.058048],[0.752617,0.656096,0.055730],[-0.003734,-0.080383,0.996757]] 2025-10-27T03:32:30.101Z,1761535950.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:30.490Z,1761535950.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657352,-0.751698,-0.053269],[0.753580,0.655501,0.049353],[-0.002181,-0.072585,0.997360]] 2025-10-27T03:32:30.554Z,1761535950.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:30.918Z,1761535950.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656342,-0.752556,-0.053609],[0.754463,0.654599,0.047804],[-0.000883,-0.071821,0.997417]] 2025-10-27T03:32:30.966Z,1761535950.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:31.319Z,1761535951.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655888,-0.752572,-0.058706],[0.754858,0.653937,0.050561],[0.000339,-0.077477,0.996994]] 2025-10-27T03:32:31.363Z,1761535951.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:31.730Z,1761535951.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655317,-0.752588,-0.064575],[0.755352,0.653124,0.053606],[0.001832,-0.083906,0.996472]] 2025-10-27T03:32:31.807Z,1761535951.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:32.159Z,1761535952.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654854,-0.752704,-0.067845],[0.755749,0.652561,0.054842],[0.002994,-0.087188,0.996187]] 2025-10-27T03:32:32.177Z,1761535952.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:32.577Z,1761535952.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654202,-0.753284,-0.067694],[0.756309,0.652039,0.053311],[0.003981,-0.086074,0.996281]] 2025-10-27T03:32:32.626Z,1761535952.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:32.973Z,1761535952.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653179,-0.754294,-0.066320],[0.757186,0.651246,0.050468],[0.005123,-0.083181,0.996521]] 2025-10-27T03:32:32.991Z,1761535952.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:33.370Z,1761535953.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651932,-0.755493,-0.064930],[0.758253,0.650204,0.047825],[0.006086,-0.080412,0.996743]] 2025-10-27T03:32:33.396Z,1761535953.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:33.836Z,1761535953.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649077,-0.758017,-0.064093],[0.760675,0.647665,0.043625],[0.008442,-0.077070,0.996990]] 2025-10-27T03:32:33.883Z,1761535953.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:34.238Z,1761535954.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647571,-0.759271,-0.064494],[0.761941,0.646290,0.041896],[0.009872,-0.076271,0.997038]] 2025-10-27T03:32:34.256Z,1761535954.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:34.651Z,1761535954.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645674,-0.760786,-0.065654],[0.763527,0.644503,0.040528],[0.011481,-0.076297,0.997019]] 2025-10-27T03:32:34.720Z,1761535954.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:35.059Z,1761535955.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643290,-0.762611,-0.067846],[0.765505,0.642217,0.039492],[0.013455,-0.077341,0.996914]] 2025-10-27T03:32:35.077Z,1761535955.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:35.457Z,1761535955.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640719,-0.764623,-0.069513],[0.767618,0.639790,0.037826],[0.015551,-0.077595,0.996864]] 2025-10-27T03:32:35.491Z,1761535955.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:35.862Z,1761535955.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637262,-0.767386,-0.070822],[0.770430,0.636566,0.034942],[0.018269,-0.076830,0.996877]] 2025-10-27T03:32:35.919Z,1761535955.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:36.270Z,1761535956.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633620,-0.770310,-0.071754],[0.773356,0.633188,0.031526],[0.021149,-0.075467,0.996924]] 2025-10-27T03:32:36.303Z,1761535956.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:36.775Z,1761535956.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:37.100Z,1761535957.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624596,-0.777418,-0.074166],[0.780467,0.624721,0.024371],[0.027387,-0.073106,0.996948]] 2025-10-27T03:32:37.118Z,1761535957.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:37.494Z,1761535957.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619701,-0.781120,-0.076298],[0.784234,0.620104,0.021165],[0.030780,-0.072952,0.996860]] 2025-10-27T03:32:37.529Z,1761535957.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:37.900Z,1761535957.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614380,-0.785076,-0.078697],[0.788264,0.615075,0.017968],[0.034299,-0.073073,0.996737]] 2025-10-27T03:32:37.937Z,1761535957.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:38.307Z,1761535958.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608876,-0.789092,-0.081264],[0.792357,0.609881,0.014709],[0.037955,-0.073347,0.996584]] 2025-10-27T03:32:38.332Z,1761535958.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:38.712Z,1761535958.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603325,-0.793043,-0.084147],[0.796414,0.604637,0.011799],[0.041521,-0.074134,0.996384]] 2025-10-27T03:32:38.762Z,1761535958.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:39.163Z,1761535959.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:39.521Z,1761535959.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591820,-0.800923,-0.090952],[0.804604,0.593773,0.006754],[0.048595,-0.077178,0.995832]] 2025-10-27T03:32:39.539Z,1761535959.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:39.919Z,1761535959.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585899,-0.804779,-0.095151],[0.808717,0.588177,0.004981],[0.051957,-0.079868,0.995450]] 2025-10-27T03:32:39.964Z,1761535959.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:40.324Z,1761535960.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580500,-0.808131,-0.099717],[0.812386,0.583109,0.003624],[0.055217,-0.083113,0.995009]] 2025-10-27T03:32:40.347Z,1761535960.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:40.804Z,1761535960.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:41.129Z,1761535961.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569442,-0.814855,-0.108384],[0.819699,0.572795,0.000241],[0.061885,-0.088979,0.994109]] 2025-10-27T03:32:41.174Z,1761535961.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:41.536Z,1761535961.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564264,-0.817789,-0.113261],[0.823002,0.568038,-0.001277],[0.065381,-0.092493,0.993564]] 2025-10-27T03:32:41.555Z,1761535961.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:41.940Z,1761535961.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559416,-0.820368,-0.118532],[0.826036,0.563613,-0.002299],[0.068692,-0.096625,0.992948]] 2025-10-27T03:32:41.976Z,1761535961.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:42.341Z,1761535962.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555229,-0.822395,-0.124044],[0.828578,0.559865,-0.003064],[0.071968,-0.101079,0.992272]] 2025-10-27T03:32:42.367Z,1761535962.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:42.813Z,1761535962.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:43.150Z,1761535963.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548294,-0.825487,-0.133957],[0.832594,0.553860,-0.005205],[0.078490,-0.108678,0.990973]] 2025-10-27T03:32:43.175Z,1761535963.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:43.561Z,1761535963.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545039,-0.826845,-0.138782],[0.834435,0.551072,-0.006131],[0.081548,-0.112463,0.990304]] 2025-10-27T03:32:43.579Z,1761535963.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:43.760Z,1761535963.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:32:44.009Z,1761535964.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:44.362Z,1761535964.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540140,-0.828286,-0.148968],[0.836894,0.547298,-0.008590],[0.088645,-0.120031,0.988805]] 2025-10-27T03:32:44.388Z,1761535964.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:44.764Z,1761535964.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:32:44.775Z,1761535964.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538812,-0.828103,-0.154681],[0.837368,0.546562,-0.009215],[0.092174,-0.124560,0.987921]] 2025-10-27T03:32:44.829Z,1761535964.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:45.172Z,1761535965.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537678,-0.827869,-0.159798],[0.837716,0.546014,-0.010048],[0.095570,-0.128463,0.987099]] 2025-10-27T03:32:45.190Z,1761535965.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:45.574Z,1761535965.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537055,-0.827247,-0.165029],[0.837729,0.545983,-0.010640],[0.098905,-0.132536,0.986231]] 2025-10-27T03:32:45.603Z,1761535965.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:45.979Z,1761535965.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536393,-0.826611,-0.170285],[0.837761,0.545923,-0.011140],[0.102170,-0.136683,0.985332]] 2025-10-27T03:32:45.988Z,1761535965.988 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 93.19, 78.57, 81.97 2025-10-27T03:32:46.004Z,1761535966.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:46.419Z,1761535966.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:46.884Z,1761535966.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535793,-0.824793,-0.180671],[0.837202,0.546735,-0.013152],[0.109627,-0.144211,0.983456]] 2025-10-27T03:32:46.931Z,1761535966.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:47.294Z,1761535967.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536560,-0.823051,-0.186252],[0.836208,0.548241,-0.013720],[0.113404,-0.148384,0.982406]] 2025-10-27T03:32:47.330Z,1761535967.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:47.793Z,1761535967.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537760,-0.820962,-0.191929],[0.834892,0.550227,-0.014297],[0.117341,-0.152552,0.981305]] 2025-10-27T03:32:47.855Z,1761535967.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:48.164Z,1761535968.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538741,-0.819363,-0.195964],[0.833597,0.552117,-0.016797],[0.121958,-0.154306,0.980467]] 2025-10-27T03:32:48.182Z,1761535968.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:48.571Z,1761535968.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539822,-0.817641,-0.200137],[0.832134,0.554223,-0.019745],[0.127065,-0.155882,0.979569]] 2025-10-27T03:32:48.589Z,1761535968.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:48.970Z,1761535968.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540516,-0.816201,-0.204105],[0.830839,0.556026,-0.023257],[0.132470,-0.157008,0.978673]] 2025-10-27T03:32:49.048Z,1761535969.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:49.420Z,1761535969.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:49.810Z,1761535969.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543100,-0.812797,-0.210722],[0.827396,0.560785,-0.030587],[0.143031,-0.157739,0.977067]] 2025-10-27T03:32:49.859Z,1761535969.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:50.178Z,1761535970.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543802,-0.811614,-0.213453],[0.825986,0.562610,-0.034899],[0.148415,-0.157331,0.976330]] 2025-10-27T03:32:50.205Z,1761535970.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:50.586Z,1761535970.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544496,-0.809991,-0.217805],[0.824529,0.564532,-0.038168],[0.153873,-0.158804,0.975246]] 2025-10-27T03:32:50.616Z,1761535970.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:50.986Z,1761535970.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545200,-0.808623,-0.221100],[0.823030,0.566433,-0.042131],[0.159307,-0.159002,0.974341]] 2025-10-27T03:32:51.050Z,1761535971.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:51.393Z,1761535971.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545852,-0.807021,-0.225307],[0.821578,0.568305,-0.045160],[0.164488,-0.160457,0.973241]] 2025-10-27T03:32:51.412Z,1761535971.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:51.838Z,1761535971.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546530,-0.804154,-0.233756],[0.819004,0.571500,-0.051179],[0.174747,-0.163476,0.970947]] 2025-10-27T03:32:51.881Z,1761535971.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:52.234Z,1761535972.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:52.664Z,1761535972.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:53.007Z,1761535973.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546060,-0.802457,-0.240585],[0.817063,0.573564,-0.058589],[0.185006,-0.164580,0.968858]] 2025-10-27T03:32:53.070Z,1761535973.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:53.410Z,1761535973.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545317,-0.801922,-0.244027],[0.816362,0.574150,-0.062482],[0.190214,-0.165142,0.967753]] 2025-10-27T03:32:53.440Z,1761535973.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:53.918Z,1761535973.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:54.282Z,1761535974.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:54.626Z,1761535974.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539833,-0.803751,-0.250130],[0.816419,0.572303,-0.077000],[0.205039,-0.162644,0.965146]] 2025-10-27T03:32:54.649Z,1761535974.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:55.025Z,1761535975.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538024,-0.804084,-0.252941],[0.816409,0.571761,-0.081034],[0.209779,-0.162905,0.964082]] 2025-10-27T03:32:55.075Z,1761535975.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:55.430Z,1761535975.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536383,-0.804589,-0.254812],[0.816315,0.571255,-0.085428],[0.214297,-0.162185,0.963210]] 2025-10-27T03:32:55.468Z,1761535975.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:55.857Z,1761535975.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532208,-0.805436,-0.260821],[0.816640,0.569646,-0.092752],[0.223281,-0.163633,0.960921]] 2025-10-27T03:32:55.936Z,1761535975.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:56.408Z,1761535976.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:56.785Z,1761535976.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529478,-0.805714,-0.265477],[0.816201,0.569142,-0.099466],[0.231236,-0.164018,0.958972]] 2025-10-27T03:32:56.803Z,1761535976.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:57.236Z,1761535977.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528110,-0.805788,-0.267965],[0.816040,0.568863,-0.102340],[0.234899,-0.164623,0.957978]] 2025-10-27T03:32:57.300Z,1761535977.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:57.639Z,1761535977.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526919,-0.806112,-0.269333],[0.815798,0.568585,-0.105757],[0.238391,-0.163997,0.957223]] 2025-10-27T03:32:57.661Z,1761535977.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:58.041Z,1761535978.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526035,-0.806216,-0.270744],[0.815451,0.568541,-0.108630],[0.241509,-0.163635,0.956502]] 2025-10-27T03:32:58.085Z,1761535978.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:58.446Z,1761535978.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525334,-0.806319,-0.271797],[0.815094,0.568548,-0.111238],[0.244223,-0.163103,0.955904]] 2025-10-27T03:32:58.464Z,1761535978.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:58.965Z,1761535978.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524768,-0.806300,-0.272944],[0.814663,0.568687,-0.113664],[0.246867,-0.162711,0.955292]] 2025-10-27T03:32:59.013Z,1761535979.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:59.338Z,1761535979.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524191,-0.805646,-0.275968],[0.814209,0.569101,-0.114842],[0.249575,-0.164496,0.954282]] 2025-10-27T03:32:59.365Z,1761535979.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:32:59.791Z,1761535979.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524402,-0.804446,-0.279051],[0.813344,0.570227,-0.115381],[0.251940,-0.166459,0.953319]] 2025-10-27T03:32:59.810Z,1761535979.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:00.198Z,1761535980.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524833,-0.803879,-0.279873],[0.812473,0.571153,-0.116930],[0.253848,-0.166020,0.952890]] 2025-10-27T03:33:00.280Z,1761535980.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:00.599Z,1761535980.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524900,-0.803438,-0.281013],[0.811813,0.571787,-0.118409],[0.255813,-0.165977,0.952371]] 2025-10-27T03:33:00.626Z,1761535980.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:01.004Z,1761535981.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524868,-0.802943,-0.282482],[0.811289,0.572325,-0.119389],[0.257534,-0.166511,0.951814]] 2025-10-27T03:33:01.062Z,1761535981.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:01.406Z,1761535981.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525731,-0.801646,-0.284551],[0.810280,0.573760,-0.119358],[0.258947,-0.167816,0.951201]] 2025-10-27T03:33:01.431Z,1761535981.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:01.812Z,1761535981.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526281,-0.800683,-0.286241],[0.809420,0.574870,-0.119850],[0.260514,-0.168614,0.950632]] 2025-10-27T03:33:01.891Z,1761535981.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:02.223Z,1761535982.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527128,-0.799921,-0.286815],[0.808688,0.575891,-0.119887],[0.261074,-0.168748,0.950455]] 2025-10-27T03:33:02.286Z,1761535982.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:02.661Z,1761535982.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:03.029Z,1761535983.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527796,-0.798892,-0.288451],[0.807470,0.577287,-0.121376],[0.263485,-0.168854,0.949771]] 2025-10-27T03:33:03.110Z,1761535983.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:03.491Z,1761535983.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528737,-0.798564,-0.287631],[0.806155,0.578514,-0.124243],[0.265615,-0.166184,0.949648]] 2025-10-27T03:33:03.531Z,1761535983.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:03.861Z,1761535983.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529173,-0.797901,-0.288668],[0.805598,0.579266,-0.124352],[0.266436,-0.166747,0.949319]] 2025-10-27T03:33:03.903Z,1761535983.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:04.278Z,1761535984.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529831,-0.797220,-0.289344],[0.804923,0.580158,-0.124560],[0.267167,-0.166904,0.949086]] 2025-10-27T03:33:04.324Z,1761535984.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:04.668Z,1761535984.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530468,-0.796469,-0.290243],[0.804193,0.581109,-0.124849],[0.268101,-0.167183,0.948774]] 2025-10-27T03:33:04.705Z,1761535984.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:05.070Z,1761535985.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530540,-0.796329,-0.290496],[0.803753,0.581461,-0.126033],[0.269275,-0.166621,0.948540]] 2025-10-27T03:33:05.115Z,1761535985.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:05.474Z,1761535985.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530598,-0.796137,-0.290915],[0.803271,0.581858,-0.127269],[0.270595,-0.166155,0.948246]] 2025-10-27T03:33:05.509Z,1761535985.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:05.878Z,1761535985.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530967,-0.796126,-0.290272],[0.802561,0.582394,-0.129278],[0.271974,-0.164319,0.948172]] 2025-10-27T03:33:05.897Z,1761535985.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:06.290Z,1761535986.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531244,-0.796383,-0.289056],[0.801866,0.582768,-0.131878],[0.273478,-0.161725,0.948185]] 2025-10-27T03:33:06.345Z,1761535986.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:06.694Z,1761535986.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531671,-0.795914,-0.289565],[0.801152,0.583519,-0.132897],[0.274741,-0.161328,0.947888]] 2025-10-27T03:33:06.784Z,1761535986.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:07.106Z,1761535987.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532304,-0.795114,-0.290598],[0.800337,0.584534,-0.133343],[0.275887,-0.161597,0.947509]] 2025-10-27T03:33:07.143Z,1761535987.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:07.505Z,1761535987.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533076,-0.793965,-0.292318],[0.799483,0.585768,-0.133052],[0.276869,-0.162777,0.947020]] 2025-10-27T03:33:07.553Z,1761535987.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:07.914Z,1761535987.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533712,-0.793147,-0.293377],[0.798676,0.586784,-0.133422],[0.277972,-0.163104,0.946641]] 2025-10-27T03:33:07.948Z,1761535987.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:08.313Z,1761535988.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534277,-0.792479,-0.294152],[0.797897,0.587695,-0.134072],[0.279121,-0.163072,0.946308]] 2025-10-27T03:33:08.403Z,1761535988.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:08.725Z,1761535988.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535137,-0.791211,-0.295996],[0.797075,0.588979,-0.133320],[0.279820,-0.164587,0.945839]] 2025-10-27T03:33:08.780Z,1761535988.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:09.189Z,1761535989.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:09.527Z,1761535989.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536547,-0.789089,-0.299092],[0.795785,0.591061,-0.131811],[0.280792,-0.167290,0.945077]] 2025-10-27T03:33:09.555Z,1761535989.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:09.995Z,1761535989.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536949,-0.788075,-0.301037],[0.795273,0.591916,-0.131058],[0.281472,-0.169036,0.944564]] 2025-10-27T03:33:10.013Z,1761535990.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:10.394Z,1761535990.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537299,-0.787089,-0.302988],[0.794861,0.592683,-0.130092],[0.281969,-0.170935,0.944073]] 2025-10-27T03:33:10.438Z,1761535990.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:10.882Z,1761535990.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537297,-0.786736,-0.303905],[0.794882,0.592820,-0.129335],[0.281914,-0.172077,0.943882]] 2025-10-27T03:33:10.900Z,1761535990.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:11.318Z,1761535991.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537080,-0.786974,-0.303674],[0.795228,0.592451,-0.128895],[0.281349,-0.172263,0.944017]] 2025-10-27T03:33:11.364Z,1761535991.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:11.730Z,1761535991.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536961,-0.787239,-0.303197],[0.795640,0.592055,-0.128174],[0.280412,-0.172411,0.944269]] 2025-10-27T03:33:11.785Z,1761535991.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:12.145Z,1761535992.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536715,-0.788237,-0.301031],[0.796226,0.591208,-0.128442],[0.279215,-0.170752,0.944925]] 2025-10-27T03:33:12.215Z,1761535992.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:12.542Z,1761535992.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536370,-0.789316,-0.298810],[0.796928,0.590227,-0.128603],[0.277874,-0.169151,0.945608]] 2025-10-27T03:33:12.560Z,1761535992.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:12.942Z,1761535992.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536288,-0.791276,-0.293730],[0.797460,0.589028,-0.130785],[0.276502,-0.164100,0.946899]] 2025-10-27T03:33:12.968Z,1761535992.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:13.345Z,1761535993.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536197,-0.793159,-0.288777],[0.797921,0.587880,-0.133113],[0.275346,-0.159047,0.948097]] 2025-10-27T03:33:13.389Z,1761535993.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:13.800Z,1761535993.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:14.173Z,1761535994.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537212,-0.794760,-0.282416],[0.797991,0.587360,-0.134979],[0.273155,-0.152853,0.949748]] 2025-10-27T03:33:14.234Z,1761535994.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:14.557Z,1761535994.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537996,-0.795044,-0.280116],[0.797714,0.587587,-0.135623],[0.272419,-0.150488,0.950338]] 2025-10-27T03:33:14.584Z,1761535994.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:14.884Z,1761535994.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:33:14.961Z,1761535994.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538797,-0.794955,-0.278826],[0.797345,0.588048,-0.135800],[0.271918,-0.149152,0.950692]] 2025-10-27T03:33:14.990Z,1761535994.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:15.366Z,1761535995.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540334,-0.793709,-0.279400],[0.796471,0.589541,-0.134442],[0.271426,-0.149891,0.950716]] 2025-10-27T03:33:15.422Z,1761535995.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:15.782Z,1761535995.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542062,-0.791972,-0.280977],[0.795397,0.591423,-0.132523],[0.271131,-0.151653,0.950521]] 2025-10-27T03:33:15.800Z,1761535995.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:15.888Z,1761535995.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:33:16.204Z,1761535996.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543688,-0.790289,-0.282572],[0.794331,0.593236,-0.130798],[0.271000,-0.153343,0.950287]] 2025-10-27T03:33:16.272Z,1761535996.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:16.587Z,1761535996.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545409,-0.788699,-0.283694],[0.793142,0.595092,-0.129581],[0.271024,-0.154335,0.950119]] 2025-10-27T03:33:16.614Z,1761535996.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:17.025Z,1761535997.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:17.395Z,1761535997.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549240,-0.784809,-0.287072],[0.790555,0.599311,-0.125892],[0.270847,-0.157801,0.949600]] 2025-10-27T03:33:17.434Z,1761535997.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:17.880Z,1761535997.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554550,-0.780651,-0.288199],[0.786998,0.604534,-0.123180],[0.270387,-0.158502,0.949615]] 2025-10-27T03:33:17.899Z,1761535997.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:18.274Z,1761535998.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556483,-0.779524,-0.287520],[0.785748,0.606230,-0.122827],[0.270050,-0.157567,0.949866]] 2025-10-27T03:33:18.317Z,1761535998.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:18.773Z,1761535998.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558788,-0.777979,-0.287237],[0.784473,0.608203,-0.121208],[0.268996,-0.157600,0.950160]] 2025-10-27T03:33:18.795Z,1761535998.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:19.180Z,1761535999.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561173,-0.776186,-0.287439],[0.783386,0.610178,-0.118276],[0.267193,-0.158802,0.950468]] 2025-10-27T03:33:19.264Z,1761535999.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:19.630Z,1761535999.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:19.982Z,1761535999.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566533,-0.772089,-0.287956],[0.781549,0.614209,-0.109220],[0.261193,-0.163175,0.951395]] 2025-10-27T03:33:20.021Z,1761536000.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:20.386Z,1761536000.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568696,-0.770803,-0.287137],[0.781165,0.615439,-0.104957],[0.257616,-0.164613,0.952122]] 2025-10-27T03:33:20.440Z,1761536000.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:20.793Z,1761536000.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570089,-0.770856,-0.284218],[0.781282,0.615670,-0.102711],[0.254160,-0.163500,0.953242]] 2025-10-27T03:33:20.811Z,1761536000.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:21.193Z,1761536001.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570180,-0.773718,-0.276144],[0.782398,0.613924,-0.104643],[0.250496,-0.156389,0.955403]] 2025-10-27T03:33:21.291Z,1761536001.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:21.598Z,1761536001.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568344,-0.777514,-0.269180],[0.784767,0.610554,-0.106608],[0.247238,-0.150654,0.957171]] 2025-10-27T03:33:21.641Z,1761536001.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:21.712Z,1761536001.712 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.960000m. At depth:68.521271m. 2025-10-27T03:33:21.720Z,1761536001.720 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.960000m. At depth:68.521271m. 2025-10-27T03:33:22.002Z,1761536002.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566438,-0.780365,-0.264914],[0.787203,0.607471,-0.106252],[0.243843,-0.148356,0.958400]] 2025-10-27T03:33:22.020Z,1761536002.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:22.466Z,1761536002.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:22.826Z,1761536002.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561276,-0.787995,-0.253047],[0.792864,0.599635,-0.108652],[0.237353,-0.139648,0.961334]] 2025-10-27T03:33:22.844Z,1761536002.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:23.405Z,1761536003.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558502,-0.792305,-0.245618],[0.795730,0.595368,-0.111136],[0.234286,-0.133376,0.962975]] 2025-10-27T03:33:23.440Z,1761536003.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:23.442Z,1761536003.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:23.536Z,1761536003.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:33:23.537Z,1761536003.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:23.788Z,1761536003.788 [DAT](INFO): DAT read: user:352> 2025-10-27T03:33:23.789Z,1761536003.789 [DAT](INFO): DAT read: Tx time:03:33:25.1629 2025-10-27T03:33:23.789Z,1761536003.789 [DAT](INFO): Ping request sent. 2025-10-27T03:33:23.789Z,1761536003.789 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:23.789Z,1761536003.789 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:23.790Z,1761536003.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T03:33:23.949Z,1761536003.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553539,-0.799920,-0.231780],[0.801415,0.587329,-0.113045],[0.226558,-0.123177,0.966177]] 2025-10-27T03:33:23.993Z,1761536003.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:24.040Z,1761536004.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251267 2025-10-27T03:33:24.296Z,1761536004.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506092 2025-10-27T03:33:24.409Z,1761536004.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:24.544Z,1761536004.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754866 2025-10-27T03:33:24.757Z,1761536004.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553631,-0.806428,-0.207764],[0.807220,0.580997,-0.104111],[0.204668,-0.110072,0.972623]] 2025-10-27T03:33:24.776Z,1761536004.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:24.813Z,1761536004.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023759 2025-10-27T03:33:25.069Z,1761536005.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.279753 2025-10-27T03:33:25.154Z,1761536005.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555981,-0.808219,-0.194080],[0.810393,0.578994,-0.089608],[0.184794,-0.107461,0.976884]] 2025-10-27T03:33:25.178Z,1761536005.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:25.318Z,1761536005.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.528875 2025-10-27T03:33:25.569Z,1761536005.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780001 2025-10-27T03:33:25.652Z,1761536005.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560198,-0.808645,-0.179643],[0.812954,0.578325,-0.068161],[0.159010,-0.107858,0.981368]] 2025-10-27T03:33:25.753Z,1761536005.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:25.820Z,1761536005.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031033 2025-10-27T03:33:26.072Z,1761536006.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282809 2025-10-27T03:33:26.248Z,1761536006.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565827,-0.807766,-0.165390],[0.814462,0.578803,-0.040466],[0.128415,-0.111807,0.985398]] 2025-10-27T03:33:26.310Z,1761536006.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:26.327Z,1761536006.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537638 2025-10-27T03:33:26.576Z,1761536006.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786940 2025-10-27T03:33:26.828Z,1761536006.828 [DAT](INFO): DAT read: Rx Time:03:33:27.7988 2025-10-27T03:33:26.829Z,1761536006.829 [DAT](INFO): Rx dataTimestamp_ set to:1761536006.828230 2025-10-27T03:33:26.829Z,1761536006.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040065 2025-10-27T03:33:26.864Z,1761536006.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:27.080Z,1761536007.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290924 2025-10-27T03:33:27.200Z,1761536007.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584759,-0.802762,-0.116745],[0.810869,0.582585,0.055556],[0.023416,-0.127152,0.991607]] 2025-10-27T03:33:27.247Z,1761536007.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.13 m. 2025-10-27T03:33:27.336Z,1761536007.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546710 2025-10-27T03:33:27.594Z,1761536007.594 [DAT](INFO): DAT read: 03:33:27.7988 LVL= 32752, 31937, 32754, 32755, AGC= 72, IDX= 352, 0.38,-1.364,-0.361,-1.224,-1.917, PHS= 0.655, 1.601, 0.650, RAW= 330.3, -47.3, CAL= 329.6, -50.1, ROT= 180.4, 50.1 2025-10-27T03:33:27.596Z,1761536007.596 [DAT](INFO): got valid direction response: 03:33:27.7988 LVL= 32752, 31937, 32754, 32755, AGC= 72, IDX= 352, 0.38,-1.364,-0.361,-1.224,-1.917, PHS= 0.655, 1.601, 0.650, RAW= 330.3, -47.3, CAL= 329.6, -50.1, ROT= 180.4, 50.1 2025-10-27T03:33:27.596Z,1761536007.596 [DAT](INFO): DAT read: Bearing 64.9, 2.1 (Local) 2025-10-27T03:33:27.597Z,1761536007.597 [DAT](INFO): Local bearing/azimuth received: Bearing 64.9, 2.1 (Local) 2025-10-27T03:33:27.598Z,1761536007.598 [DAT](INFO): DAT read: Range 11 to 50 : 173.7 m (Round-trip 231.7 ms) speed -0.5 m/s 2025-10-27T03:33:27.607Z,1761536007.607 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:33:27.608Z,1761536007.608 [DAT](INFO): direction in FSK: [-0.641434,-0.004478,-0.767165] 2025-10-27T03:33:27.608Z,1761536007.608 [DAT](INFO): publishing direction and range info 2025-10-27T03:33:27.614Z,1761536007.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589732,-0.802074,-0.094309],[0.807504,0.583830,0.084141],[-0.012427,-0.125776,0.991981]] 2025-10-27T03:33:27.761Z,1761536007.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 173.699997 m, deltaT: 60.528172 s, deltaX: 107.299995 m, approachRate: 1.772728 m/s, rangeRepo size: 4 2025-10-27T03:33:27.767Z,1761536007.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 172.982132 m, bearing: 242.674797 deg, lat: 36.779328 deg, lon: -121.859551 deg, deltaT: 60.528172 s, deltaX: 106.857071 m, approachRate: 1.765411 m/s, posRepo size: 4 2025-10-27T03:33:27.768Z,1761536007.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.98 m. 2025-10-27T03:33:27.768Z,1761536007.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 173.70 m. Resuming terminal guidance. 2025-10-27T03:33:27.768Z,1761536007.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T03:33:28.007Z,1761536008.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593753,-0.801501,-0.071094],[0.803225,0.585133,0.111578],[-0.047830,-0.123354,0.991209]] 2025-10-27T03:33:28.029Z,1761536008.029 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T03:33:28.030Z,1761536008.030 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T03:33:28.030Z,1761536008.030 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T03:33:28.031Z,1761536008.031 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 173.699997 m (mode 1.000000 count ). 2025-10-27T03:33:28.032Z,1761536008.032 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T03:33:28.032Z,1761536008.032 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T03:33:28.409Z,1761536008.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596556,-0.801214,-0.046654],[0.798288,0.586371,0.137499],[-0.082809,-0.119269,0.989403]] 2025-10-27T03:33:28.460Z,1761536008.460 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T03:33:28.460Z,1761536008.460 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T03:33:28.461Z,1761536008.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:28.592Z,1761536008.592 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:33:28.592Z,1761536008.592 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:33:28.592Z,1761536008.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:28.813Z,1761536008.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598467,-0.800858,-0.021543],[0.792493,0.587845,0.162461],[-0.117444,-0.114300,0.986480]] 2025-10-27T03:33:28.829Z,1761536008.829 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T03:33:28.830Z,1761536008.830 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T03:33:28.844Z,1761536008.844 [DAT](INFO): DAT read: user:353> 2025-10-27T03:33:28.845Z,1761536008.845 [DAT](INFO): DAT read: Tx time:03:33:30.2129 2025-10-27T03:33:28.845Z,1761536008.845 [DAT](INFO): Ping request sent. 2025-10-27T03:33:28.845Z,1761536008.845 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:28.845Z,1761536008.845 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:28.846Z,1761536008.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001032 2025-10-27T03:33:29.096Z,1761536009.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250922 2025-10-27T03:33:29.230Z,1761536009.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597961,-0.801521,0.002596],[0.787210,0.587888,0.186248],[-0.150807,-0.109326,0.982499]] 2025-10-27T03:33:29.257Z,1761536009.257 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T03:33:29.257Z,1761536009.257 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T03:33:29.257Z,1761536009.257 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T03:33:29.257Z,1761536009.257 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T03:33:29.351Z,1761536009.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505321 2025-10-27T03:33:29.601Z,1761536009.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755921 2025-10-27T03:33:29.654Z,1761536009.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594701,-0.803410,0.029381],[0.782959,0.587085,0.205687],[-0.182500,-0.099319,0.978177]] 2025-10-27T03:33:29.852Z,1761536009.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006709 2025-10-27T03:33:30.099Z,1761536010.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588150,-0.806486,0.060496],[0.780656,0.585672,0.218092],[-0.211319,-0.081044,0.974051]] 2025-10-27T03:33:30.104Z,1761536010.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258920 2025-10-27T03:33:30.359Z,1761536010.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513425 2025-10-27T03:33:30.498Z,1761536010.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578186,-0.810883,0.090381],[0.780603,0.581997,0.227899],[-0.237401,-0.061216,0.969481]] 2025-10-27T03:33:30.541Z,1761536010.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:30.608Z,1761536010.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762772 2025-10-27T03:33:30.861Z,1761536010.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015555 2025-10-27T03:33:30.904Z,1761536010.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565740,-0.816247,0.116959],[0.782118,0.576111,0.237462],[-0.261209,-0.042866,0.964330]] 2025-10-27T03:33:31.113Z,1761536011.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267732 2025-10-27T03:33:31.312Z,1761536011.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549871,-0.822624,0.144676],[0.785984,0.568225,0.243617],[-0.282614,-0.020245,0.959020]] 2025-10-27T03:33:31.374Z,1761536011.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528729 2025-10-27T03:33:31.624Z,1761536011.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779102 2025-10-27T03:33:31.803Z,1761536011.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529793,-0.829525,0.176657],[0.792765,0.558370,0.244430],[-0.301401,0.010550,0.953439]] 2025-10-27T03:33:31.877Z,1761536011.877 [DAT](INFO): DAT read: Rx Time:03:33:32.7631 2025-10-27T03:33:31.877Z,1761536011.877 [DAT](INFO): Rx dataTimestamp_ set to:1761536011.877158 2025-10-27T03:33:31.878Z,1761536011.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032911 2025-10-27T03:33:32.129Z,1761536012.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283412 2025-10-27T03:33:32.191Z,1761536012.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505915,-0.836563,0.210268],[0.801931,0.545945,0.242591],[-0.317737,0.045890,0.947068]] 2025-10-27T03:33:32.406Z,1761536012.406 [DAT](INFO): DAT read: 03:33:32.7631 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 68,-0.00,-2.011,-0.379,-1.718,-1.546, PHS=-0.363, 1.212,-0.216, RAW= 325.2, -8.5, CAL= 324.8, -11.8, ROT= 185.2, 11.8 2025-10-27T03:33:32.438Z,1761536012.438 [DAT](INFO): got valid direction response: 03:33:32.7631 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 68,-0.00,-2.011,-0.379,-1.718,-1.546, PHS=-0.363, 1.212,-0.216, RAW= 325.2, -8.5, CAL= 324.8, -11.8, ROT= 185.2, 11.8 2025-10-27T03:33:32.439Z,1761536012.439 [DAT](INFO): DAT read: Bearing 30.0, 12.3 (Local) 2025-10-27T03:33:32.440Z,1761536012.440 [DAT](INFO): Local bearing/azimuth received: Bearing 30.0, 12.3 (Local) 2025-10-27T03:33:32.442Z,1761536012.442 [DAT](INFO): DAT read: Range 11 to 50 : 109.5 m (Round-trip 146.0 ms) speed -0.8 m/s 2025-10-27T03:33:32.443Z,1761536012.443 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:33:32.445Z,1761536012.445 [DAT](INFO): direction in FSK: [-0.974839,-0.088717,-0.204496] 2025-10-27T03:33:32.446Z,1761536012.446 [DAT](INFO): publishing direction and range info 2025-10-27T03:33:32.452Z,1761536012.452 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:33:32.452Z,1761536012.452 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:33:32.453Z,1761536012.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:32.632Z,1761536012.632 [DAT](INFO): DAT read: user:354> 2025-10-27T03:33:32.633Z,1761536012.633 [DAT](INFO): DAT read: Tx time:03:33:34.0629 2025-10-27T03:33:32.633Z,1761536012.633 [DAT](INFO): Ping request sent. 2025-10-27T03:33:32.633Z,1761536012.633 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:32.633Z,1761536012.633 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:32.634Z,1761536012.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-27T03:33:32.779Z,1761536012.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T03:33:32.782Z,1761536012.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.046265 m, bearing: 242.296784 deg, lat: 36.779356 deg, lon: -121.859598 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T03:33:32.782Z,1761536012.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m. 2025-10-27T03:33:32.785Z,1761536012.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 109.046265 m, nav range: 110.348892 m, bearing: 240.390957 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 237.043716 deg, new cmd heading: 240.390957 deg. 2025-10-27T03:33:32.786Z,1761536012.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195614 target range: 109.046265 and range: 109.50 m. 2025-10-27T03:33:32.885Z,1761536012.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251654 2025-10-27T03:33:33.086Z,1761536013.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425095,-0.861013,0.279197],[0.833097,0.492779,0.251233],[-0.353897,0.125801,0.926785]] 2025-10-27T03:33:33.109Z,1761536013.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:33.112Z,1761536013.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m. 2025-10-27T03:33:33.114Z,1761536013.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 109.046265 m, nav range: 110.572845 m, bearing: 240.391783 deg, approach rate: 0.671649 m/s, LOS rate: 0.002471 deg/s, cmd heading: 240.390967 deg, new cmd heading: 240.391783 deg. 2025-10-27T03:33:33.115Z,1761536013.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195628 target range: 109.046265 and range: 109.50 m. 2025-10-27T03:33:33.136Z,1761536013.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502599 2025-10-27T03:33:33.389Z,1761536013.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755497 2025-10-27T03:33:33.497Z,1761536013.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398125,-0.871355,0.286771],[0.842268,0.471078,0.262049],[-0.363429,0.137210,0.921462]] 2025-10-27T03:33:33.545Z,1761536013.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m. 2025-10-27T03:33:33.548Z,1761536013.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 109.046265 m, nav range: 110.830971 m, bearing: 240.393562 deg, approach rate: 0.595795 m/s, LOS rate: 0.004096 deg/s, cmd heading: 240.391786 deg, new cmd heading: 240.393562 deg. 2025-10-27T03:33:33.549Z,1761536013.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195659 target range: 109.046265 and range: 109.50 m. 2025-10-27T03:33:33.640Z,1761536013.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007016 2025-10-27T03:33:33.893Z,1761536013.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260015 2025-10-27T03:33:33.937Z,1761536013.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371256,-0.883086,0.286928],[0.850821,0.447286,0.275749],[-0.371849,0.141751,0.917407]] 2025-10-27T03:33:33.972Z,1761536013.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m. 2025-10-27T03:33:33.982Z,1761536013.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 109.046265 m, nav range: 111.078873 m, bearing: 240.399155 deg, approach rate: 0.579760 m/s, LOS rate: 0.013052 deg/s, cmd heading: 240.393562 deg, new cmd heading: 240.399155 deg. 2025-10-27T03:33:33.991Z,1761536013.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195757 target range: 109.046265 and range: 109.50 m. 2025-10-27T03:33:34.145Z,1761536014.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511796 2025-10-27T03:33:34.396Z,1761536014.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762882 2025-10-27T03:33:34.476Z,1761536014.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345327,-0.896005,0.279150],[0.858087,0.421908,0.292711],[-0.380047,0.138454,0.914546]] 2025-10-27T03:33:34.541Z,1761536014.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m. 2025-10-27T03:33:34.548Z,1761536014.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 109.046265 m, nav range: 111.424049 m, bearing: 240.411105 deg, approach rate: 0.607155 m/s, LOS rate: 0.020955 deg/s, cmd heading: 240.399163 deg, new cmd heading: 240.411105 deg. 2025-10-27T03:33:34.548Z,1761536014.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.195965 target range: 109.046265 and range: 109.50 m. 2025-10-27T03:33:34.649Z,1761536014.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015833 2025-10-27T03:33:34.900Z,1761536014.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266683 2025-10-27T03:33:35.047Z,1761536015.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320194,-0.909041,0.266685],[0.864174,0.395615,0.310954],[-0.388174,0.130896,0.912243]] 2025-10-27T03:33:35.103Z,1761536015.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m. 2025-10-27T03:33:35.106Z,1761536015.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 109.046265 m, nav range: 111.749748 m, bearing: 240.426742 deg, approach rate: 0.600922 m/s, LOS rate: 0.028767 deg/s, cmd heading: 240.411102 deg, new cmd heading: 240.426742 deg. 2025-10-27T03:33:35.106Z,1761536015.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196238 target range: 109.046265 and range: 109.50 m. 2025-10-27T03:33:35.152Z,1761536015.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518968 2025-10-27T03:33:35.404Z,1761536015.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770801 2025-10-27T03:33:35.659Z,1761536015.659 [DAT](INFO): DAT read: Rx Time:03:33:36.6167 2025-10-27T03:33:35.660Z,1761536015.660 [DAT](INFO): Rx dataTimestamp_ set to:1761536015.659252 2025-10-27T03:33:35.660Z,1761536015.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027302 2025-10-27T03:33:35.818Z,1761536015.818 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, -5, :BE, -56, +695, -72,A 2025-10-27T03:33:35.840Z,1761536015.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:35.842Z,1761536015.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.05 m. 2025-10-27T03:33:35.845Z,1761536015.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 109.046265 m, nav range: 112.212494 m, bearing: 240.448803 deg, approach rate: 0.609249 m/s, LOS rate: 0.028925 deg/s, cmd heading: 240.426730 deg, new cmd heading: 240.448803 deg. 2025-10-27T03:33:35.846Z,1761536015.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.196623 target range: 109.046265 and range: 109.50 m. 2025-10-27T03:33:35.909Z,1761536015.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275683 2025-10-27T03:33:36.176Z,1761536016.176 [DAT](INFO): DAT read: 03:33:36.6167 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 456, 0.23,-2.111,-0.792,-2.265,-2.004, PHS=-0.005, 1.257,-0.305, RAW= 340.4, -13.1, CAL= 340.1, -16.2, ROT= 169.9, 16.2 2025-10-27T03:33:36.177Z,1761536016.177 [DAT](INFO): got valid direction response: 03:33:36.6167 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 456, 0.23,-2.111,-0.792,-2.265,-2.004, PHS=-0.005, 1.257,-0.305, RAW= 340.4, -13.1, CAL= 340.1, -16.2, ROT= 169.9, 16.2 2025-10-27T03:33:36.178Z,1761536016.178 [DAT](INFO): DAT read: Bearing 55.0, 30.0 (Local) 2025-10-27T03:33:36.179Z,1761536016.179 [DAT](INFO): Local bearing/azimuth received: Bearing 55.0, 30.0 (Local) 2025-10-27T03:33:36.191Z,1761536016.191 [DAT](INFO): DAT read: Range 11 to 50 : 112.2 m (Round-trip 149.7 ms) speed -0.7 m/s 2025-10-27T03:33:36.192Z,1761536016.192 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:33:36.193Z,1761536016.193 [DAT](INFO): direction in FSK: [-0.945412,0.168404,-0.278991] 2025-10-27T03:33:36.193Z,1761536016.193 [DAT](INFO): publishing direction and range info 2025-10-27T03:33:36.245Z,1761536016.245 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:33:36.245Z,1761536016.245 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:33:36.246Z,1761536016.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:36.249Z,1761536016.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247863,-0.944830,0.214148],[0.878061,0.312493,0.362433],[-0.409357,0.098201,0.907074]] 2025-10-27T03:33:36.333Z,1761536016.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.199997 m, deltaT: 3.779597 s, deltaX: 2.699997 m, approachRate: 0.714361 m/s, rangeRepo size: 2 2025-10-27T03:33:36.343Z,1761536016.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.736931 m, bearing: 242.715385 deg, lat: 36.779393 deg, lon: -121.859599 deg, deltaT: 3.779597 s, deltaX: 2.690666 m, approachRate: 0.711892 m/s, posRepo size: 2 2025-10-27T03:33:36.344Z,1761536016.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.74 m. 2025-10-27T03:33:36.346Z,1761536016.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.736931 m, nav range: 110.608727 m, bearing: 242.374849 deg, approach rate: 0.000000 m/s, LOS rate: 0.028925 deg/s, cmd heading: 240.448805 deg, new cmd heading: 240.491302 deg. 2025-10-27T03:33:36.351Z,1761536016.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197365 target range: 111.736931 and range: 112.20 m. 2025-10-27T03:33:36.414Z,1761536016.414 [DAT](INFO): DAT read: user:355> 2025-10-27T03:33:36.417Z,1761536016.417 [DAT](INFO): DAT read: Tx time:03:33:37.8629 2025-10-27T03:33:36.417Z,1761536016.417 [DAT](INFO): Ping request sent. 2025-10-27T03:33:36.417Z,1761536016.417 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:36.418Z,1761536016.418 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:36.418Z,1761536016.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000780 2025-10-27T03:33:36.664Z,1761536016.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246482 2025-10-27T03:33:36.839Z,1761536016.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.74 m. 2025-10-27T03:33:36.842Z,1761536016.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.736931 m, nav range: 110.934303 m, bearing: 242.391456 deg, approach rate: 0.642809 m/s, LOS rate: 0.032691 deg/s, cmd heading: 240.491289 deg, new cmd heading: 240.540962 deg. 2025-10-27T03:33:36.843Z,1761536016.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.198232 target range: 111.736931 and range: 112.20 m. 2025-10-27T03:33:36.916Z,1761536016.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498714 2025-10-27T03:33:37.168Z,1761536017.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750575 2025-10-27T03:33:37.327Z,1761536017.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176276,-0.966552,0.186289],[0.894487,0.236287,0.379555],[-0.410877,0.099726,0.906220]] 2025-10-27T03:33:37.361Z,1761536017.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.74 m. 2025-10-27T03:33:37.364Z,1761536017.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.736931 m, nav range: 111.227768 m, bearing: 242.418776 deg, approach rate: 0.561423 m/s, LOS rate: 0.052128 deg/s, cmd heading: 240.540958 deg, new cmd heading: 240.622702 deg. 2025-10-27T03:33:37.365Z,1761536017.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199658 target range: 111.736931 and range: 112.20 m. 2025-10-27T03:33:37.424Z,1761536017.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006401 2025-10-27T03:33:37.677Z,1761536017.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259776 2025-10-27T03:33:37.742Z,1761536017.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152125,-0.972207,0.177968],[0.902033,0.210166,0.377051],[-0.403974,0.103174,0.908934]] 2025-10-27T03:33:37.779Z,1761536017.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.74 m. 2025-10-27T03:33:37.782Z,1761536017.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.736931 m, nav range: 111.489052 m, bearing: 242.451275 deg, approach rate: 0.625449 m/s, LOS rate: 0.077612 deg/s, cmd heading: 240.622701 deg, new cmd heading: 240.719969 deg. 2025-10-27T03:33:37.799Z,1761536017.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201356 target range: 111.736931 and range: 112.20 m. 2025-10-27T03:33:37.928Z,1761536017.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510569 2025-10-27T03:33:38.181Z,1761536018.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763194 2025-10-27T03:33:38.290Z,1761536018.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103835,-0.980623,0.166123],[0.919071,0.158445,0.360837],[-0.380166,0.115212,0.917714]] 2025-10-27T03:33:38.324Z,1761536018.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:38.326Z,1761536018.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.74 m. 2025-10-27T03:33:38.333Z,1761536018.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.736931 m, nav range: 111.808395 m, bearing: 242.500856 deg, approach rate: 0.584333 m/s, LOS rate: 0.090463 deg/s, cmd heading: 240.719963 deg, new cmd heading: 240.868280 deg. 2025-10-27T03:33:38.333Z,1761536018.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203945 target range: 111.736931 and range: 112.20 m. 2025-10-27T03:33:38.432Z,1761536018.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014553 2025-10-27T03:33:38.684Z,1761536018.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267051 2025-10-27T03:33:38.791Z,1761536018.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080043,-0.983630,0.161448],[0.927752,0.132745,0.348791],[-0.364513,0.121865,0.923190]] 2025-10-27T03:33:38.827Z,1761536018.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.74 m. 2025-10-27T03:33:38.830Z,1761536018.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.736931 m, nav range: 112.102074 m, bearing: 242.549012 deg, approach rate: 0.586085 m/s, LOS rate: 0.095852 deg/s, cmd heading: 240.868288 deg, new cmd heading: 241.012377 deg. 2025-10-27T03:33:38.831Z,1761536018.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.206460 target range: 111.736931 and range: 112.20 m. 2025-10-27T03:33:38.936Z,1761536018.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518652 2025-10-27T03:33:39.188Z,1761536019.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770609 2025-10-27T03:33:39.192Z,1761536019.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056865,-0.987783,0.145091],[0.936150,0.103260,0.336095],[-0.346971,0.116714,0.930585]] 2025-10-27T03:33:39.240Z,1761536019.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.74 m. 2025-10-27T03:33:39.247Z,1761536019.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.736931 m, nav range: 112.322006 m, bearing: 242.588077 deg, approach rate: 0.531622 m/s, LOS rate: 0.094243 deg/s, cmd heading: 241.012377 deg, new cmd heading: 241.129343 deg. 2025-10-27T03:33:39.248Z,1761536019.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208501 target range: 111.736931 and range: 112.20 m. 2025-10-27T03:33:39.440Z,1761536019.440 [DAT](INFO): DAT read: Rx Time:03:33:40.4198 2025-10-27T03:33:39.441Z,1761536019.441 [DAT](INFO): Rx dataTimestamp_ set to:1761536019.440234 2025-10-27T03:33:39.441Z,1761536019.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023715 2025-10-27T03:33:39.599Z,1761536019.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034143,-0.991289,0.127199],[0.943882,0.073819,0.321927],[-0.328513,0.109070,0.938181]] 2025-10-27T03:33:39.645Z,1761536019.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.74 m. 2025-10-27T03:33:39.648Z,1761536019.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.736931 m, nav range: 112.567978 m, bearing: 242.641461 deg, approach rate: 0.608418 m/s, LOS rate: 0.131760 deg/s, cmd heading: 241.129337 deg, new cmd heading: 241.289141 deg. 2025-10-27T03:33:39.649Z,1761536019.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211290 target range: 111.736931 and range: 112.20 m. 2025-10-27T03:33:39.693Z,1761536019.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275292 2025-10-27T03:33:39.948Z,1761536019.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529762 2025-10-27T03:33:40.003Z,1761536020.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011443,-0.994520,0.103916],[0.950888,0.042970,0.306539],[-0.309325,0.095305,0.946169]] 2025-10-27T03:33:40.030Z,1761536020.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.74 m. 2025-10-27T03:33:40.033Z,1761536020.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.736931 m, nav range: 112.786407 m, bearing: 242.691674 deg, approach rate: 0.566587 m/s, LOS rate: 0.129995 deg/s, cmd heading: 241.289137 deg, new cmd heading: 241.439482 deg. 2025-10-27T03:33:40.034Z,1761536020.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213914 target range: 111.736931 and range: 112.20 m. 2025-10-27T03:33:40.206Z,1761536020.206 [DAT](INFO): DAT read: 03:33:40.4198 LVL= 32752, 27569, 32754, 32755, AGC= 64, IDX= 456, 0.20, 0.829, 2.021, 0.346, 0.899, PHS= 0.032, 1.167,-0.598, RAW= 350.6, -7.8, CAL= 350.2, -10.8, ROT= 159.8, 10.8 2025-10-27T03:33:40.209Z,1761536020.209 [DAT](INFO): got valid direction response: 03:33:40.4198 LVL= 32752, 27569, 32754, 32755, AGC= 64, IDX= 456, 0.20, 0.829, 2.021, 0.346, 0.899, PHS= 0.032, 1.167,-0.598, RAW= 350.6, -7.8, CAL= 350.2, -10.8, ROT= 159.8, 10.8 2025-10-27T03:33:40.210Z,1761536020.210 [DAT](INFO): DAT read: Bearing 65.5, 37.7 (Local) 2025-10-27T03:33:40.210Z,1761536020.210 [DAT](INFO): Local bearing/azimuth received: Bearing 65.5, 37.7 (Local) 2025-10-27T03:33:40.213Z,1761536020.213 [DAT](INFO): DAT read: Range 11 to 50 : 114.5 m (Round-trip 152.7 ms) speed -0.5 m/s 2025-10-27T03:33:40.214Z,1761536020.214 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:33:40.216Z,1761536020.216 [DAT](INFO): direction in FSK: [-0.921870,0.339182,-0.187381] 2025-10-27T03:33:40.216Z,1761536020.216 [DAT](INFO): publishing direction and range info 2025-10-27T03:33:40.223Z,1761536020.223 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:33:40.223Z,1761536020.223 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:33:40.223Z,1761536020.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:40.408Z,1761536020.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011466,-0.996432,0.083616],[0.956989,0.013308,0.289818],[-0.289896,0.083343,0.953422]] 2025-10-27T03:33:40.436Z,1761536020.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.500000 m, deltaT: 4.034801 s, deltaX: 2.300003 m, approachRate: 0.570041 m/s, rangeRepo size: 3 2025-10-27T03:33:40.438Z,1761536020.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.028893 m, bearing: 249.791568 deg, lat: 36.779399 deg, lon: -121.859601 deg, deltaT: 4.034801 s, deltaX: 2.291962 m, approachRate: 0.568048 m/s, posRepo size: 3 2025-10-27T03:33:40.438Z,1761536020.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.03 m. 2025-10-27T03:33:40.441Z,1761536020.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.028893 m, nav range: 112.876511 m, bearing: 243.081645 deg, approach rate: 0.000000 m/s, LOS rate: 0.129995 deg/s, cmd heading: 241.439483 deg, new cmd heading: 241.597263 deg. 2025-10-27T03:33:40.442Z,1761536020.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216668 target range: 114.028893 and range: 114.50 m. 2025-10-27T03:33:40.448Z,1761536020.448 [DAT](INFO): DAT read: user:356> 2025-10-27T03:33:40.449Z,1761536020.449 [DAT](INFO): DAT read: Tx time:03:33:41.8629 2025-10-27T03:33:40.449Z,1761536020.449 [DAT](INFO): Ping request sent. 2025-10-27T03:33:40.449Z,1761536020.449 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:40.449Z,1761536020.449 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:40.450Z,1761536020.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T03:33:40.703Z,1761536020.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253320 2025-10-27T03:33:40.810Z,1761536020.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035073,-0.997181,0.066333],[0.962149,-0.015743,0.272068],[-0.270257,0.073364,0.959989]] 2025-10-27T03:33:40.861Z,1761536020.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:40.868Z,1761536020.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.03 m. 2025-10-27T03:33:40.870Z,1761536020.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.028893 m, nav range: 113.123390 m, bearing: 243.140455 deg, approach rate: 0.577055 m/s, LOS rate: 0.137163 deg/s, cmd heading: 241.597260 deg, new cmd heading: 241.773305 deg. 2025-10-27T03:33:40.879Z,1761536020.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219740 target range: 114.028893 and range: 114.50 m. 2025-10-27T03:33:40.953Z,1761536020.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503548 2025-10-27T03:33:41.205Z,1761536021.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756103 2025-10-27T03:33:41.226Z,1761536021.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058908,-0.996777,0.054451],[0.966327,-0.043252,0.253655],[-0.250483,0.067560,0.965761]] 2025-10-27T03:33:41.260Z,1761536021.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.03 m. 2025-10-27T03:33:41.262Z,1761536021.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.028893 m, nav range: 113.368256 m, bearing: 243.202225 deg, approach rate: 0.616906 m/s, LOS rate: 0.155285 deg/s, cmd heading: 241.773315 deg, new cmd heading: 241.958224 deg. 2025-10-27T03:33:41.264Z,1761536021.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222968 target range: 114.028893 and range: 114.50 m. 2025-10-27T03:33:41.456Z,1761536021.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006737 2025-10-27T03:33:41.615Z,1761536021.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082769,-0.995459,0.047027],[0.969477,-0.069501,0.235126],[-0.230790,0.065053,0.970827]] 2025-10-27T03:33:41.657Z,1761536021.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.03 m. 2025-10-27T03:33:41.660Z,1761536021.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.028893 m, nav range: 113.599739 m, bearing: 243.265256 deg, approach rate: 0.581883 m/s, LOS rate: 0.158119 deg/s, cmd heading: 241.958222 deg, new cmd heading: 242.146929 deg. 2025-10-27T03:33:41.661Z,1761536021.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226261 target range: 114.028893 and range: 114.50 m. 2025-10-27T03:33:41.710Z,1761536021.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260243 2025-10-27T03:33:41.961Z,1761536021.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511502 2025-10-27T03:33:42.049Z,1761536022.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106764,-0.993344,0.043223],[0.971574,-0.094989,0.216845],[-0.211296,0.065146,0.975249]] 2025-10-27T03:33:42.067Z,1761536022.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.03 m. 2025-10-27T03:33:42.070Z,1761536022.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.028893 m, nav range: 113.836632 m, bearing: 243.333289 deg, approach rate: 0.578265 m/s, LOS rate: 0.165727 deg/s, cmd heading: 242.146926 deg, new cmd heading: 242.350601 deg. 2025-10-27T03:33:42.071Z,1761536022.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229816 target range: 114.028893 and range: 114.50 m. 2025-10-27T03:33:42.214Z,1761536022.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764851 2025-10-27T03:33:42.464Z,1761536022.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014901 2025-10-27T03:33:42.601Z,1761536022.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130651,-0.990516,0.042524],[0.972673,-0.119759,0.198907],[-0.191928,0.067349,0.979095]] 2025-10-27T03:33:42.643Z,1761536022.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.03 m. 2025-10-27T03:33:42.646Z,1761536022.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.028893 m, nav range: 114.176788 m, bearing: 243.426854 deg, approach rate: 0.590479 m/s, LOS rate: 0.161936 deg/s, cmd heading: 242.350603 deg, new cmd heading: 242.630459 deg. 2025-10-27T03:33:42.647Z,1761536022.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234700 target range: 114.028893 and range: 114.50 m. 2025-10-27T03:33:42.718Z,1761536022.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268333 2025-10-27T03:33:42.968Z,1761536022.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518735 2025-10-27T03:33:43.108Z,1761536023.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178502,-0.982262,0.057426],[0.971892,-0.166911,0.166032],[-0.153502,0.085449,0.984447]] 2025-10-27T03:33:43.133Z,1761536023.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:43.135Z,1761536023.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.03 m. 2025-10-27T03:33:43.138Z,1761536023.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.028893 m, nav range: 114.461967 m, bearing: 243.514327 deg, approach rate: 0.580087 m/s, LOS rate: 0.177487 deg/s, cmd heading: 242.630449 deg, new cmd heading: 242.892213 deg. 2025-10-27T03:33:43.139Z,1761536023.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.239269 target range: 114.028893 and range: 114.50 m. 2025-10-27T03:33:43.221Z,1761536023.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772090 2025-10-27T03:33:43.472Z,1761536023.472 [DAT](INFO): DAT read: Rx Time:03:33:44.4231 2025-10-27T03:33:43.472Z,1761536023.472 [DAT](INFO): Rx dataTimestamp_ set to:1761536023.472077 2025-10-27T03:33:43.473Z,1761536023.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023824 2025-10-27T03:33:43.510Z,1761536023.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201726,-0.977274,0.065133],[0.970082,-0.190185,0.150900],[-0.135083,0.093624,0.986401]] 2025-10-27T03:33:43.625Z,1761536023.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.03 m. 2025-10-27T03:33:43.632Z,1761536023.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.028893 m, nav range: 114.729439 m, bearing: 243.600403 deg, approach rate: 0.545889 m/s, LOS rate: 0.175264 deg/s, cmd heading: 242.892209 deg, new cmd heading: 243.149832 deg. 2025-10-27T03:33:43.633Z,1761536023.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243765 target range: 114.028893 and range: 114.50 m. 2025-10-27T03:33:43.726Z,1761536023.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276690 2025-10-27T03:33:43.985Z,1761536023.985 [DAT](INFO): DAT read: 03:33:44.4231 LVL= 31424, 26033, 32754, 32755, AGC= 61, IDX= 458,-0.13, 1.876, 2.930, 1.119, 2.155, PHS=-0.177, 0.820,-1.080, RAW= 358.3, 5.4, CAL= 358.2, 3.8, ROT= 151.8, -3.8 2025-10-27T03:33:43.987Z,1761536023.987 [DAT](INFO): got valid direction response: 03:33:44.4231 LVL= 31424, 26033, 32754, 32755, AGC= 61, IDX= 458,-0.13, 1.876, 2.930, 1.119, 2.155, PHS=-0.177, 0.820,-1.080, RAW= 358.3, 5.4, CAL= 358.2, 3.8, ROT= 151.8, -3.8 2025-10-27T03:33:43.992Z,1761536023.992 [DAT](INFO): DAT read: Bearing 59.9, 37.1 (Local) 2025-10-27T03:33:43.994Z,1761536023.994 [DAT](INFO): Local bearing/azimuth received: Bearing 59.9, 37.1 (Local) 2025-10-27T03:33:44.009Z,1761536024.009 [DAT](INFO): DAT read: Range 11 to 50 : 117.0 m (Round-trip 156.0 ms) speed -0.5 m/s 2025-10-27T03:33:44.010Z,1761536024.010 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:33:44.015Z,1761536024.015 [DAT](INFO): direction in FSK: [-0.879366,0.471512,0.066274] 2025-10-27T03:33:44.015Z,1761536024.015 [DAT](INFO): publishing direction and range info 2025-10-27T03:33:44.019Z,1761536024.019 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:33:44.019Z,1761536024.019 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:33:44.024Z,1761536024.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:44.130Z,1761536024.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224386,-0.971891,0.071262],[0.967395,-0.213339,0.136508],[-0.117468,0.099569,0.988072]] 2025-10-27T03:33:44.188Z,1761536024.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 117.000000 m, deltaT: 3.781231 s, deltaX: 2.500000 m, approachRate: 0.661160 m/s, rangeRepo size: 4 2025-10-27T03:33:44.190Z,1761536024.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.518311 m, bearing: 254.787696 deg, lat: 36.779399 deg, lon: -121.859664 deg, deltaT: 3.781231 s, deltaX: 2.489418 m, approachRate: 0.658362 m/s, posRepo size: 4 2025-10-27T03:33:44.191Z,1761536024.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.52 m. 2025-10-27T03:33:44.194Z,1761536024.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.518311 m, nav range: 120.127640 m, bearing: 244.887149 deg, approach rate: 0.000000 m/s, LOS rate: 0.175264 deg/s, cmd heading: 243.149844 deg, new cmd heading: 243.445549 deg. 2025-10-27T03:33:44.195Z,1761536024.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248926 target range: 116.518311 and range: 117.00 m. 2025-10-27T03:33:44.229Z,1761536024.229 [DAT](INFO): DAT read: user:357> 2025-10-27T03:33:44.230Z,1761536024.230 [DAT](INFO): DAT read: Tx time:03:33:45.6629 2025-10-27T03:33:44.230Z,1761536024.230 [DAT](INFO): Ping request sent. 2025-10-27T03:33:44.230Z,1761536024.230 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:44.230Z,1761536024.230 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:44.231Z,1761536024.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T03:33:44.480Z,1761536024.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250195 2025-10-27T03:33:44.547Z,1761536024.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246591,-0.966236,0.074709],[0.963886,-0.236528,0.122388],[-0.100585,0.102190,0.989667]] 2025-10-27T03:33:44.633Z,1761536024.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.52 m. 2025-10-27T03:33:44.640Z,1761536024.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.518311 m, nav range: 120.374786 m, bearing: 244.957522 deg, approach rate: 0.554783 m/s, LOS rate: 0.157646 deg/s, cmd heading: 243.445537 deg, new cmd heading: 243.656221 deg. 2025-10-27T03:33:44.641Z,1761536024.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252604 target range: 116.518311 and range: 117.00 m. 2025-10-27T03:33:44.733Z,1761536024.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502858 2025-10-27T03:33:44.984Z,1761536024.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753866 2025-10-27T03:33:45.013Z,1761536025.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268489,-0.960333,0.075330],[0.959589,-0.259798,0.108139],[-0.084279,0.101320,0.991278]] 2025-10-27T03:33:45.066Z,1761536025.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.52 m. 2025-10-27T03:33:45.072Z,1761536025.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.518311 m, nav range: 120.615051 m, bearing: 245.029172 deg, approach rate: 0.554930 m/s, LOS rate: 0.165158 deg/s, cmd heading: 243.656234 deg, new cmd heading: 243.870755 deg. 2025-10-27T03:33:45.073Z,1761536025.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256348 target range: 116.518311 and range: 117.00 m. 2025-10-27T03:33:45.236Z,1761536025.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005902 2025-10-27T03:33:45.436Z,1761536025.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289384,-0.954328,0.074263],[0.954740,-0.282194,0.094010],[-0.068760,0.098107,0.992798]] 2025-10-27T03:33:45.453Z,1761536025.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:45.455Z,1761536025.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.52 m. 2025-10-27T03:33:45.458Z,1761536025.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.518311 m, nav range: 120.824249 m, bearing: 245.094305 deg, approach rate: 0.537279 m/s, LOS rate: 0.166991 deg/s, cmd heading: 243.870757 deg, new cmd heading: 244.065817 deg. 2025-10-27T03:33:45.459Z,1761536025.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259752 target range: 116.518311 and range: 117.00 m. 2025-10-27T03:33:45.491Z,1761536025.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260563 2025-10-27T03:33:45.740Z,1761536025.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510281 2025-10-27T03:33:45.948Z,1761536025.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330376,-0.940193,0.083003],[0.943063,-0.325233,0.069682],[-0.038519,0.101298,0.994110]] 2025-10-27T03:33:45.985Z,1761536025.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.52 m. 2025-10-27T03:33:45.992Z,1761536025.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761925 2025-10-27T03:33:46.008Z,1761536026.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.518311 m, nav range: 121.100052 m, bearing: 245.187947 deg, approach rate: 0.519891 m/s, LOS rate: 0.176113 deg/s, cmd heading: 244.065827 deg, new cmd heading: 244.346110 deg. 2025-10-27T03:33:46.009Z,1761536026.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264644 target range: 116.518311 and range: 117.00 m. 2025-10-27T03:33:46.015Z,1761536026.015 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:33:46.244Z,1761536026.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013860 2025-10-27T03:33:46.404Z,1761536026.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.52 m. 2025-10-27T03:33:46.407Z,1761536026.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.518311 m, nav range: 121.317657 m, bearing: 245.261452 deg, approach rate: 0.519551 m/s, LOS rate: 0.175184 deg/s, cmd heading: 244.346111 deg, new cmd heading: 244.566229 deg. 2025-10-27T03:33:46.408Z,1761536026.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268486 target range: 116.518311 and range: 117.00 m. 2025-10-27T03:33:46.496Z,1761536026.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265896 2025-10-27T03:33:46.748Z,1761536026.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517937 2025-10-27T03:33:46.903Z,1761536026.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369437,-0.925225,0.086460],[0.929199,-0.366787,0.045348],[-0.010245,0.097092,0.995223]] 2025-10-27T03:33:46.956Z,1761536026.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.52 m. 2025-10-27T03:33:46.959Z,1761536026.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.518311 m, nav range: 121.589157 m, bearing: 245.352250 deg, approach rate: 0.492052 m/s, LOS rate: 0.164190 deg/s, cmd heading: 244.566234 deg, new cmd heading: 244.838017 deg. 2025-10-27T03:33:46.964Z,1761536026.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273230 target range: 116.518311 and range: 117.00 m. 2025-10-27T03:33:47.002Z,1761536027.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771852 2025-10-27T03:33:47.020Z,1761536027.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:33:47.252Z,1761536027.252 [DAT](INFO): DAT read: Rx Time:03:33:48.2259 2025-10-27T03:33:47.252Z,1761536027.252 [DAT](INFO): Rx dataTimestamp_ set to:1761536027.252054 2025-10-27T03:33:47.253Z,1761536027.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022860 2025-10-27T03:33:47.356Z,1761536027.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388748,-0.917244,0.086825],[0.921338,-0.387361,0.032990],[0.003373,0.092820,0.995677]] 2025-10-27T03:33:47.374Z,1761536027.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.52 m. 2025-10-27T03:33:47.377Z,1761536027.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.518311 m, nav range: 121.806442 m, bearing: 245.427797 deg, approach rate: 0.519317 m/s, LOS rate: 0.180237 deg/s, cmd heading: 244.838021 deg, new cmd heading: 245.064256 deg. 2025-10-27T03:33:47.378Z,1761536027.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277178 target range: 116.518311 and range: 117.00 m. 2025-10-27T03:33:47.504Z,1761536027.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274152 2025-10-27T03:33:47.759Z,1761536027.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528661 2025-10-27T03:33:47.799Z,1761536027.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408004,-0.908711,0.088182],[0.912833,-0.407764,0.021547],[0.016378,0.089286,0.995871]] 2025-10-27T03:33:47.839Z,1761536027.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:47.841Z,1761536027.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.52 m. 2025-10-27T03:33:47.845Z,1761536027.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.518311 m, nav range: 122.035904 m, bearing: 245.509152 deg, approach rate: 0.491509 m/s, LOS rate: 0.173936 deg/s, cmd heading: 245.064264 deg, new cmd heading: 245.307869 deg. 2025-10-27T03:33:47.846Z,1761536027.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281430 target range: 116.518311 and range: 117.00 m. 2025-10-27T03:33:48.013Z,1761536028.013 [DAT](INFO): DAT read: 03:33:48.2259 LVL= 29168, 24049, 32754, 32755, AGC= 62, IDX= 454, 0.43, 2.990,-2.646, 1.856,-3.136, PHS=-0.055, 0.536,-1.335, RAW= 12.0, 10.3, CAL= 11.8, 11.6, ROT= 138.2, -11.6 2025-10-27T03:33:48.014Z,1761536028.014 [DAT](INFO): got valid direction response: 03:33:48.2259 LVL= 29168, 24049, 32754, 32755, AGC= 62, IDX= 454, 0.43, 2.990,-2.646, 1.856,-3.136, PHS=-0.055, 0.536,-1.335, RAW= 12.0, 10.3, CAL= 11.8, 11.6, ROT= 138.2, -11.6 2025-10-27T03:33:48.015Z,1761536028.015 [DAT](INFO): DAT read: Bearing 61.7, 42.1 (Local) 2025-10-27T03:33:48.016Z,1761536028.016 [DAT](INFO): Local bearing/azimuth received: Bearing 61.7, 42.1 (Local) 2025-10-27T03:33:48.017Z,1761536028.017 [DAT](INFO): DAT read: Range 11 to 50 : 119.0 m (Round-trip 158.7 ms) speed -0.4 m/s 2025-10-27T03:33:48.018Z,1761536028.018 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:33:48.019Z,1761536028.019 [DAT](INFO): direction in FSK: [-0.730250,0.652919,0.201078] 2025-10-27T03:33:48.019Z,1761536028.019 [DAT](INFO): publishing direction and range info 2025-10-27T03:33:48.022Z,1761536028.022 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:33:48.022Z,1761536028.022 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:33:48.024Z,1761536028.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:48.201Z,1761536028.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427174,-0.899797,0.088814],[0.903720,-0.427994,0.010561],[0.028509,0.084774,0.995992]] 2025-10-27T03:33:48.242Z,1761536028.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.000000 m, deltaT: 4.030600 s, deltaX: 2.000000 m, approachRate: 0.496204 m/s, rangeRepo size: 4 2025-10-27T03:33:48.244Z,1761536028.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.511581 m, bearing: 254.626923 deg, lat: 36.779507 deg, lon: -121.859662 deg, deltaT: 4.030600 s, deltaX: 1.993271 m, approachRate: 0.494535 m/s, posRepo size: 4 2025-10-27T03:33:48.245Z,1761536028.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.51 m. 2025-10-27T03:33:48.260Z,1761536028.260 [DAT](INFO): DAT read: user:358> 2025-10-27T03:33:48.261Z,1761536028.261 [DAT](INFO): DAT read: Tx time:03:33:49.6630 2025-10-27T03:33:48.261Z,1761536028.261 [DAT](INFO): Ping request sent. 2025-10-27T03:33:48.261Z,1761536028.261 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:48.261Z,1761536028.261 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:48.262Z,1761536028.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T03:33:48.267Z,1761536028.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.511581 m, nav range: 117.576271 m, bearing: 250.860516 deg, approach rate: 0.000000 m/s, LOS rate: 0.173936 deg/s, cmd heading: 245.307856 deg, new cmd heading: 245.516437 deg. 2025-10-27T03:33:48.272Z,1761536028.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285070 target range: 118.511581 and range: 119.00 m. 2025-10-27T03:33:48.512Z,1761536028.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250954 2025-10-27T03:33:48.656Z,1761536028.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446347,-0.890075,0.092419],[0.893967,-0.448130,0.001619],[0.039974,0.083342,0.995719]] 2025-10-27T03:33:48.762Z,1761536028.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.51 m. 2025-10-27T03:33:48.764Z,1761536028.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503136 2025-10-27T03:33:48.766Z,1761536028.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.511581 m, nav range: 117.828087 m, bearing: 250.947174 deg, approach rate: 0.486498 m/s, LOS rate: 0.167062 deg/s, cmd heading: 245.516450 deg, new cmd heading: 245.775867 deg. 2025-10-27T03:33:48.767Z,1761536028.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289598 target range: 118.511581 and range: 119.00 m. 2025-10-27T03:33:49.016Z,1761536029.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754896 2025-10-27T03:33:49.060Z,1761536029.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.51 m. 2025-10-27T03:33:49.063Z,1761536029.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.511581 m, nav range: 117.984665 m, bearing: 251.000824 deg, approach rate: 0.519848 m/s, LOS rate: 0.177886 deg/s, cmd heading: 245.775861 deg, new cmd heading: 245.936598 deg. 2025-10-27T03:33:49.064Z,1761536029.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.292403 target range: 118.511581 and range: 119.00 m. 2025-10-27T03:33:49.268Z,1761536029.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007035 2025-10-27T03:33:49.413Z,1761536029.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484425,-0.868403,0.105867],[0.872723,-0.488105,-0.010419],[0.060722,0.087346,0.994326]] 2025-10-27T03:33:49.448Z,1761536029.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.51 m. 2025-10-27T03:33:49.450Z,1761536029.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.511581 m, nav range: 118.182686 m, bearing: 251.074858 deg, approach rate: 0.510650 m/s, LOS rate: 0.190595 deg/s, cmd heading: 245.936589 deg, new cmd heading: 246.158316 deg. 2025-10-27T03:33:49.451Z,1761536029.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296273 target range: 118.511581 and range: 119.00 m. 2025-10-27T03:33:49.524Z,1761536029.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262506 2025-10-27T03:33:49.776Z,1761536029.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514886 2025-10-27T03:33:49.823Z,1761536029.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502549,-0.857102,0.113231],[0.861691,-0.507213,-0.014936],[0.070234,0.090065,0.993456]] 2025-10-27T03:33:49.878Z,1761536029.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:49.880Z,1761536029.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.51 m. 2025-10-27T03:33:49.887Z,1761536029.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.511581 m, nav range: 118.384384 m, bearing: 251.150437 deg, approach rate: 0.466401 m/s, LOS rate: 0.174468 deg/s, cmd heading: 246.158324 deg, new cmd heading: 246.384672 deg. 2025-10-27T03:33:49.889Z,1761536029.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300224 target range: 118.511581 and range: 119.00 m. 2025-10-27T03:33:50.028Z,1761536030.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767031 2025-10-27T03:33:50.229Z,1761536030.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519835,-0.845701,0.120673],[0.850575,-0.525517,-0.018823],[0.079335,0.092857,0.992514]] 2025-10-27T03:33:50.246Z,1761536030.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.51 m. 2025-10-27T03:33:50.269Z,1761536030.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.511581 m, nav range: 118.570786 m, bearing: 251.222966 deg, approach rate: 0.508940 m/s, LOS rate: 0.197719 deg/s, cmd heading: 246.384676 deg, new cmd heading: 246.601921 deg. 2025-10-27T03:33:50.270Z,1761536030.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304016 target range: 118.511581 and range: 119.00 m. 2025-10-27T03:33:50.280Z,1761536030.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019014 2025-10-27T03:33:50.532Z,1761536030.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271175 2025-10-27T03:33:50.663Z,1761536030.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537147,-0.834251,0.124492],[0.838851,-0.543800,-0.024733],[0.088332,0.091145,0.991912]] 2025-10-27T03:33:50.784Z,1761536030.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523252 2025-10-27T03:33:50.820Z,1761536030.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.51 m. 2025-10-27T03:33:50.823Z,1761536030.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.511581 m, nav range: 118.838844 m, bearing: 251.331232 deg, approach rate: 0.467281 m/s, LOS rate: 0.188305 deg/s, cmd heading: 246.601931 deg, new cmd heading: 246.925994 deg. 2025-10-27T03:33:50.825Z,1761536030.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309671 target range: 118.511581 and range: 119.00 m. 2025-10-27T03:33:51.037Z,1761536031.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775180 2025-10-27T03:33:51.186Z,1761536031.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.51 m. 2025-10-27T03:33:51.192Z,1761536031.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.511581 m, nav range: 119.016289 m, bearing: 251.402536 deg, approach rate: 0.484943 m/s, LOS rate: 0.194577 deg/s, cmd heading: 246.925982 deg, new cmd heading: 247.139573 deg. 2025-10-27T03:33:51.194Z,1761536031.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313399 target range: 118.511581 and range: 119.00 m. 2025-10-27T03:33:51.289Z,1761536031.289 [DAT](INFO): DAT read: Rx Time:03:33:52.2280 2025-10-27T03:33:51.290Z,1761536031.290 [DAT](INFO): Rx dataTimestamp_ set to:1761536031.289406 2025-10-27T03:33:51.293Z,1761536031.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029571 2025-10-27T03:33:51.540Z,1761536031.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278845 2025-10-27T03:33:51.557Z,1761536031.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589816,-0.796390,0.133716],[0.799443,-0.599229,-0.042598],[0.114051,0.081773,0.990104]] 2025-10-27T03:33:51.587Z,1761536031.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.51 m. 2025-10-27T03:33:51.589Z,1761536031.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.511581 m, nav range: 119.195244 m, bearing: 251.484272 deg, approach rate: 0.446684 m/s, LOS rate: 0.203713 deg/s, cmd heading: 247.139576 deg, new cmd heading: 247.384415 deg. 2025-10-27T03:33:51.590Z,1761536031.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317673 target range: 118.511581 and range: 119.00 m. 2025-10-27T03:33:51.799Z,1761536031.799 [DAT](INFO): DAT read: 03:33:52.2280 LVL= 25472, 19873, 30818, 31395, AGC= 61, IDX= 444,-0.01,-1.077,-1.151,-2.604,-1.207, PHS= 0.231, 0.101,-1.442, RAW= 34.0, 13.7, CAL= 31.6, 15.2, ROT= 118.4, -15.2 2025-10-27T03:33:51.801Z,1761536031.801 [DAT](INFO): got valid direction response: 03:33:52.2280 LVL= 25472, 19873, 30818, 31395, AGC= 61, IDX= 444,-0.01,-1.077,-1.151,-2.604,-1.207, PHS= 0.231, 0.101,-1.442, RAW= 34.0, 13.7, CAL= 31.6, 15.2, ROT= 118.4, -15.2 2025-10-27T03:33:51.801Z,1761536031.801 [DAT](INFO): DAT read: Bearing 65.3, 54.9 (Local) 2025-10-27T03:33:51.802Z,1761536031.802 [DAT](INFO): Local bearing/azimuth received: Bearing 65.3, 54.9 (Local) 2025-10-27T03:33:51.804Z,1761536031.804 [DAT](INFO): DAT read: Range 11 to 50 : 120.6 m (Round-trip 160.9 ms) speed -0.4 m/s 2025-10-27T03:33:51.804Z,1761536031.804 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:33:51.805Z,1761536031.805 [DAT](INFO): direction in FSK: [-0.458985,0.848875,0.262189] 2025-10-27T03:33:51.806Z,1761536031.806 [DAT](INFO): publishing direction and range info 2025-10-27T03:33:51.823Z,1761536031.823 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:33:51.823Z,1761536031.823 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:33:51.823Z,1761536031.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:52.044Z,1761536032.044 [DAT](INFO): DAT read: user:359> 2025-10-27T03:33:52.045Z,1761536032.045 [DAT](INFO): DAT read: Tx time:03:33:53.4629 2025-10-27T03:33:52.045Z,1761536032.045 [DAT](INFO): Ping request sent. 2025-10-27T03:33:52.045Z,1761536032.045 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:52.045Z,1761536032.045 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:52.046Z,1761536032.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766 2025-10-27T03:33:52.050Z,1761536032.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.599998 m, deltaT: 3.784650 s, deltaX: 1.599998 m, approachRate: 0.422760 m/s, rangeRepo size: 4 2025-10-27T03:33:52.053Z,1761536032.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.107040 m, bearing: 247.337640 deg, lat: 36.779507 deg, lon: -121.859662 deg, deltaT: 3.784650 s, deltaX: 1.595459 m, approachRate: 0.421560 m/s, posRepo size: 4 2025-10-27T03:33:52.053Z,1761536032.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.11 m. 2025-10-27T03:33:52.056Z,1761536032.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.107040 m, nav range: 119.398438 m, bearing: 251.576646 deg, approach rate: 0.000000 m/s, LOS rate: 0.203713 deg/s, cmd heading: 247.384425 deg, new cmd heading: 247.667573 deg. 2025-10-27T03:33:52.057Z,1761536032.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322615 target range: 120.107040 and range: 120.60 m. 2025-10-27T03:33:52.298Z,1761536032.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253032 2025-10-27T03:33:52.365Z,1761536032.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625453,-0.766811,0.144254],[0.769763,-0.636626,-0.046597],[0.127567,0.081897,0.988443]] 2025-10-27T03:33:52.392Z,1761536032.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:52.394Z,1761536032.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.11 m. 2025-10-27T03:33:52.397Z,1761536032.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.107040 m, nav range: 119.548744 m, bearing: 251.651281 deg, approach rate: 0.437093 m/s, LOS rate: 0.216768 deg/s, cmd heading: 247.667577 deg, new cmd heading: 247.891201 deg. 2025-10-27T03:33:52.397Z,1761536032.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326518 target range: 120.107040 and range: 120.60 m. 2025-10-27T03:33:52.548Z,1761536032.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502777 2025-10-27T03:33:52.800Z,1761536032.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754795 2025-10-27T03:33:52.821Z,1761536032.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.11 m. 2025-10-27T03:33:52.824Z,1761536032.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.107040 m, nav range: 119.736290 m, bearing: 251.752297 deg, approach rate: 0.439038 m/s, LOS rate: 0.236103 deg/s, cmd heading: 247.891197 deg, new cmd heading: 248.193766 deg. 2025-10-27T03:33:52.825Z,1761536032.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331799 target range: 120.107040 and range: 120.60 m. 2025-10-27T03:33:53.052Z,1761536033.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772 2025-10-27T03:33:53.166Z,1761536033.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661285,-0.734550,0.152112],[0.737283,-0.673827,-0.048683],[0.138257,0.079957,0.987163]] 2025-10-27T03:33:53.210Z,1761536033.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.11 m. 2025-10-27T03:33:53.216Z,1761536033.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.107040 m, nav range: 119.895103 m, bearing: 251.846226 deg, approach rate: 0.408112 m/s, LOS rate: 0.241056 deg/s, cmd heading: 248.193775 deg, new cmd heading: 248.475188 deg. 2025-10-27T03:33:53.217Z,1761536033.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336710 target range: 120.107040 and range: 120.60 m. 2025-10-27T03:33:53.305Z,1761536033.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259060 2025-10-27T03:33:53.556Z,1761536033.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510685 2025-10-27T03:33:53.572Z,1761536033.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678325,-0.717649,0.157657],[0.720792,-0.691572,-0.046776],[0.142600,0.081909,0.986385]] 2025-10-27T03:33:53.610Z,1761536033.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.11 m. 2025-10-27T03:33:53.617Z,1761536033.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.107040 m, nav range: 120.050148 m, bearing: 251.942060 deg, approach rate: 0.387397 m/s, LOS rate: 0.239142 deg/s, cmd heading: 248.475179 deg, new cmd heading: 248.762305 deg. 2025-10-27T03:33:53.618Z,1761536033.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341721 target range: 120.107040 and range: 120.60 m. 2025-10-27T03:33:53.808Z,1761536033.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762782 2025-10-27T03:33:53.974Z,1761536033.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695037,-0.700124,0.163553],[0.703869,-0.708980,-0.043771],[0.146601,0.084697,0.985563]] 2025-10-27T03:33:54.020Z,1761536034.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.11 m. 2025-10-27T03:33:54.023Z,1761536034.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.107040 m, nav range: 120.230721 m, bearing: 252.050066 deg, approach rate: 0.440727 m/s, LOS rate: 0.263219 deg/s, cmd heading: 248.762292 deg, new cmd heading: 249.085823 deg. 2025-10-27T03:33:54.024Z,1761536034.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347368 target range: 120.107040 and range: 120.60 m. 2025-10-27T03:33:54.060Z,1761536034.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014881 2025-10-27T03:33:54.312Z,1761536034.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266727 2025-10-27T03:33:54.378Z,1761536034.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710966,-0.682652,0.168861],[0.687110,-0.725461,-0.039826],[0.149689,0.087711,0.984835]] 2025-10-27T03:33:54.398Z,1761536034.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:54.400Z,1761536034.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.11 m. 2025-10-27T03:33:54.403Z,1761536034.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.107040 m, nav range: 120.384766 m, bearing: 252.146235 deg, approach rate: 0.405367 m/s, LOS rate: 0.252742 deg/s, cmd heading: 249.085825 deg, new cmd heading: 249.373958 deg. 2025-10-27T03:33:54.404Z,1761536034.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352396 target range: 120.107040 and range: 120.60 m. 2025-10-27T03:33:54.564Z,1761536034.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518878 2025-10-27T03:33:54.782Z,1761536034.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726153,-0.665894,0.171134],[0.670469,-0.740954,-0.038176],[0.152223,0.087019,0.984508]] 2025-10-27T03:33:54.816Z,1761536034.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770815 2025-10-27T03:33:54.831Z,1761536034.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.11 m. 2025-10-27T03:33:54.834Z,1761536034.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.107040 m, nav range: 120.556984 m, bearing: 252.263125 deg, approach rate: 0.399604 m/s, LOS rate: 0.270837 deg/s, cmd heading: 249.373950 deg, new cmd heading: 249.724114 deg. 2025-10-27T03:33:54.835Z,1761536034.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358508 target range: 120.107040 and range: 120.60 m. 2025-10-27T03:33:55.068Z,1761536035.068 [DAT](INFO): DAT read: Rx Time:03:33:56.0300 2025-10-27T03:33:55.068Z,1761536035.068 [DAT](INFO): Rx dataTimestamp_ set to:1761536035.068063 2025-10-27T03:33:55.069Z,1761536035.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023737 2025-10-27T03:33:55.201Z,1761536035.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741171,-0.649058,0.171433],[0.653337,-0.756110,-0.038060],[0.154325,0.083795,0.984460]] 2025-10-27T03:33:55.229Z,1761536035.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.11 m. 2025-10-27T03:33:55.244Z,1761536035.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.107040 m, nav range: 120.710075 m, bearing: 252.371687 deg, approach rate: 0.384789 m/s, LOS rate: 0.272521 deg/s, cmd heading: 249.724120 deg, new cmd heading: 250.049391 deg. 2025-10-27T03:33:55.245Z,1761536035.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364185 target range: 120.107040 and range: 120.60 m. 2025-10-27T03:33:55.320Z,1761536035.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275200 2025-10-27T03:33:55.587Z,1761536035.587 [DAT](INFO): DAT read: 03:33:56.0300 LVL= 14320, 16849, 26482, 25987, AGC= 60, IDX= 465, 0.13,-2.738, 2.788, 1.778, 3.034, PHS= 0.613,-0.201,-1.300, RAW= 55.1, 10.7, CAL= 52.3, 12.4, ROT= 97.7, -12.4 2025-10-27T03:33:55.588Z,1761536035.588 [DAT](INFO): got valid direction response: 03:33:56.0300 LVL= 14320, 16849, 26482, 25987, AGC= 60, IDX= 465, 0.13,-2.738, 2.788, 1.778, 3.034, PHS= 0.613,-0.201,-1.300, RAW= 55.1, 10.7, CAL= 52.3, 12.4, ROT= 97.7, -12.4 2025-10-27T03:33:55.589Z,1761536035.589 [DAT](INFO): DAT read: Bearing 71.8, 72.1 (Local) 2025-10-27T03:33:55.589Z,1761536035.589 [DAT](INFO): Local bearing/azimuth received: Bearing 71.8, 72.1 (Local) 2025-10-27T03:33:55.591Z,1761536035.591 [DAT](INFO): DAT read: Range 11 to 50 : 122.1 m (Round-trip 162.9 ms) speed -0.4 m/s 2025-10-27T03:33:55.592Z,1761536035.592 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:33:55.593Z,1761536035.593 [DAT](INFO): direction in FSK: [-0.130861,0.967866,0.214735] 2025-10-27T03:33:55.593Z,1761536035.593 [DAT](INFO): publishing direction and range info 2025-10-27T03:33:55.597Z,1761536035.597 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:33:55.597Z,1761536035.597 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:33:55.597Z,1761536035.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:55.669Z,1761536035.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755661,-0.632417,0.170368],[0.636142,-0.770591,-0.038900],[0.155885,0.078983,0.984612]] 2025-10-27T03:33:55.814Z,1761536035.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 3.780898 s, deltaX: 1.500000 m, approachRate: 0.396731 m/s, rangeRepo size: 4 2025-10-27T03:33:55.816Z,1761536035.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.603523 m, bearing: 240.353481 deg, lat: 36.779507 deg, lon: -121.859662 deg, deltaT: 3.780898 s, deltaX: 1.496483 m, approachRate: 0.395801 m/s, posRepo size: 4 2025-10-27T03:33:55.816Z,1761536035.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-10-27T03:33:55.824Z,1761536035.824 [DAT](INFO): DAT read: user:360> 2025-10-27T03:33:55.825Z,1761536035.825 [DAT](INFO): DAT read: Tx time:03:33:57.2129 2025-10-27T03:33:55.825Z,1761536035.825 [DAT](INFO): Ping request sent. 2025-10-27T03:33:55.825Z,1761536035.825 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:55.825Z,1761536035.825 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:55.826Z,1761536035.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-27T03:33:55.828Z,1761536035.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.603523 m, nav range: 120.889435 m, bearing: 252.504589 deg, approach rate: 0.000000 m/s, LOS rate: 0.272521 deg/s, cmd heading: 250.049401 deg, new cmd heading: 250.527062 deg. 2025-10-27T03:33:55.829Z,1761536035.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372522 target range: 121.603523 and range: 122.10 m. 2025-10-27T03:33:56.077Z,1761536036.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251333 2025-10-27T03:33:56.129Z,1761536036.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770382,-0.614780,0.168989],[0.618011,-0.785194,-0.039160],[0.156763,0.074269,0.984840]] 2025-10-27T03:33:56.139Z,1761536036.139 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 50.33, 54.07, 57.81, 2025-10-27T03:33:56.154Z,1761536036.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-10-27T03:33:56.181Z,1761536036.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.603523 m, nav range: 121.049019 m, bearing: 252.628451 deg, approach rate: 0.468025 m/s, LOS rate: 0.362783 deg/s, cmd heading: 250.527049 deg, new cmd heading: 250.898142 deg. 2025-10-27T03:33:56.182Z,1761536036.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378999 target range: 121.603523 and range: 122.10 m. 2025-10-27T03:33:56.328Z,1761536036.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503122 2025-10-27T03:33:56.531Z,1761536036.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785171,-0.595715,0.169205],[0.598944,-0.799936,-0.036998],[0.157393,0.072295,0.984886]] 2025-10-27T03:33:56.549Z,1761536036.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:56.551Z,1761536036.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-10-27T03:33:56.553Z,1761536036.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.603523 m, nav range: 121.186028 m, bearing: 252.740225 deg, approach rate: 0.345508 m/s, LOS rate: 0.281550 deg/s, cmd heading: 250.898147 deg, new cmd heading: 251.233084 deg. 2025-10-27T03:33:56.554Z,1761536036.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.384844 target range: 121.603523 and range: 122.10 m. 2025-10-27T03:33:56.580Z,1761536036.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900 2025-10-27T03:33:56.832Z,1761536036.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006674 2025-10-27T03:33:56.934Z,1761536036.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800015,-0.575708,0.168926],[0.578862,-0.814673,-0.035016],[0.157778,0.069772,0.985007]] 2025-10-27T03:33:56.981Z,1761536036.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-10-27T03:33:56.984Z,1761536036.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.603523 m, nav range: 121.328514 m, bearing: 252.852499 deg, approach rate: 0.330858 m/s, LOS rate: 0.260398 deg/s, cmd heading: 251.233072 deg, new cmd heading: 251.569496 deg. 2025-10-27T03:33:56.985Z,1761536036.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390716 target range: 121.603523 and range: 122.10 m. 2025-10-27T03:33:57.085Z,1761536037.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259295 2025-10-27T03:33:57.336Z,1761536037.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510549 2025-10-27T03:33:57.339Z,1761536037.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814676,-0.554625,0.169395],[0.557968,-0.829258,-0.031668],[0.158036,0.068718,0.985039]] 2025-10-27T03:33:57.358Z,1761536037.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-10-27T03:33:57.365Z,1761536037.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.603523 m, nav range: 121.447891 m, bearing: 252.951794 deg, approach rate: 0.316923 m/s, LOS rate: 0.263349 deg/s, cmd heading: 251.569500 deg, new cmd heading: 251.867090 deg. 2025-10-27T03:33:57.366Z,1761536037.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395910 target range: 121.603523 and range: 122.10 m. 2025-10-27T03:33:57.588Z,1761536037.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762705 2025-10-27T03:33:57.744Z,1761536037.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829000,-0.532233,0.171718],[0.536487,-0.843551,-0.024565],[0.157928,0.071760,0.984840]] 2025-10-27T03:33:57.831Z,1761536037.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-10-27T03:33:57.834Z,1761536037.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.603523 m, nav range: 121.580360 m, bearing: 253.068354 deg, approach rate: 0.282445 m/s, LOS rate: 0.248254 deg/s, cmd heading: 251.867078 deg, new cmd heading: 252.216374 deg. 2025-10-27T03:33:57.840Z,1761536037.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014759 2025-10-27T03:33:57.840Z,1761536037.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402006 target range: 121.603523 and range: 122.10 m. 2025-10-27T03:33:58.092Z,1761536038.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266923 2025-10-27T03:33:58.152Z,1761536038.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842698,-0.509305,0.174553],[0.514772,-0.857180,-0.015863],[0.157703,0.076487,0.984520]] 2025-10-27T03:33:58.221Z,1761536038.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-10-27T03:33:58.228Z,1761536038.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.603523 m, nav range: 121.694603 m, bearing: 253.170929 deg, approach rate: 0.290122 m/s, LOS rate: 0.260245 deg/s, cmd heading: 252.216374 deg, new cmd heading: 252.523804 deg. 2025-10-27T03:33:58.229Z,1761536038.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407372 target range: 121.603523 and range: 122.10 m. 2025-10-27T03:33:58.344Z,1761536038.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518670 2025-10-27T03:33:58.550Z,1761536038.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855609,-0.486638,0.176399],[0.493152,-0.869908,-0.007846],[0.157269,0.080278,0.984288]] 2025-10-27T03:33:58.572Z,1761536038.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:33:58.574Z,1761536038.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-10-27T03:33:58.577Z,1761536038.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.603523 m, nav range: 121.798546 m, bearing: 253.269821 deg, approach rate: 0.294176 m/s, LOS rate: 0.279642 deg/s, cmd heading: 252.523814 deg, new cmd heading: 252.820234 deg. 2025-10-27T03:33:58.578Z,1761536038.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412546 target range: 121.603523 and range: 122.10 m. 2025-10-27T03:33:58.597Z,1761536038.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771781 2025-10-27T03:33:58.848Z,1761536038.848 [DAT](INFO): DAT read: Rx Time:03:33:59.7816 2025-10-27T03:33:58.849Z,1761536038.849 [DAT](INFO): Rx dataTimestamp_ set to:1761536038.848412 2025-10-27T03:33:58.849Z,1761536038.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024012 2025-10-27T03:33:58.954Z,1761536038.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867553,-0.464452,0.177866],[0.471997,-0.881600,0.000122],[0.156750,0.084058,0.984055]] 2025-10-27T03:33:59.005Z,1761536039.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.60 m. 2025-10-27T03:33:59.007Z,1761536039.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.603523 m, nav range: 121.901550 m, bearing: 253.382330 deg, approach rate: 0.239284 m/s, LOS rate: 0.261145 deg/s, cmd heading: 252.820244 deg, new cmd heading: 253.157485 deg. 2025-10-27T03:33:59.008Z,1761536039.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418432 target range: 121.603523 and range: 122.10 m. 2025-10-27T03:33:59.104Z,1761536039.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278588 2025-10-27T03:33:59.357Z,1761536039.357 [DAT](INFO): DAT read: 03:33:59.7816 LVL= 24624, 25073, 31730, 32371, AGC= 62, IDX= 449, 0.35,-1.419,-2.110,-3.132,-2.084, PHS= 0.766, 0.018,-1.092, RAW= 53.6, 3.8, CAL= 53.2, 2.1, ROT= 96.8, -2.1 2025-10-27T03:33:59.358Z,1761536039.358 [DAT](INFO): got valid direction response: 03:33:59.7816 LVL= 24624, 25073, 31730, 32371, AGC= 62, IDX= 449, 0.35,-1.419,-2.110,-3.132,-2.084, PHS= 0.766, 0.018,-1.092, RAW= 53.6, 3.8, CAL= 53.2, 2.1, ROT= 96.8, -2.1 2025-10-27T03:33:59.360Z,1761536039.360 [DAT](INFO): DAT read: Bearing 118.4, 74.2 (Local) 2025-10-27T03:33:59.360Z,1761536039.360 [DAT](INFO): Local bearing/azimuth received: Bearing 118.4, 74.2 (Local) 2025-10-27T03:33:59.362Z,1761536039.362 [DAT](INFO): DAT read: Range 11 to 50 : 123.3 m (Round-trip 164.5 ms) speed 0.0 m/s 2025-10-27T03:33:59.362Z,1761536039.362 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:33:59.387Z,1761536039.387 [DAT](INFO): direction in FSK: [-0.118324,0.992299,0.036644] 2025-10-27T03:33:59.387Z,1761536039.387 [DAT](INFO): publishing direction and range info 2025-10-27T03:33:59.390Z,1761536039.390 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:33:59.390Z,1761536039.390 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:33:59.391Z,1761536039.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:33:59.399Z,1761536039.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878880,-0.442473,0.178294],[0.450966,-0.892505,0.008050],[0.155566,0.087480,0.983944]] 2025-10-27T03:33:59.489Z,1761536039.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.300003 m, deltaT: 3.778376 s, deltaX: 1.200005 m, approachRate: 0.317598 m/s, rangeRepo size: 4 2025-10-27T03:33:59.496Z,1761536039.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.796288 m, bearing: 250.710238 deg, lat: 36.779455 deg, lon: -121.859643 deg, deltaT: 3.778376 s, deltaX: 1.192764 m, approachRate: 0.315682 m/s, posRepo size: 4 2025-10-27T03:33:59.496Z,1761536039.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:33:59.505Z,1761536039.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.124817 m, bearing: 250.710669 deg, approach rate: 0.000000 m/s, LOS rate: 0.261145 deg/s, cmd heading: 253.157492 deg, new cmd heading: 253.536925 deg. 2025-10-27T03:33:59.506Z,1761536039.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425054 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:33:59.604Z,1761536039.604 [DAT](INFO): DAT read: user:361> 2025-10-27T03:33:59.605Z,1761536039.605 [DAT](INFO): DAT read: Tx time:03:34:01.0129 2025-10-27T03:33:59.605Z,1761536039.605 [DAT](INFO): Ping request sent. 2025-10-27T03:33:59.605Z,1761536039.605 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:33:59.605Z,1761536039.605 [DAT](INFO): publishing transmit ping time 2025-10-27T03:33:59.606Z,1761536039.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-27T03:33:59.762Z,1761536039.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889634,-0.420814,0.177390],[0.429969,-0.902721,0.014866],[0.153878,0.089497,0.984028]] 2025-10-27T03:33:59.847Z,1761536039.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:33:59.856Z,1761536039.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250945 2025-10-27T03:33:59.858Z,1761536039.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.188271 m, bearing: 250.802534 deg, approach rate: 0.179900 m/s, LOS rate: 0.260316 deg/s, cmd heading: 253.536923 deg, new cmd heading: 253.812374 deg. 2025-10-27T03:33:59.863Z,1761536039.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429862 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:34:00.108Z,1761536040.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502724 2025-10-27T03:34:00.165Z,1761536040.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900013,-0.398872,0.175717],[0.408498,-0.912520,0.020912],[0.152004,0.090601,0.984219]] 2025-10-27T03:34:00.243Z,1761536040.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:34:00.246Z,1761536040.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.249847 m, bearing: 250.913686 deg, approach rate: 0.153388 m/s, LOS rate: 0.276740 deg/s, cmd heading: 253.812370 deg, new cmd heading: 254.145654 deg. 2025-10-27T03:34:00.247Z,1761536040.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435678 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:34:00.360Z,1761536040.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754810 2025-10-27T03:34:00.570Z,1761536040.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909440,-0.377627,0.174116],[0.387916,-0.921266,0.028095],[0.149798,0.093093,0.984324]] 2025-10-27T03:34:00.590Z,1761536040.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:00.609Z,1761536040.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:34:00.612Z,1761536040.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006936 2025-10-27T03:34:00.616Z,1761536040.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.293747 m, bearing: 251.000470 deg, approach rate: 0.120051 m/s, LOS rate: 0.237243 deg/s, cmd heading: 254.145656 deg, new cmd heading: 254.405915 deg. 2025-10-27T03:34:00.617Z,1761536040.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.440221 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:34:00.864Z,1761536040.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258802 2025-10-27T03:34:00.974Z,1761536040.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918356,-0.357065,0.170663],[0.367259,-0.929590,0.031353],[0.147451,0.091471,0.984830]] 2025-10-27T03:34:01.017Z,1761536041.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:34:01.020Z,1761536041.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.325691 m, bearing: 251.102320 deg, approach rate: 0.078301 m/s, LOS rate: 0.249586 deg/s, cmd heading: 254.405914 deg, new cmd heading: 254.711379 deg. 2025-10-27T03:34:01.021Z,1761536041.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445552 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:34:01.116Z,1761536041.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511186 2025-10-27T03:34:01.368Z,1761536041.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762855 2025-10-27T03:34:01.393Z,1761536041.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927103,-0.335388,0.167318],[0.345522,-0.937766,0.034777],[0.145241,0.090053,0.985289]] 2025-10-27T03:34:01.411Z,1761536041.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:34:01.414Z,1761536041.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.350922 m, bearing: 251.197164 deg, approach rate: 0.063970 m/s, LOS rate: 0.240419 deg/s, cmd heading: 254.711387 deg, new cmd heading: 254.995858 deg. 2025-10-27T03:34:01.415Z,1761536041.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450517 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:34:01.620Z,1761536041.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014724 2025-10-27T03:34:01.781Z,1761536041.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935290,-0.313014,0.165091],[0.323575,-0.945322,0.040807],[0.143290,0.091586,0.985434]] 2025-10-27T03:34:01.875Z,1761536041.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269133 2025-10-27T03:34:01.880Z,1761536041.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:34:01.889Z,1761536041.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.371826 m, bearing: 251.292888 deg, approach rate: 0.045476 m/s, LOS rate: 0.208203 deg/s, cmd heading: 254.995851 deg, new cmd heading: 255.282972 deg. 2025-10-27T03:34:01.890Z,1761536041.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455528 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:34:02.124Z,1761536042.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518773 2025-10-27T03:34:02.194Z,1761536042.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943065,-0.289612,0.163566],[0.301117,-0.952274,0.050030],[0.141271,0.096434,0.985263]] 2025-10-27T03:34:02.253Z,1761536042.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:34:02.256Z,1761536042.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.382896 m, bearing: 251.403179 deg, approach rate: 0.028998 m/s, LOS rate: 0.288880 deg/s, cmd heading: 255.282965 deg, new cmd heading: 255.613803 deg. 2025-10-27T03:34:02.257Z,1761536042.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461302 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:34:02.376Z,1761536042.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770709 2025-10-27T03:34:02.590Z,1761536042.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949913,-0.267590,0.161435],[0.279821,-0.958294,0.058079],[0.139161,0.100343,0.985173]] 2025-10-27T03:34:02.612Z,1761536042.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:02.614Z,1761536042.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:34:02.617Z,1761536042.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.387894 m, bearing: 251.493017 deg, approach rate: 0.013812 m/s, LOS rate: 0.248293 deg/s, cmd heading: 255.613792 deg, new cmd heading: 255.883293 deg. 2025-10-27T03:34:02.618Z,1761536042.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466006 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:34:02.628Z,1761536042.628 [DAT](INFO): DAT read: Rx Time:03:34:03.5818 2025-10-27T03:34:02.629Z,1761536042.629 [DAT](INFO): Rx dataTimestamp_ set to:1761536042.628507 2025-10-27T03:34:02.629Z,1761536042.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024194 2025-10-27T03:34:02.883Z,1761536042.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277083 2025-10-27T03:34:02.994Z,1761536042.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956259,-0.245298,0.159367],[0.257938,-0.964049,0.063857],[0.137974,0.102171,0.985152]] 2025-10-27T03:34:03.041Z,1761536043.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.80 m. 2025-10-27T03:34:03.044Z,1761536043.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.796288 m, nav range: 122.377678 m, bearing: 251.597854 deg, approach rate: -0.023952 m/s, LOS rate: 0.245825 deg/s, cmd heading: 255.883284 deg, new cmd heading: 256.197820 deg. 2025-10-27T03:34:03.045Z,1761536043.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471496 target range: 122.796288 and range: 123.30 m. 2025-10-27T03:34:03.140Z,1761536043.140 [DAT](INFO): DAT read: 03:34:03.5818 LVL= 16336, 21153, 21442, 24883, AGC= 59, IDX= 447, 0.25,-0.974,-1.950,-2.659,-1.595, PHS= 0.723,-0.310,-1.108, RAW= 64.3, 8.8, CAL= 62.4, 10.6, ROT= 87.6, -10.6 2025-10-27T03:34:03.142Z,1761536043.142 [DAT](INFO): got valid direction response: 03:34:03.5818 LVL= 16336, 21153, 21442, 24883, AGC= 59, IDX= 447, 0.25,-0.974,-1.950,-2.659,-1.595, PHS= 0.723,-0.310,-1.108, RAW= 64.3, 8.8, CAL= 62.4, 10.6, ROT= 87.6, -10.6 2025-10-27T03:34:03.142Z,1761536043.142 [DAT](INFO): DAT read: Bearing 82.0, 82.8 (Local) 2025-10-27T03:34:03.143Z,1761536043.143 [DAT](INFO): Local bearing/azimuth received: Bearing 82.0, 82.8 (Local) 2025-10-27T03:34:03.144Z,1761536043.144 [DAT](INFO): DAT read: Range 11 to 50 : 123.5 m (Round-trip 164.7 ms) speed 0.0 m/s 2025-10-27T03:34:03.145Z,1761536043.145 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:03.146Z,1761536043.146 [DAT](INFO): direction in FSK: [0.041161,0.982073,0.183951] 2025-10-27T03:34:03.146Z,1761536043.146 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:03.156Z,1761536043.156 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:03.157Z,1761536043.157 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:03.157Z,1761536043.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:03.384Z,1761536043.384 [DAT](INFO): DAT read: user:362> 2025-10-27T03:34:03.385Z,1761536043.385 [DAT](INFO): DAT read: Tx time:03:34:04.7629 2025-10-27T03:34:03.385Z,1761536043.385 [DAT](INFO): Ping request sent. 2025-10-27T03:34:03.385Z,1761536043.385 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:34:03.385Z,1761536043.385 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:03.386Z,1761536043.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-10-27T03:34:03.415Z,1761536043.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961851,-0.223542,0.157705],[0.236638,-0.969102,0.069596],[0.137275,0.104260,0.985031]] 2025-10-27T03:34:03.477Z,1761536043.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.500000 m, deltaT: 3.782064 s, deltaX: 0.199997 m, approachRate: 0.052880 m/s, rangeRepo size: 4 2025-10-27T03:34:03.484Z,1761536043.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.992188 m, bearing: 256.090436 deg, lat: 36.779455 deg, lon: -121.859621 deg, deltaT: 3.782064 s, deltaX: 0.195900 m, approachRate: 0.051797 m/s, posRepo size: 4 2025-10-27T03:34:03.485Z,1761536043.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.99 m. 2025-10-27T03:34:03.492Z,1761536043.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.992188 m, nav range: 120.568268 m, bearing: 251.418540 deg, approach rate: 0.000000 m/s, LOS rate: 0.245825 deg/s, cmd heading: 256.197828 deg, new cmd heading: 256.519377 deg. 2025-10-27T03:34:03.493Z,1761536043.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477108 target range: 122.992188 and range: 123.50 m. 2025-10-27T03:34:03.637Z,1761536043.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251498 2025-10-27T03:34:03.809Z,1761536043.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967009,-0.201156,0.156298],[0.214532,-0.973920,0.073860],[0.137365,0.104954,0.984944]] 2025-10-27T03:34:03.844Z,1761536043.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.99 m. 2025-10-27T03:34:03.846Z,1761536043.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.992188 m, nav range: 120.549980 m, bearing: 251.512605 deg, approach rate: -0.049841 m/s, LOS rate: 0.256405 deg/s, cmd heading: 256.519366 deg, new cmd heading: 256.801603 deg. 2025-10-27T03:34:03.850Z,1761536043.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482034 target range: 122.992188 and range: 123.50 m. 2025-10-27T03:34:03.891Z,1761536043.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505176 2025-10-27T03:34:04.140Z,1761536044.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754678 2025-10-27T03:34:04.218Z,1761536044.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971735,-0.178650,0.154323],[0.192103,-0.978345,0.077060],[0.137214,0.104528,0.985011]] 2025-10-27T03:34:04.270Z,1761536044.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.99 m. 2025-10-27T03:34:04.272Z,1761536044.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.992188 m, nav range: 120.536385 m, bearing: 251.624868 deg, approach rate: -0.031935 m/s, LOS rate: 0.263724 deg/s, cmd heading: 256.801616 deg, new cmd heading: 257.138439 deg. 2025-10-27T03:34:04.273Z,1761536044.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487912 target range: 122.992188 and range: 123.50 m. 2025-10-27T03:34:04.396Z,1761536044.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011156 2025-10-27T03:34:04.620Z,1761536044.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975801,-0.156704,0.152498],[0.170453,-0.981979,0.081627],[0.136959,0.105645,0.984927]] 2025-10-27T03:34:04.636Z,1761536044.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:04.638Z,1761536044.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.99 m. 2025-10-27T03:34:04.641Z,1761536044.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.992188 m, nav range: 120.520630 m, bearing: 251.720792 deg, approach rate: -0.042732 m/s, LOS rate: 0.260214 deg/s, cmd heading: 257.138427 deg, new cmd heading: 257.426233 deg. 2025-10-27T03:34:04.642Z,1761536044.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492935 target range: 122.992188 and range: 123.50 m. 2025-10-27T03:34:04.644Z,1761536044.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258791 2025-10-27T03:34:04.899Z,1761536044.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513037 2025-10-27T03:34:05.074Z,1761536045.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.99 m. 2025-10-27T03:34:05.077Z,1761536045.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.992188 m, nav range: 120.523842 m, bearing: 251.840800 deg, approach rate: 0.007364 m/s, LOS rate: 0.275149 deg/s, cmd heading: 257.426223 deg, new cmd heading: 257.786234 deg. 2025-10-27T03:34:05.078Z,1761536045.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499218 target range: 122.992188 and range: 123.50 m. 2025-10-27T03:34:05.149Z,1761536045.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763513 2025-10-27T03:34:05.400Z,1761536045.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014693 2025-10-27T03:34:05.434Z,1761536045.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982727,-0.112074,0.147265],[0.125182,-0.988659,0.082961],[0.136297,0.099963,0.985612]] 2025-10-27T03:34:05.461Z,1761536045.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.99 m. 2025-10-27T03:34:05.463Z,1761536045.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.992188 m, nav range: 120.516800 m, bearing: 251.946974 deg, approach rate: -0.018230 m/s, LOS rate: 0.274873 deg/s, cmd heading: 257.786229 deg, new cmd heading: 258.104766 deg. 2025-10-27T03:34:05.464Z,1761536045.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504778 target range: 122.992188 and range: 123.50 m. 2025-10-27T03:34:05.652Z,1761536045.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266656 2025-10-27T03:34:05.830Z,1761536045.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985481,-0.089292,0.144410],[0.101802,-0.991445,0.081684],[0.135881,0.095199,0.986141]] 2025-10-27T03:34:05.870Z,1761536045.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.99 m. 2025-10-27T03:34:05.873Z,1761536045.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.992188 m, nav range: 120.504608 m, bearing: 252.055241 deg, approach rate: -0.029782 m/s, LOS rate: 0.264498 deg/s, cmd heading: 258.104762 deg, new cmd heading: 258.429592 deg. 2025-10-27T03:34:05.874Z,1761536045.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510447 target range: 122.992188 and range: 123.50 m. 2025-10-27T03:34:05.908Z,1761536045.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520952 2025-10-27T03:34:06.156Z,1761536046.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770650 2025-10-27T03:34:06.234Z,1761536046.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987781,-0.065568,0.141382],[0.077383,-0.993807,0.079752],[0.135277,0.089718,0.986737]] 2025-10-27T03:34:06.293Z,1761536046.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.99 m. 2025-10-27T03:34:06.296Z,1761536046.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.992188 m, nav range: 120.506744 m, bearing: 252.182154 deg, approach rate: 0.005053 m/s, LOS rate: 0.300197 deg/s, cmd heading: 258.429578 deg, new cmd heading: 258.810304 deg. 2025-10-27T03:34:06.297Z,1761536046.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517092 target range: 122.992188 and range: 123.50 m. 2025-10-27T03:34:06.408Z,1761536046.408 [DAT](INFO): DAT read: Rx Time:03:34:07.3314 2025-10-27T03:34:06.408Z,1761536046.408 [DAT](INFO): Rx dataTimestamp_ set to:1761536046.408118 2025-10-27T03:34:06.409Z,1761536046.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023729 2025-10-27T03:34:06.641Z,1761536046.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989513,-0.041162,0.138457],[0.052777,-0.995292,0.081287],[0.134459,0.087742,0.987027]] 2025-10-27T03:34:06.660Z,1761536046.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274823 2025-10-27T03:34:06.669Z,1761536046.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:06.671Z,1761536046.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.99 m. 2025-10-27T03:34:06.674Z,1761536046.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.992188 m, nav range: 120.503334 m, bearing: 252.291503 deg, approach rate: -0.009022 m/s, LOS rate: 0.289288 deg/s, cmd heading: 258.810293 deg, new cmd heading: 259.138344 deg. 2025-10-27T03:34:06.676Z,1761536046.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522817 target range: 122.992188 and range: 123.50 m. 2025-10-27T03:34:06.940Z,1761536046.940 [DAT](INFO): DAT read: 03:34:07.3314 LVL= 30688, 32753, 32754, 32755, AGC= 59, IDX= 431, 0.48,-1.775, 3.120, 2.930,-2.598, PHS= 0.925,-0.520,-0.799, RAW= 81.3, 5.0, CAL= 80.1, 1.7, ROT= 69.9, -1.7 2025-10-27T03:34:06.943Z,1761536046.943 [DAT](INFO): got valid direction response: 03:34:07.3314 LVL= 30688, 32753, 32754, 32755, AGC= 59, IDX= 431, 0.48,-1.775, 3.120, 2.930,-2.598, PHS= 0.925,-0.520,-0.799, RAW= 81.3, 5.0, CAL= 80.1, 1.7, ROT= 69.9, -1.7 2025-10-27T03:34:06.945Z,1761536046.945 [DAT](INFO): DAT read: Bearing 302.6, 77.1 (Local) 2025-10-27T03:34:06.945Z,1761536046.945 [DAT](INFO): Local bearing/azimuth received: Bearing 302.6, 77.1 (Local) 2025-10-27T03:34:06.946Z,1761536046.946 [DAT](INFO): DAT read: Range 11 to 50 : 123.2 m (Round-trip 164.3 ms) speed 0.0 m/s 2025-10-27T03:34:06.971Z,1761536046.971 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:06.972Z,1761536046.972 [DAT](INFO): direction in FSK: [0.343508,0.938681,0.029666] 2025-10-27T03:34:06.973Z,1761536046.973 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:07.000Z,1761536047.000 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:07.000Z,1761536047.000 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:07.001Z,1761536047.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:07.042Z,1761536047.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990679,-0.014858,0.135402],[0.027250,-0.995557,0.090135],[0.133461,0.092984,0.986682]] 2025-10-27T03:34:07.097Z,1761536047.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.199997 m, deltaT: 3.779486 s, deltaX: -0.300003 m, approachRate: -0.079377 m/s, rangeRepo size: 4 2025-10-27T03:34:07.100Z,1761536047.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.693451 m, bearing: 249.209703 deg, lat: 36.779446 deg, lon: -121.859602 deg, deltaT: 3.779486 s, deltaX: -0.298737 m, approachRate: -0.079042 m/s, posRepo size: 4 2025-10-27T03:34:07.100Z,1761536047.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:07.119Z,1761536047.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.213791 m, bearing: 251.696283 deg, approach rate: 0.000000 m/s, LOS rate: 0.289288 deg/s, cmd heading: 259.138333 deg, new cmd heading: 259.507949 deg. 2025-10-27T03:34:07.120Z,1761536047.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529268 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:07.167Z,1761536047.167 [DAT](INFO): DAT read: user:363> 2025-10-27T03:34:07.168Z,1761536047.168 [DAT](INFO): DAT read: Tx time:03:34:08.6129 2025-10-27T03:34:07.168Z,1761536047.168 [DAT](INFO): Ping request sent. 2025-10-27T03:34:07.168Z,1761536047.168 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:34:07.168Z,1761536047.168 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:07.169Z,1761536047.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-27T03:34:07.420Z,1761536047.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251852 2025-10-27T03:34:07.446Z,1761536047.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991122,0.010820,0.132517],[0.002339,-0.995110,0.098747],[0.132938,0.098180,0.986250]] 2025-10-27T03:34:07.483Z,1761536047.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:07.486Z,1761536047.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.207695 m, bearing: 251.816645 deg, approach rate: -0.015790 m/s, LOS rate: 0.311786 deg/s, cmd heading: 259.507956 deg, new cmd heading: 259.869054 deg. 2025-10-27T03:34:07.486Z,1761536047.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535571 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:07.673Z,1761536047.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504973 2025-10-27T03:34:07.849Z,1761536047.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990840,0.036646,0.129974],[-0.022648,-0.993938,0.107586],[0.133129,0.103657,0.985663]] 2025-10-27T03:34:07.872Z,1761536047.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:07.874Z,1761536047.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.195808 m, bearing: 251.936453 deg, approach rate: -0.030561 m/s, LOS rate: 0.308064 deg/s, cmd heading: 259.869054 deg, new cmd heading: 260.228508 deg. 2025-10-27T03:34:07.875Z,1761536047.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541844 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:07.926Z,1761536047.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757884 2025-10-27T03:34:08.178Z,1761536048.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009940 2025-10-27T03:34:08.254Z,1761536048.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989937,0.061950,0.127226],[-0.047399,-0.992306,0.114374],[0.133333,0.107192,0.985257]] 2025-10-27T03:34:08.304Z,1761536048.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:08.306Z,1761536048.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.193604 m, bearing: 252.068553 deg, approach rate: -0.005101 m/s, LOS rate: 0.305644 deg/s, cmd heading: 260.228513 deg, new cmd heading: 260.624814 deg. 2025-10-27T03:34:08.308Z,1761536048.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548761 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:08.428Z,1761536048.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260031 2025-10-27T03:34:08.658Z,1761536048.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988396,0.087336,0.124285],[-0.072540,-0.990245,0.118964],[0.133462,0.108568,0.985089]] 2025-10-27T03:34:08.678Z,1761536048.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:08.682Z,1761536048.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513397 2025-10-27T03:34:08.702Z,1761536048.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:08.716Z,1761536048.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.186172 m, bearing: 252.182303 deg, approach rate: -0.018698 m/s, LOS rate: 0.286229 deg/s, cmd heading: 260.624801 deg, new cmd heading: 260.966068 deg. 2025-10-27T03:34:08.717Z,1761536048.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554717 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:08.935Z,1761536048.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766223 2025-10-27T03:34:09.063Z,1761536049.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986317,0.111791,0.121167],[-0.096914,-0.987736,0.122412],[0.133365,0.108995,0.985055]] 2025-10-27T03:34:09.100Z,1761536049.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:09.103Z,1761536049.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.158966 m, bearing: 252.306971 deg, approach rate: -0.068233 m/s, LOS rate: 0.312737 deg/s, cmd heading: 260.966065 deg, new cmd heading: 261.340150 deg. 2025-10-27T03:34:09.121Z,1761536049.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561246 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:09.185Z,1761536049.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017015 2025-10-27T03:34:09.436Z,1761536049.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268055 2025-10-27T03:34:09.466Z,1761536049.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983654,0.136223,0.117760],[-0.121831,-0.985046,0.121828],[0.132595,0.105490,0.985541]] 2025-10-27T03:34:09.485Z,1761536049.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:09.488Z,1761536049.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.128899 m, bearing: 252.419798 deg, approach rate: -0.078112 m/s, LOS rate: 0.293187 deg/s, cmd heading: 261.340140 deg, new cmd heading: 261.678701 deg. 2025-10-27T03:34:09.489Z,1761536049.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567155 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:09.688Z,1761536049.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520228 2025-10-27T03:34:09.904Z,1761536049.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:09.906Z,1761536049.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.096695 m, bearing: 252.542714 deg, approach rate: -0.076921 m/s, LOS rate: 0.293676 deg/s, cmd heading: 261.678699 deg, new cmd heading: 262.047542 deg. 2025-10-27T03:34:09.907Z,1761536049.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573592 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:09.943Z,1761536049.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774301 2025-10-27T03:34:10.193Z,1761536050.193 [DAT](INFO): DAT read: Rx Time:03:34:11.1813 2025-10-27T03:34:10.194Z,1761536050.194 [DAT](INFO): Rx dataTimestamp_ set to:1761536050.193299 2025-10-27T03:34:10.194Z,1761536050.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026304 2025-10-27T03:34:10.337Z,1761536050.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:10.339Z,1761536050.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.057068 m, bearing: 252.654219 deg, approach rate: -0.091529 m/s, LOS rate: 0.257636 deg/s, cmd heading: 262.047529 deg, new cmd heading: 262.382152 deg. 2025-10-27T03:34:10.340Z,1761536050.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579432 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:10.445Z,1761536050.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276493 2025-10-27T03:34:10.701Z,1761536050.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532018 2025-10-27T03:34:10.704Z,1761536050.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972124,0.208933,0.106409],[-0.195769,-0.973027,0.122034],[0.129036,0.097801,0.986805]] 2025-10-27T03:34:10.793Z,1761536050.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:10.795Z,1761536050.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.69 m. 2025-10-27T03:34:10.801Z,1761536050.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.693451 m, nav range: 119.002182 m, bearing: 252.761118 deg, approach rate: -0.119830 m/s, LOS rate: 0.233496 deg/s, cmd heading: 262.382154 deg, new cmd heading: 262.702995 deg. 2025-10-27T03:34:10.802Z,1761536050.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585032 target range: 122.693451 and range: 123.20 m. 2025-10-27T03:34:10.974Z,1761536050.974 [DAT](INFO): DAT read: 03:34:11.1813 LVL= 15792, 27569, 23074, 24467, AGC= 61, IDX= 446, 0.50, 0.695,-1.164,-0.864,-0.342, PHS= 1.139,-0.778,-0.567, RAW= 95.8, 2.3, CAL= 95.6, -0.2, ROT= 54.4, 0.2 2025-10-27T03:34:10.997Z,1761536050.997 [DAT](INFO): got valid direction response: 03:34:11.1813 LVL= 15792, 27569, 23074, 24467, AGC= 61, IDX= 446, 0.50, 0.695,-1.164,-0.864,-0.342, PHS= 1.139,-0.778,-0.567, RAW= 95.8, 2.3, CAL= 95.6, -0.2, ROT= 54.4, 0.2 2025-10-27T03:34:11.012Z,1761536051.012 [DAT](INFO): DAT read: Bearing 317.8, 60.9 (Local) 2025-10-27T03:34:11.012Z,1761536051.012 [DAT](INFO): Local bearing/azimuth received: Bearing 317.8, 60.9 (Local) 2025-10-27T03:34:11.014Z,1761536051.014 [DAT](INFO): DAT read: Range 11 to 50 : 123.1 m (Round-trip 164.2 ms) speed 0.2 m/s 2025-10-27T03:34:11.014Z,1761536051.014 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:11.024Z,1761536051.024 [DAT](INFO): direction in FSK: [0.582119,0.813096,-0.003491] 2025-10-27T03:34:11.024Z,1761536051.024 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:11.036Z,1761536051.036 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:11.036Z,1761536051.036 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:11.036Z,1761536051.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:11.082Z,1761536051.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967203,0.232699,0.101835],[-0.219970,-0.967812,0.122287],[0.127013,0.095876,0.987257]] 2025-10-27T03:34:11.162Z,1761536051.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.099998 m, deltaT: 4.036627 s, deltaX: -0.099998 m, approachRate: -0.024773 m/s, rangeRepo size: 4 2025-10-27T03:34:11.165Z,1761536051.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.594208 m, bearing: 247.767313 deg, lat: 36.779396 deg, lon: -121.859602 deg, deltaT: 4.036627 s, deltaX: -0.099243 m, approachRate: -0.024586 m/s, posRepo size: 4 2025-10-27T03:34:11.165Z,1761536051.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:11.168Z,1761536051.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 120.672035 m, bearing: 250.338256 deg, approach rate: 0.000000 m/s, LOS rate: 0.233496 deg/s, cmd heading: 262.702982 deg, new cmd heading: 262.960149 deg. 2025-10-27T03:34:11.169Z,1761536051.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589520 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:11.201Z,1761536051.201 [DAT](INFO): DAT read: user:364> 2025-10-27T03:34:11.203Z,1761536051.203 [DAT](INFO): DAT read: Tx time:03:34:12.6629 2025-10-27T03:34:11.203Z,1761536051.203 [DAT](INFO): Ping request sent. 2025-10-27T03:34:11.203Z,1761536051.203 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:34:11.204Z,1761536051.204 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:11.204Z,1761536051.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T03:34:11.452Z,1761536051.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248379 2025-10-27T03:34:11.485Z,1761536051.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961875,0.255900,0.096494],[-0.243481,-0.961949,0.123982],[0.124549,0.095760,0.987582]] 2025-10-27T03:34:11.528Z,1761536051.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:11.530Z,1761536051.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 120.589188 m, bearing: 250.415978 deg, approach rate: -0.226262 m/s, LOS rate: 0.212409 deg/s, cmd heading: 262.960152 deg, new cmd heading: 263.193477 deg. 2025-10-27T03:34:11.532Z,1761536051.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593593 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:11.708Z,1761536051.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504723 2025-10-27T03:34:11.957Z,1761536051.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753647 2025-10-27T03:34:12.040Z,1761536052.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949642,0.301481,0.085375],[-0.289698,-0.948603,0.127389],[0.119392,0.096241,0.988172]] 2025-10-27T03:34:12.089Z,1761536052.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:12.092Z,1761536052.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 120.412514 m, bearing: 250.521468 deg, approach rate: -0.314782 m/s, LOS rate: 0.188229 deg/s, cmd heading: 263.193471 deg, new cmd heading: 263.510403 deg. 2025-10-27T03:34:12.093Z,1761536052.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599124 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:12.209Z,1761536052.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005922 2025-10-27T03:34:12.431Z,1761536052.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942855,0.323462,0.079985],[-0.312088,-0.941377,0.128102],[0.116732,0.095819,0.988530]] 2025-10-27T03:34:12.448Z,1761536052.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:12.451Z,1761536052.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 120.295860 m, bearing: 250.588139 deg, approach rate: -0.324591 m/s, LOS rate: 0.185693 deg/s, cmd heading: 263.510392 deg, new cmd heading: 263.710598 deg. 2025-10-27T03:34:12.452Z,1761536052.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602618 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:12.460Z,1761536052.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256399 2025-10-27T03:34:12.713Z,1761536052.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508960 2025-10-27T03:34:12.829Z,1761536052.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935827,0.344453,0.074706],[-0.333974,-0.934338,0.124397],[0.112649,0.091464,0.989416]] 2025-10-27T03:34:12.862Z,1761536052.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:12.868Z,1761536052.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:12.875Z,1761536052.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 120.163094 m, bearing: 250.660825 deg, approach rate: -0.316186 m/s, LOS rate: 0.173295 deg/s, cmd heading: 263.710599 deg, new cmd heading: 263.928898 deg. 2025-10-27T03:34:12.876Z,1761536052.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606428 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:12.965Z,1761536052.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761404 2025-10-27T03:34:13.216Z,1761536053.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012423 2025-10-27T03:34:13.234Z,1761536053.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928693,0.364810,0.066660],[-0.355710,-0.927105,0.118093],[0.104883,0.085961,0.990763]] 2025-10-27T03:34:13.282Z,1761536053.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:13.285Z,1761536053.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 120.006760 m, bearing: 250.733511 deg, approach rate: -0.377865 m/s, LOS rate: 0.175912 deg/s, cmd heading: 263.928891 deg, new cmd heading: 264.147230 deg. 2025-10-27T03:34:13.286Z,1761536053.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610239 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:13.468Z,1761536053.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264473 2025-10-27T03:34:13.638Z,1761536053.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921265,0.385183,0.053905],[-0.377745,-0.919128,0.111860],[0.092632,0.082690,0.992261]] 2025-10-27T03:34:13.656Z,1761536053.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:13.659Z,1761536053.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 119.868698 m, bearing: 250.795003 deg, approach rate: -0.369218 m/s, LOS rate: 0.164639 deg/s, cmd heading: 264.147239 deg, new cmd heading: 264.331928 deg. 2025-10-27T03:34:13.660Z,1761536053.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613462 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:13.721Z,1761536053.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517358 2025-10-27T03:34:13.972Z,1761536053.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768921 2025-10-27T03:34:14.072Z,1761536054.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914114,0.403871,0.035839],[-0.398401,-0.911107,0.105640],[0.075318,0.082289,0.993758]] 2025-10-27T03:34:14.120Z,1761536054.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:14.123Z,1761536054.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 119.676773 m, bearing: 250.875251 deg, approach rate: -0.413569 m/s, LOS rate: 0.173200 deg/s, cmd heading: 264.331927 deg, new cmd heading: 264.573056 deg. 2025-10-27T03:34:14.124Z,1761536054.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617671 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:14.224Z,1761536054.224 [DAT](INFO): DAT read: Rx Time:03:34:15.2293 2025-10-27T03:34:14.225Z,1761536054.225 [DAT](INFO): Rx dataTimestamp_ set to:1761536054.224270 2025-10-27T03:34:14.225Z,1761536054.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021626 2025-10-27T03:34:14.452Z,1761536054.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906686,0.421520,0.015545],[-0.418382,-0.903400,0.093942],[0.053642,0.078672,0.995456]] 2025-10-27T03:34:14.470Z,1761536054.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:14.473Z,1761536054.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 119.529305 m, bearing: 250.934555 deg, approach rate: -0.421052 m/s, LOS rate: 0.169534 deg/s, cmd heading: 264.573060 deg, new cmd heading: 264.751192 deg. 2025-10-27T03:34:14.474Z,1761536054.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620780 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:14.476Z,1761536054.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272532 2025-10-27T03:34:14.731Z,1761536054.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526501 2025-10-27T03:34:14.849Z,1761536054.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898396,0.439161,-0.004671],[-0.438236,-0.895704,0.075255],[0.028865,0.069656,0.997153]] 2025-10-27T03:34:14.885Z,1761536054.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:14.887Z,1761536054.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T03:34:14.890Z,1761536054.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.594208 m, nav range: 119.350777 m, bearing: 251.003523 deg, approach rate: -0.428384 m/s, LOS rate: 0.165738 deg/s, cmd heading: 264.751192 deg, new cmd heading: 264.958403 deg. 2025-10-27T03:34:14.892Z,1761536054.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624396 target range: 122.594208 and range: 123.10 m. 2025-10-27T03:34:15.032Z,1761536055.032 [DAT](INFO): DAT read: 03:34:15.2293 LVL= 30704, 32753, 32754, 32755, AGC= 65, IDX= 427,-0.19,-2.272, 2.053, 2.992,-2.948, PHS= 0.779,-1.237,-0.386, RAW= 114.8, 9.7, CAL= 116.1, 10.9, ROT= 33.9, -10.9 2025-10-27T03:34:15.042Z,1761536055.042 [DAT](INFO): got valid direction response: 03:34:15.2293 LVL= 30704, 32753, 32754, 32755, AGC= 65, IDX= 427,-0.19,-2.272, 2.053, 2.992,-2.948, PHS= 0.779,-1.237,-0.386, RAW= 114.8, 9.7, CAL= 116.1, 10.9, ROT= 33.9, -10.9 2025-10-27T03:34:15.049Z,1761536055.049 [DAT](INFO): DAT read: Bearing 355.4, 37.7 (Local) 2025-10-27T03:34:15.050Z,1761536055.050 [DAT](INFO): Local bearing/azimuth received: Bearing 355.4, 37.7 (Local) 2025-10-27T03:34:15.069Z,1761536055.069 [DAT](INFO): DAT read: Range 11 to 50 : 121.7 m (Round-trip 162.3 ms) speed 0.1 m/s 2025-10-27T03:34:15.070Z,1761536055.070 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:15.075Z,1761536055.075 [DAT](INFO): direction in FSK: [0.815038,0.547683,0.189095] 2025-10-27T03:34:15.075Z,1761536055.075 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:15.082Z,1761536055.082 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:15.082Z,1761536055.082 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:15.082Z,1761536055.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:15.232Z,1761536055.232 [DAT](INFO): DAT read: user:365> 2025-10-27T03:34:15.233Z,1761536055.233 [DAT](INFO): DAT read: Tx time:03:34:16.7129 2025-10-27T03:34:15.233Z,1761536055.233 [DAT](INFO): Ping request sent. 2025-10-27T03:34:15.233Z,1761536055.233 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:34:15.233Z,1761536055.233 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:15.234Z,1761536055.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-27T03:34:15.257Z,1761536055.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889282,0.456586,-0.026583],[-0.457357,-0.887574,0.055105],[0.001566,0.061162,0.998127]] 2025-10-27T03:34:15.338Z,1761536055.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.699997 m, deltaT: 4.030802 s, deltaX: -1.400002 m, approachRate: -0.347326 m/s, rangeRepo size: 4 2025-10-27T03:34:15.341Z,1761536055.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.199959 m, bearing: 240.513839 deg, lat: 36.779396 deg, lon: -121.859602 deg, deltaT: 4.030802 s, deltaX: -1.394249 m, approachRate: -0.345899 m/s, posRepo size: 4 2025-10-27T03:34:15.341Z,1761536055.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:15.344Z,1761536055.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 119.179863 m, bearing: 251.077651 deg, approach rate: 0.000000 m/s, LOS rate: 0.165738 deg/s, cmd heading: 264.958392 deg, new cmd heading: 265.182403 deg. 2025-10-27T03:34:15.345Z,1761536055.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628306 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:15.484Z,1761536055.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250985 2025-10-27T03:34:15.659Z,1761536055.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878957,0.474291,-0.049824],[-0.476112,-0.878708,0.034501],[-0.027417,0.054046,0.998162]] 2025-10-27T03:34:15.689Z,1761536055.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:15.695Z,1761536055.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 119.043106 m, bearing: 251.134632 deg, approach rate: -0.388895 m/s, LOS rate: 0.162222 deg/s, cmd heading: 265.182395 deg, new cmd heading: 265.353534 deg. 2025-10-27T03:34:15.697Z,1761536055.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631293 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:15.736Z,1761536055.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986 2025-10-27T03:34:15.988Z,1761536055.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754782 2025-10-27T03:34:16.096Z,1761536056.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867154,0.492357,-0.075024],[-0.494695,-0.868931,0.015355],[-0.057631,0.050429,0.997064]] 2025-10-27T03:34:16.138Z,1761536056.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:16.141Z,1761536056.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 118.872536 m, bearing: 251.221236 deg, approach rate: -0.380386 m/s, LOS rate: 0.193413 deg/s, cmd heading: 265.353532 deg, new cmd heading: 265.613717 deg. 2025-10-27T03:34:16.142Z,1761536056.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635834 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:16.240Z,1761536056.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007063 2025-10-27T03:34:16.471Z,1761536056.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853856,0.510494,-0.101621],[-0.512941,-0.858421,-0.002370],[-0.088444,0.050102,0.994820]] 2025-10-27T03:34:16.492Z,1761536056.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258953 2025-10-27T03:34:16.497Z,1761536056.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:16.500Z,1761536056.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 118.735703 m, bearing: 251.287926 deg, approach rate: -0.381175 m/s, LOS rate: 0.185992 deg/s, cmd heading: 265.613708 deg, new cmd heading: 265.814007 deg. 2025-10-27T03:34:16.501Z,1761536056.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639329 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:16.744Z,1761536056.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510941 2025-10-27T03:34:16.870Z,1761536056.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838788,0.529084,-0.128472],[-0.531320,-0.846957,-0.019043],[-0.118885,0.052287,0.991530]] 2025-10-27T03:34:16.895Z,1761536056.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:16.897Z,1761536056.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:16.900Z,1761536056.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 118.581985 m, bearing: 251.359678 deg, approach rate: -0.383921 m/s, LOS rate: 0.179439 deg/s, cmd heading: 265.813996 deg, new cmd heading: 266.029530 deg. 2025-10-27T03:34:16.901Z,1761536056.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643091 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:16.997Z,1761536056.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764203 2025-10-27T03:34:17.151Z,1761536057.151 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:34:17.248Z,1761536057.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014880 2025-10-27T03:34:17.274Z,1761536057.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822076,0.547699,-0.155615],[-0.549598,-0.834718,-0.034462],[-0.148770,0.057195,0.987216]] 2025-10-27T03:34:17.323Z,1761536057.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:17.326Z,1761536057.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 118.430847 m, bearing: 251.445063 deg, approach rate: -0.354915 m/s, LOS rate: 0.200764 deg/s, cmd heading: 266.029530 deg, new cmd heading: 266.286010 deg. 2025-10-27T03:34:17.327Z,1761536057.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647568 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:17.500Z,1761536057.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267260 2025-10-27T03:34:17.688Z,1761536057.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804153,0.565354,-0.183613],[-0.567413,-0.822129,-0.046330],[-0.177146,0.066928,0.981906]] 2025-10-27T03:34:17.738Z,1761536057.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:17.747Z,1761536057.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 118.292007 m, bearing: 251.520078 deg, approach rate: -0.334294 m/s, LOS rate: 0.180831 deg/s, cmd heading: 266.286017 deg, new cmd heading: 266.511326 deg. 2025-10-27T03:34:17.748Z,1761536057.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651500 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:17.752Z,1761536057.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518951 2025-10-27T03:34:18.004Z,1761536058.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770843 2025-10-27T03:34:18.117Z,1761536058.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785575,0.581533,-0.211403],[-0.584149,-0.809673,-0.056571],[-0.204065,0.079050,0.975760]] 2025-10-27T03:34:18.155Z,1761536058.155 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:34:18.167Z,1761536058.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:18.173Z,1761536058.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 118.152473 m, bearing: 251.608676 deg, approach rate: -0.326256 m/s, LOS rate: 0.207403 deg/s, cmd heading: 266.511331 deg, new cmd heading: 266.777437 deg. 2025-10-27T03:34:18.195Z,1761536058.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656145 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:18.258Z,1761536058.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025408 2025-10-27T03:34:18.509Z,1761536058.509 [DAT](INFO): DAT read: Rx Time:03:34:19.2781 2025-10-27T03:34:18.509Z,1761536058.509 [DAT](INFO): Rx dataTimestamp_ set to:1761536058.508782 2025-10-27T03:34:18.510Z,1761536058.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276565 2025-10-27T03:34:18.562Z,1761536058.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766323,0.598042,-0.234721],[-0.600204,-0.796739,-0.070438],[-0.229137,0.086902,0.969507]] 2025-10-27T03:34:18.588Z,1761536058.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:18.590Z,1761536058.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 118.020027 m, bearing: 251.689181 deg, approach rate: -0.313947 m/s, LOS rate: 0.191040 deg/s, cmd heading: 266.777435 deg, new cmd heading: 267.019220 deg. 2025-10-27T03:34:18.596Z,1761536058.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660365 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:18.762Z,1761536058.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528450 2025-10-27T03:34:18.994Z,1761536058.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:18.996Z,1761536058.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.20 m. 2025-10-27T03:34:18.999Z,1761536058.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.199959 m, nav range: 117.890388 m, bearing: 251.768295 deg, approach rate: -0.317247 m/s, LOS rate: 0.193818 deg/s, cmd heading: 267.019224 deg, new cmd heading: 267.256826 deg. 2025-10-27T03:34:19.000Z,1761536059.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664512 target range: 121.199959 and range: 121.70 m. 2025-10-27T03:34:19.017Z,1761536059.017 [DAT](INFO): DAT read: 03:34:19.2781 LVL= 18304, 30369, 28338, 32755, AGC= 65, IDX= 426,-0.30,-1.118, 2.984,-2.087,-1.790, PHS= 0.774,-1.464,-0.341, RAW= 120.1, 10.7, CAL= 121.0, 11.8, ROT= 29.0, -11.8 2025-10-27T03:34:19.018Z,1761536059.018 [DAT](INFO): got valid direction response: 03:34:19.2781 LVL= 18304, 30369, 28338, 32755, AGC= 65, IDX= 426,-0.30,-1.118, 2.984,-2.087,-1.790, PHS= 0.774,-1.464,-0.341, RAW= 120.1, 10.7, CAL= 121.0, 11.8, ROT= 29.0, -11.8 2025-10-27T03:34:19.020Z,1761536059.020 [DAT](INFO): DAT read: Bearing 8.0, 16.8 (Local) 2025-10-27T03:34:19.020Z,1761536059.020 [DAT](INFO): Local bearing/azimuth received: Bearing 8.0, 16.8 (Local) 2025-10-27T03:34:19.021Z,1761536059.021 [DAT](INFO): DAT read: Range 11 to 50 : 120.6 m (Round-trip 160.9 ms) speed 0.2 m/s 2025-10-27T03:34:19.022Z,1761536059.022 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:19.035Z,1761536059.035 [DAT](INFO): direction in FSK: [0.856137,0.474564,0.204496] 2025-10-27T03:34:19.035Z,1761536059.035 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:19.039Z,1761536059.039 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:19.039Z,1761536059.039 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:19.039Z,1761536059.039 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:19.265Z,1761536059.265 [DAT](INFO): DAT read: user:366> 2025-10-27T03:34:19.266Z,1761536059.266 [DAT](INFO): DAT read: Tx time:03:34:20.6630 2025-10-27T03:34:19.267Z,1761536059.267 [DAT](INFO): Ping request sent. 2025-10-27T03:34:19.267Z,1761536059.267 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:34:19.267Z,1761536059.267 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:19.268Z,1761536059.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001497 2025-10-27T03:34:19.491Z,1761536059.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.599998 m, deltaT: 4.031209 s, deltaX: -1.099998 m, approachRate: -0.272871 m/s, rangeRepo size: 4 2025-10-27T03:34:19.493Z,1761536059.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.104996 m, bearing: 245.123565 deg, lat: 36.779349 deg, lon: -121.859587 deg, deltaT: 4.031209 s, deltaX: -1.094963 m, approachRate: -0.271621 m/s, posRepo size: 4 2025-10-27T03:34:19.494Z,1761536059.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:19.501Z,1761536059.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 118.166939 m, bearing: 249.216367 deg, approach rate: 0.000000 m/s, LOS rate: 0.193818 deg/s, cmd heading: 267.256833 deg, new cmd heading: 267.532452 deg. 2025-10-27T03:34:19.502Z,1761536059.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669322 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:19.516Z,1761536059.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249579 2025-10-27T03:34:19.768Z,1761536059.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501460 2025-10-27T03:34:19.809Z,1761536059.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705295,0.649259,-0.284642],[-0.645855,-0.754033,-0.119606],[-0.292285,0.099480,0.951143]] 2025-10-27T03:34:19.838Z,1761536059.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:19.841Z,1761536059.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 118.039482 m, bearing: 249.278173 deg, approach rate: -0.346651 m/s, LOS rate: 0.168280 deg/s, cmd heading: 267.532445 deg, new cmd heading: 267.718064 deg. 2025-10-27T03:34:19.842Z,1761536059.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672562 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:20.021Z,1761536060.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754076 2025-10-27T03:34:20.216Z,1761536060.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684410,0.666615,-0.295309],[-0.660107,-0.738528,-0.137245],[-0.309583,0.101004,0.945493]] 2025-10-27T03:34:20.253Z,1761536060.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:20.272Z,1761536060.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005388 2025-10-27T03:34:20.288Z,1761536060.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 117.900436 m, bearing: 249.338341 deg, approach rate: -0.334847 m/s, LOS rate: 0.145065 deg/s, cmd heading: 267.718062 deg, new cmd heading: 267.898777 deg. 2025-10-27T03:34:20.289Z,1761536060.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675716 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:20.524Z,1761536060.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257407 2025-10-27T03:34:20.618Z,1761536060.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662952,0.684838,-0.302474],[-0.673995,-0.721840,-0.157094],[-0.325922,0.099720,0.940123]] 2025-10-27T03:34:20.644Z,1761536060.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:20.647Z,1761536060.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 117.768227 m, bearing: 249.392976 deg, approach rate: -0.338140 m/s, LOS rate: 0.139890 deg/s, cmd heading: 267.898789 deg, new cmd heading: 268.062875 deg. 2025-10-27T03:34:20.648Z,1761536060.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678580 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:20.777Z,1761536060.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510915 2025-10-27T03:34:21.022Z,1761536061.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641231,0.702717,-0.308241],[-0.687513,-0.704535,-0.175946],[-0.340807,0.099098,0.934896]] 2025-10-27T03:34:21.028Z,1761536061.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761610 2025-10-27T03:34:21.040Z,1761536061.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:21.042Z,1761536061.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:21.045Z,1761536061.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 117.631432 m, bearing: 249.446903 deg, approach rate: -0.343882 m/s, LOS rate: 0.135723 deg/s, cmd heading: 268.062877 deg, new cmd heading: 268.224847 deg. 2025-10-27T03:34:21.046Z,1761536061.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681406 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:21.280Z,1761536061.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013433 2025-10-27T03:34:21.504Z,1761536061.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:21.507Z,1761536061.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 117.449150 m, bearing: 249.495529 deg, approach rate: -0.394728 m/s, LOS rate: 0.105463 deg/s, cmd heading: 268.224835 deg, new cmd heading: 268.370939 deg. 2025-10-27T03:34:21.508Z,1761536061.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683957 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:21.532Z,1761536061.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265567 2025-10-27T03:34:21.784Z,1761536061.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517432 2025-10-27T03:34:21.830Z,1761536061.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599509,0.734883,-0.317073],[-0.712935,-0.670371,-0.205735],[-0.363748,0.102712,0.925817]] 2025-10-27T03:34:21.848Z,1761536061.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:21.851Z,1761536061.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 117.311615 m, bearing: 249.528038 deg, approach rate: -0.399992 m/s, LOS rate: 0.094657 deg/s, cmd heading: 268.370946 deg, new cmd heading: 268.468587 deg. 2025-10-27T03:34:21.852Z,1761536061.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685661 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:22.037Z,1761536062.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770312 2025-10-27T03:34:22.234Z,1761536062.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579454,0.748635,-0.322145],[-0.725838,-0.653802,-0.213783],[-0.370664,0.109948,0.922236]] 2025-10-27T03:34:22.277Z,1761536062.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:22.280Z,1761536062.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 117.105278 m, bearing: 249.560695 deg, approach rate: -0.480734 m/s, LOS rate: 0.076220 deg/s, cmd heading: 268.468590 deg, new cmd heading: 268.566734 deg. 2025-10-27T03:34:22.281Z,1761536062.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687374 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:22.288Z,1761536062.288 [DAT](INFO): DAT read: Rx Time:03:34:23.2268 2025-10-27T03:34:22.289Z,1761536062.289 [DAT](INFO): Rx dataTimestamp_ set to:1761536062.288513 2025-10-27T03:34:22.289Z,1761536062.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022914 2025-10-27T03:34:22.540Z,1761536062.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273491 2025-10-27T03:34:22.639Z,1761536062.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560793,0.761964,-0.323916],[-0.739229,-0.636988,-0.218599],[-0.372896,0.116860,0.920485]] 2025-10-27T03:34:22.657Z,1761536062.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:22.664Z,1761536062.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 116.921188 m, bearing: 249.587440 deg, approach rate: -0.484153 m/s, LOS rate: 0.070450 deg/s, cmd heading: 268.566726 deg, new cmd heading: 268.647088 deg. 2025-10-27T03:34:22.668Z,1761536062.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688776 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:22.798Z,1761536062.798 [DAT](INFO): DAT read: 03:34:23.2268 LVL= 26160, 29009, 26690, 32755, AGC= 69, IDX= 429,-0.43, 1.386,-1.045, 0.451, 0.605, PHS= 0.883,-1.605,-0.198, RAW= 124.3, 8.6, CAL= 124.9, 9.8, ROT= 25.1, -9.8 2025-10-27T03:34:22.799Z,1761536062.799 [DAT](INFO): got valid direction response: 03:34:23.2268 LVL= 26160, 29009, 26690, 32755, AGC= 69, IDX= 429,-0.43, 1.386,-1.045, 0.451, 0.605, PHS= 0.883,-1.605,-0.198, RAW= 124.3, 8.6, CAL= 124.9, 9.8, ROT= 25.1, -9.8 2025-10-27T03:34:22.800Z,1761536062.800 [DAT](INFO): DAT read: $Error in header 2025-10-27T03:34:22.800Z,1761536062.800 [DAT](INFO): Received a bad header 2025-10-27T03:34:22.811Z,1761536062.811 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T03:34:22.812Z,1761536062.812 [DAT](INFO): direction in FSK: [0.892355,0.418009,0.170209] 2025-10-27T03:34:22.815Z,1761536062.815 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:22.815Z,1761536062.815 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:22.816Z,1761536062.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:23.044Z,1761536063.044 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:23.044Z,1761536063.044 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:23.044Z,1761536063.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:23.082Z,1761536063.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:23.111Z,1761536063.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:23.114Z,1761536063.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 116.714775 m, bearing: 249.617534 deg, approach rate: -0.459860 m/s, LOS rate: 0.067163 deg/s, cmd heading: 268.647077 deg, new cmd heading: 268.737517 deg. 2025-10-27T03:34:23.115Z,1761536063.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690354 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:23.297Z,1761536063.297 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:23.297Z,1761536063.297 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:23.297Z,1761536063.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:23.505Z,1761536063.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:23.524Z,1761536063.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 116.503319 m, bearing: 249.633568 deg, approach rate: -0.530605 m/s, LOS rate: 0.040307 deg/s, cmd heading: 268.737509 deg, new cmd heading: 268.785698 deg. 2025-10-27T03:34:23.531Z,1761536063.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691195 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:23.548Z,1761536063.548 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:23.548Z,1761536063.548 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:23.548Z,1761536063.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:23.800Z,1761536063.800 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:23.800Z,1761536063.800 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:23.800Z,1761536063.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:23.867Z,1761536063.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514444,0.799509,-0.310054],[-0.780903,-0.586177,-0.215841],[-0.354313,0.131084,0.925894]] 2025-10-27T03:34:23.898Z,1761536063.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:23.903Z,1761536063.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 116.301483 m, bearing: 249.642288 deg, approach rate: -0.512552 m/s, LOS rate: 0.022181 deg/s, cmd heading: 268.785702 deg, new cmd heading: 268.811906 deg. 2025-10-27T03:34:23.904Z,1761536063.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691653 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:24.052Z,1761536064.052 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:24.052Z,1761536064.052 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:24.052Z,1761536064.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:24.272Z,1761536064.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501405,0.811655,-0.299681],[-0.794815,-0.568948,-0.211111],[-0.341852,0.132339,0.930389]] 2025-10-27T03:34:24.304Z,1761536064.304 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:24.304Z,1761536064.304 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:24.304Z,1761536064.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:24.312Z,1761536064.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:24.314Z,1761536064.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 116.078278 m, bearing: 249.646369 deg, approach rate: -0.540290 m/s, LOS rate: 0.009899 deg/s, cmd heading: 268.811903 deg, new cmd heading: 268.824172 deg. 2025-10-27T03:34:24.335Z,1761536064.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691867 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:24.557Z,1761536064.557 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:24.557Z,1761536064.557 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:24.557Z,1761536064.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:24.693Z,1761536064.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488832,0.825054,-0.283425],[-0.808839,-0.550361,-0.207077],[-0.326836,0.128019,0.936370]] 2025-10-27T03:34:24.725Z,1761536064.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:24.754Z,1761536064.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 115.854706 m, bearing: 249.648472 deg, approach rate: -0.541512 m/s, LOS rate: 0.005102 deg/s, cmd heading: 268.824170 deg, new cmd heading: 268.830489 deg. 2025-10-27T03:34:24.755Z,1761536064.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691977 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:24.808Z,1761536064.808 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:24.808Z,1761536064.808 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:24.808Z,1761536064.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:25.060Z,1761536065.060 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:25.060Z,1761536065.060 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:25.060Z,1761536065.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:25.078Z,1761536065.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477223,0.837745,-0.265408],[-0.822451,-0.532167,-0.200930],[-0.309570,0.122397,0.942966]] 2025-10-27T03:34:25.107Z,1761536065.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:25.109Z,1761536065.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:25.116Z,1761536065.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 115.649094 m, bearing: 249.648714 deg, approach rate: -0.534425 m/s, LOS rate: 0.000632 deg/s, cmd heading: 268.830481 deg, new cmd heading: 268.831211 deg. 2025-10-27T03:34:25.117Z,1761536065.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691990 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:25.312Z,1761536065.312 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:25.312Z,1761536065.312 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:25.313Z,1761536065.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:25.490Z,1761536065.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465561,0.850486,-0.244798],[-0.835772,-0.513483,-0.194475],[-0.291098,0.114055,0.949870]] 2025-10-27T03:34:25.549Z,1761536065.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:25.556Z,1761536065.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 115.415710 m, bearing: 249.646291 deg, approach rate: -0.530273 m/s, LOS rate: -0.005517 deg/s, cmd heading: 268.831219 deg, new cmd heading: 268.823934 deg. 2025-10-27T03:34:25.557Z,1761536065.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691863 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:25.564Z,1761536065.564 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:25.564Z,1761536065.564 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:25.564Z,1761536065.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:25.816Z,1761536065.816 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:25.816Z,1761536065.816 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:25.816Z,1761536065.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:25.896Z,1761536065.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453364,0.862048,-0.226571],[-0.848829,-0.495121,-0.185323],[-0.271938,0.108301,0.956201]] 2025-10-27T03:34:25.939Z,1761536065.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:25.942Z,1761536065.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 115.206993 m, bearing: 249.642371 deg, approach rate: -0.564763 m/s, LOS rate: -0.010626 deg/s, cmd heading: 268.823924 deg, new cmd heading: 268.812143 deg. 2025-10-27T03:34:25.947Z,1761536065.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691657 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:26.068Z,1761536066.068 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:26.068Z,1761536066.068 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:26.068Z,1761536066.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:26.292Z,1761536066.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440985,0.872750,-0.209380],[-0.861295,-0.477116,-0.174730],[-0.252394,0.103285,0.962096]] 2025-10-27T03:34:26.320Z,1761536066.320 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:26.320Z,1761536066.320 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:26.320Z,1761536066.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:26.354Z,1761536066.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:26.360Z,1761536066.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 114.984901 m, bearing: 249.642748 deg, approach rate: -0.510781 m/s, LOS rate: 0.000869 deg/s, cmd heading: 268.812149 deg, new cmd heading: 268.813283 deg. 2025-10-27T03:34:26.361Z,1761536066.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691677 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:26.573Z,1761536066.573 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:26.573Z,1761536066.573 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:26.573Z,1761536066.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:26.713Z,1761536066.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427604,0.882854,-0.194228],[-0.873537,-0.458838,-0.162483],[-0.232567,0.100187,0.967406]] 2025-10-27T03:34:26.742Z,1761536066.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:26.745Z,1761536066.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 114.767593 m, bearing: 249.641203 deg, approach rate: -0.559149 m/s, LOS rate: -0.003985 deg/s, cmd heading: 268.813269 deg, new cmd heading: 268.808623 deg. 2025-10-27T03:34:26.746Z,1761536066.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691596 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:26.825Z,1761536066.825 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:26.825Z,1761536066.825 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:26.825Z,1761536066.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:27.076Z,1761536067.076 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:27.076Z,1761536067.076 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:27.076Z,1761536067.076 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:27.105Z,1761536067.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412973,0.892495,-0.181401],[-0.885532,-0.440036,-0.149003],[-0.212807,0.099102,0.972055]] 2025-10-27T03:34:27.121Z,1761536067.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:27.123Z,1761536067.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:27.126Z,1761536067.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 114.558876 m, bearing: 249.637782 deg, approach rate: -0.547912 m/s, LOS rate: -0.008997 deg/s, cmd heading: 268.808624 deg, new cmd heading: 268.798343 deg. 2025-10-27T03:34:27.144Z,1761536067.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691416 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:27.328Z,1761536067.328 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:27.328Z,1761536067.328 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:27.328Z,1761536067.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:27.506Z,1761536067.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396269,0.902687,-0.167713],[-0.897521,-0.419345,-0.136405],[-0.193461,0.096473,0.976353]] 2025-10-27T03:34:27.562Z,1761536067.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:27.564Z,1761536067.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 114.333084 m, bearing: 249.640145 deg, approach rate: -0.515195 m/s, LOS rate: 0.005405 deg/s, cmd heading: 268.798352 deg, new cmd heading: 268.805458 deg. 2025-10-27T03:34:27.565Z,1761536067.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691540 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:27.592Z,1761536067.592 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:27.592Z,1761536067.592 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:27.592Z,1761536067.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:27.844Z,1761536067.844 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:27.844Z,1761536067.844 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:27.844Z,1761536067.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:27.921Z,1761536067.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378271,0.912407,-0.156285],[-0.909081,-0.397992,-0.123185],[-0.174594,0.095478,0.980000]] 2025-10-27T03:34:27.959Z,1761536067.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:27.962Z,1761536067.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 114.133705 m, bearing: 249.640094 deg, approach rate: -0.500976 m/s, LOS rate: -0.000129 deg/s, cmd heading: 268.805455 deg, new cmd heading: 268.805302 deg. 2025-10-27T03:34:27.967Z,1761536067.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691537 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:28.096Z,1761536068.096 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:28.096Z,1761536068.096 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:28.096Z,1761536068.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:28.313Z,1761536068.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359637,0.921188,-0.148576],[-0.919909,-0.376704,-0.108913],[-0.156298,0.097508,0.982885]] 2025-10-27T03:34:28.348Z,1761536068.348 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:28.348Z,1761536068.348 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:28.348Z,1761536068.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:28.370Z,1761536068.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:28.373Z,1761536068.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 113.951027 m, bearing: 249.646478 deg, approach rate: -0.444766 m/s, LOS rate: 0.015567 deg/s, cmd heading: 268.805291 deg, new cmd heading: 268.824473 deg. 2025-10-27T03:34:28.374Z,1761536068.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691872 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:28.600Z,1761536068.600 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:28.600Z,1761536068.600 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:28.600Z,1761536068.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:28.728Z,1761536068.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339708,0.929553,-0.143286],[-0.930274,-0.354519,-0.094377],[-0.138526,0.101235,0.985171]] 2025-10-27T03:34:28.753Z,1761536068.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:28.772Z,1761536068.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 113.785667 m, bearing: 249.650417 deg, approach rate: -0.432494 m/s, LOS rate: 0.010316 deg/s, cmd heading: 268.824470 deg, new cmd heading: 268.836304 deg. 2025-10-27T03:34:28.773Z,1761536068.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692079 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:28.853Z,1761536068.853 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:28.853Z,1761536068.853 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:28.853Z,1761536068.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:29.104Z,1761536069.104 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:29.104Z,1761536069.104 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:29.104Z,1761536069.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T03:34:29.122Z,1761536069.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319559,0.937331,-0.138899],[-0.939789,-0.332254,-0.080018],[-0.121153,0.104966,0.987068]] 2025-10-27T03:34:29.200Z,1761536069.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:29.202Z,1761536069.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:29.236Z,1761536069.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 113.608353 m, bearing: 249.652682 deg, approach rate: -0.394582 m/s, LOS rate: 0.005048 deg/s, cmd heading: 268.836300 deg, new cmd heading: 268.843106 deg. 2025-10-27T03:34:29.248Z,1761536069.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692197 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:29.356Z,1761536069.356 [DAT](INFO): Reached modem response timeout 2025-10-27T03:34:29.356Z,1761536069.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:29.356Z,1761536069.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:29.608Z,1761536069.608 [DAT](INFO): DAT read: 2025-10-27T03:34:29.608Z,1761536069.608 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:29.619Z,1761536069.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276214,0.952505,-0.128222],[-0.957105,-0.284754,-0.053526],[-0.087496,0.107937,0.990300]] 2025-10-27T03:34:29.684Z,1761536069.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:29.692Z,1761536069.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 113.409966 m, bearing: 249.658740 deg, approach rate: -0.415876 m/s, LOS rate: 0.012723 deg/s, cmd heading: 268.843103 deg, new cmd heading: 268.861311 deg. 2025-10-27T03:34:29.694Z,1761536069.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692515 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:29.860Z,1761536069.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:30.065Z,1761536070.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254397,0.959272,-0.122797],[-0.964477,-0.260998,-0.040790],[-0.071178,0.108058,0.991593]] 2025-10-27T03:34:30.084Z,1761536070.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:30.087Z,1761536070.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 113.237617 m, bearing: 249.662005 deg, approach rate: -0.425479 m/s, LOS rate: 0.008072 deg/s, cmd heading: 268.861299 deg, new cmd heading: 268.871108 deg. 2025-10-27T03:34:30.088Z,1761536070.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692686 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:30.112Z,1761536070.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:30.364Z,1761536070.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:30.550Z,1761536070.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231454,0.965838,-0.116558],[-0.971234,-0.236299,-0.029434],[-0.055971,0.106393,0.992748]] 2025-10-27T03:34:30.602Z,1761536070.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:30.605Z,1761536070.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 113.059204 m, bearing: 249.672301 deg, approach rate: -0.344120 m/s, LOS rate: 0.019890 deg/s, cmd heading: 268.871107 deg, new cmd heading: 268.902044 deg. 2025-10-27T03:34:30.606Z,1761536070.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693226 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:30.616Z,1761536070.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:30.868Z,1761536070.868 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:30.962Z,1761536070.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208066,0.971773,-0.111204],[-0.977215,-0.211402,-0.018962],[-0.041935,0.104725,0.993617]] 2025-10-27T03:34:30.981Z,1761536070.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:30.984Z,1761536070.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 112.918777 m, bearing: 249.678685 deg, approach rate: -0.371188 m/s, LOS rate: 0.016895 deg/s, cmd heading: 268.902034 deg, new cmd heading: 268.921209 deg. 2025-10-27T03:34:30.985Z,1761536070.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693561 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:31.120Z,1761536071.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:31.354Z,1761536071.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184670,0.977124,-0.105480],[-0.982366,-0.186713,-0.009746],[-0.029217,0.101820,0.994374]] 2025-10-27T03:34:31.372Z,1761536071.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:31.408Z,1761536071.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:31.411Z,1761536071.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:31.413Z,1761536071.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 112.746765 m, bearing: 249.677609 deg, approach rate: -0.400280 m/s, LOS rate: -0.002507 deg/s, cmd heading: 268.921213 deg, new cmd heading: 268.917981 deg. 2025-10-27T03:34:31.414Z,1761536071.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693504 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:31.624Z,1761536071.624 [DAT](INFO): DAT read: Response Not Received 2025-10-27T03:34:31.624Z,1761536071.624 [DAT](INFO): response not received 2025-10-27T03:34:31.625Z,1761536071.625 [DAT](INFO): DAT read: user:368>Tx time:03:34:33.1130 2025-10-27T03:34:31.625Z,1761536071.625 [DAT](ERROR): No response from remote modem. 2025-10-27T03:34:31.626Z,1761536071.626 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:31.626Z,1761536071.626 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:31.758Z,1761536071.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162005,0.981945,-0.097662],[-0.986633,-0.162948,-0.001711],[-0.017594,0.096080,0.995218]] 2025-10-27T03:34:31.792Z,1761536071.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:31.795Z,1761536071.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 112.593468 m, bearing: 249.674842 deg, approach rate: -0.401367 m/s, LOS rate: -0.007255 deg/s, cmd heading: 268.917989 deg, new cmd heading: 268.909677 deg. 2025-10-27T03:34:31.796Z,1761536071.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693359 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:31.877Z,1761536071.877 [DAT](INFO): DAT read: 2025-10-27T03:34:31.877Z,1761536071.877 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:32.128Z,1761536072.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:32.177Z,1761536072.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141529,0.986242,-0.085423],[-0.989911,-0.141593,0.005341],[-0.006828,0.085317,0.996330]] 2025-10-27T03:34:32.198Z,1761536072.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:32.201Z,1761536072.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 112.430939 m, bearing: 249.670172 deg, approach rate: -0.400315 m/s, LOS rate: -0.011518 deg/s, cmd heading: 268.909684 deg, new cmd heading: 268.895655 deg. 2025-10-27T03:34:32.202Z,1761536072.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693115 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:32.381Z,1761536072.381 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:32.565Z,1761536072.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121842,0.989962,-0.071615],[-0.992544,-0.121286,0.012089],[0.003282,0.072554,0.997359]] 2025-10-27T03:34:32.611Z,1761536072.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:32.614Z,1761536072.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 112.257355 m, bearing: 249.659769 deg, approach rate: -0.421178 m/s, LOS rate: -0.025280 deg/s, cmd heading: 268.895668 deg, new cmd heading: 268.864411 deg. 2025-10-27T03:34:32.615Z,1761536072.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692569 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:32.634Z,1761536072.634 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:32.884Z,1761536072.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:32.973Z,1761536072.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103347,0.992758,-0.061243],[-0.994562,-0.102346,0.019275],[0.012868,0.062902,0.997937]] 2025-10-27T03:34:33.008Z,1761536073.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:33.015Z,1761536073.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 112.096436 m, bearing: 249.648542 deg, approach rate: -0.404665 m/s, LOS rate: -0.028273 deg/s, cmd heading: 268.864413 deg, new cmd heading: 268.830685 deg. 2025-10-27T03:34:33.016Z,1761536073.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691980 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:33.139Z,1761536073.139 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:33.373Z,1761536073.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086524,0.994959,-0.050690],[-0.996017,-0.085291,0.026003],[0.021548,0.052738,0.998376]] 2025-10-27T03:34:33.390Z,1761536073.390 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:33.416Z,1761536073.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:33.418Z,1761536073.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:33.421Z,1761536073.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 111.900528 m, bearing: 249.622966 deg, approach rate: -0.477653 m/s, LOS rate: -0.062468 deg/s, cmd heading: 268.830672 deg, new cmd heading: 268.753809 deg. 2025-10-27T03:34:33.422Z,1761536073.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690639 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:33.644Z,1761536073.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:33.859Z,1761536073.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072308,0.996675,-0.037565],[-0.996933,-0.071093,0.032732],[0.029952,0.039817,0.998758]] 2025-10-27T03:34:33.883Z,1761536073.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:33.886Z,1761536073.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 111.687279 m, bearing: 249.593356 deg, approach rate: -0.458932 m/s, LOS rate: -0.063845 deg/s, cmd heading: 268.753819 deg, new cmd heading: 268.664820 deg. 2025-10-27T03:34:33.887Z,1761536073.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689085 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:33.896Z,1761536073.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:34.149Z,1761536074.149 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:34.262Z,1761536074.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059845,0.997913,-0.024239],[-0.997483,-0.058858,0.039543],[0.038034,0.026544,0.998924]] 2025-10-27T03:34:34.292Z,1761536074.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:34.295Z,1761536074.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 111.502762 m, bearing: 249.566366 deg, approach rate: -0.450863 m/s, LOS rate: -0.066058 deg/s, cmd heading: 268.664808 deg, new cmd heading: 268.583704 deg. 2025-10-27T03:34:34.296Z,1761536074.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687670 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:34.400Z,1761536074.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:34.654Z,1761536074.654 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:34.761Z,1761536074.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:34.764Z,1761536074.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 111.248238 m, bearing: 249.520190 deg, approach rate: -0.543255 m/s, LOS rate: -0.098783 deg/s, cmd heading: 268.583693 deg, new cmd heading: 268.444848 deg. 2025-10-27T03:34:34.765Z,1761536074.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685246 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:34.904Z,1761536074.904 [DAT](INFO): DAT read: Rx Time:03:34:35.6682 2025-10-27T03:34:34.904Z,1761536074.904 [DAT](INFO): Rx dataTimestamp_ set to:1761536074.904187 2025-10-27T03:34:34.905Z,1761536074.905 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:35.156Z,1761536075.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:35.250Z,1761536075.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034255,0.999406,0.003811],[-0.997625,-0.034422,0.059661],[0.059756,-0.001758,0.998211]] 2025-10-27T03:34:35.269Z,1761536075.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m. 2025-10-27T03:34:35.272Z,1761536075.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.104996 m, nav range: 110.978180 m, bearing: 249.466853 deg, approach rate: -0.531688 m/s, LOS rate: -0.105266 deg/s, cmd heading: 268.444849 deg, new cmd heading: 268.284448 deg. 2025-10-27T03:34:35.273Z,1761536075.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682447 target range: 120.104996 and range: 120.60 m. 2025-10-27T03:34:35.414Z,1761536075.414 [DAT](INFO): DAT read: 03:34:35.6682 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 375, 0.14, 2.451, 1.164, 3.138, 2.531, PHS= 0.022,-1.322, 0.563, RAW= 166.2, 8.8, CAL= 165.9, 9.3, ROT= 344.1, -9.3 2025-10-27T03:34:35.415Z,1761536075.415 [DAT](INFO): got valid direction response: 03:34:35.6682 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 375, 0.14, 2.451, 1.164, 3.138, 2.531, PHS= 0.022,-1.322, 0.563, RAW= 166.2, 8.8, CAL= 165.9, 9.3, ROT= 344.1, -9.3 2025-10-27T03:34:35.416Z,1761536075.416 [DAT](INFO): DAT read: Bearing 57.0, -12.8 (Local) 2025-10-27T03:34:35.417Z,1761536075.417 [DAT](INFO): Local bearing/azimuth received: Bearing 57.0, -12.8 (Local) 2025-10-27T03:34:35.418Z,1761536075.418 [DAT](INFO): DAT read: Range 11 to 50 : 113.2 m (Round-trip 151.0 ms) speed 0.5 m/s 2025-10-27T03:34:35.419Z,1761536075.419 [DAT](INFO): DAT read: user:369>Tx time:03:34:36.7630 2025-10-27T03:34:35.420Z,1761536075.420 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:35.421Z,1761536075.421 [DAT](INFO): direction in FSK: [0.949100,-0.270358,0.161604] 2025-10-27T03:34:35.421Z,1761536075.421 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:35.425Z,1761536075.425 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:35.425Z,1761536075.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:35.611Z,1761536075.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029619,0.999460,0.014226],[-0.997360,-0.030495,0.065895],[0.066294,-0.012236,0.997725]] 2025-10-27T03:34:35.661Z,1761536075.661 [DAT](INFO): DAT read: 2025-10-27T03:34:35.662Z,1761536075.662 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:35.717Z,1761536075.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.199997 m, deltaT: 16.396201 s, deltaX: -7.400002 m, approachRate: -0.451324 m/s, rangeRepo size: 4 2025-10-27T03:34:35.725Z,1761536075.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.733459 m, bearing: 252.302385 deg, lat: 36.779349 deg, lon: -121.859587 deg, deltaT: 16.396201 s, deltaX: -7.371536 m, approachRate: -0.449588 m/s, posRepo size: 4 2025-10-27T03:34:35.726Z,1761536075.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.73 m. 2025-10-27T03:34:35.732Z,1761536075.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.733459 m, nav range: 110.759056 m, bearing: 249.416666 deg, approach rate: 0.000000 m/s, LOS rate: -0.105266 deg/s, cmd heading: 268.284448 deg, new cmd heading: 268.143212 deg. 2025-10-27T03:34:35.733Z,1761536075.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679982 target range: 112.733459 and range: 113.20 m. 2025-10-27T03:34:35.912Z,1761536075.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:36.057Z,1761536076.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027566,0.999244,0.027423],[-0.996943,-0.029488,0.072359],[0.073113,-0.025345,0.997002]] 2025-10-27T03:34:36.073Z,1761536076.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:36.075Z,1761536076.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.73 m. 2025-10-27T03:34:36.078Z,1761536076.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.733459 m, nav range: 110.533379 m, bearing: 249.364428 deg, approach rate: -0.628495 m/s, LOS rate: -0.145778 deg/s, cmd heading: 268.143200 deg, new cmd heading: 267.986164 deg. 2025-10-27T03:34:36.079Z,1761536076.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677241 target range: 112.733459 and range: 113.20 m. 2025-10-27T03:34:36.165Z,1761536076.165 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:36.416Z,1761536076.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:36.450Z,1761536076.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026489,0.998849,0.039987],[-0.996463,-0.029575,0.078652],[0.079744,-0.037762,0.996100]] 2025-10-27T03:34:36.504Z,1761536076.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.73 m. 2025-10-27T03:34:36.508Z,1761536076.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.733459 m, nav range: 110.283524 m, bearing: 249.303915 deg, approach rate: -0.581890 m/s, LOS rate: -0.141248 deg/s, cmd heading: 267.986160 deg, new cmd heading: 267.804211 deg. 2025-10-27T03:34:36.508Z,1761536076.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674065 target range: 112.733459 and range: 113.20 m. 2025-10-27T03:34:36.670Z,1761536076.670 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:36.920Z,1761536076.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:36.953Z,1761536076.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026450,0.998219,0.053475],[-0.995898,-0.030943,0.085022],[0.086525,-0.051007,0.994943]] 2025-10-27T03:34:36.971Z,1761536076.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.73 m. 2025-10-27T03:34:36.974Z,1761536076.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.733459 m, nav range: 110.012199 m, bearing: 249.237779 deg, approach rate: -0.581345 m/s, LOS rate: -0.142054 deg/s, cmd heading: 267.804204 deg, new cmd heading: 267.605307 deg. 2025-10-27T03:34:36.976Z,1761536076.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670594 target range: 112.733459 and range: 113.20 m. 2025-10-27T03:34:37.172Z,1761536077.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:37.396Z,1761536077.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027400,0.997153,0.070247],[-0.995275,-0.033761,0.091034],[0.093146,-0.067421,0.993367]] 2025-10-27T03:34:37.424Z,1761536077.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:37.434Z,1761536077.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.73 m. 2025-10-27T03:34:37.453Z,1761536077.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.733459 m, nav range: 109.735321 m, bearing: 249.168671 deg, approach rate: -0.598199 m/s, LOS rate: -0.149686 deg/s, cmd heading: 267.605309 deg, new cmd heading: 267.397462 deg. 2025-10-27T03:34:37.454Z,1761536077.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666966 target range: 112.733459 and range: 113.20 m. 2025-10-27T03:34:37.677Z,1761536077.677 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:37.907Z,1761536077.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029056,0.995780,0.087048],[-0.994635,-0.037452,0.096433],[0.099286,-0.083779,0.991526]] 2025-10-27T03:34:37.928Z,1761536077.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:37.937Z,1761536077.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.73 m. 2025-10-27T03:34:37.945Z,1761536077.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.733459 m, nav range: 109.441666 m, bearing: 249.095166 deg, approach rate: -0.583902 m/s, LOS rate: -0.146548 deg/s, cmd heading: 267.397453 deg, new cmd heading: 267.176349 deg. 2025-10-27T03:34:37.946Z,1761536077.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663107 target range: 112.733459 and range: 113.20 m. 2025-10-27T03:34:38.180Z,1761536078.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:38.432Z,1761536078.432 [DAT](INFO): DAT read: Rx Time:03:34:39.3149 2025-10-27T03:34:38.432Z,1761536078.432 [DAT](INFO): Rx dataTimestamp_ set to:1761536078.432209 2025-10-27T03:34:38.433Z,1761536078.433 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:38.496Z,1761536078.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:38.498Z,1761536078.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.73 m. 2025-10-27T03:34:38.501Z,1761536078.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.733459 m, nav range: 109.113541 m, bearing: 249.010269 deg, approach rate: -0.584526 m/s, LOS rate: -0.151692 deg/s, cmd heading: 267.176346 deg, new cmd heading: 266.920890 deg. 2025-10-27T03:34:38.502Z,1761536078.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658648 target range: 112.733459 and range: 113.20 m. 2025-10-27T03:34:38.684Z,1761536078.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:38.892Z,1761536078.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.73 m. 2025-10-27T03:34:38.895Z,1761536078.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.733459 m, nav range: 108.887749 m, bearing: 248.951515 deg, approach rate: -0.573537 m/s, LOS rate: -0.149550 deg/s, cmd heading: 266.920897 deg, new cmd heading: 266.744271 deg. 2025-10-27T03:34:38.896Z,1761536078.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655566 target range: 112.733459 and range: 113.20 m. 2025-10-27T03:34:38.942Z,1761536078.942 [DAT](INFO): DAT read: 03:34:39.3149 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 406, 0.04, 1.154,-0.069, 1.794, 1.259, PHS=-0.003,-1.283, 0.491, RAW= 165.6, 10.0, CAL= 165.6, 11.0, ROT= 344.4, -11.0 2025-10-27T03:34:38.943Z,1761536078.943 [DAT](INFO): got valid direction response: 03:34:39.3149 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 406, 0.04, 1.154,-0.069, 1.794, 1.259, PHS=-0.003,-1.283, 0.491, RAW= 165.6, 10.0, CAL= 165.6, 11.0, ROT= 344.4, -11.0 2025-10-27T03:34:38.945Z,1761536078.945 [DAT](INFO): DAT read: Bearing 59.0, -10.6 (Local) 2025-10-27T03:34:38.945Z,1761536078.945 [DAT](INFO): Local bearing/azimuth received: Bearing 59.0, -10.6 (Local) 2025-10-27T03:34:38.948Z,1761536078.948 [DAT](INFO): DAT read: Range 11 to 50 : 110.7 m (Round-trip 147.7 ms) speed 0.2 m/s 2025-10-27T03:34:38.949Z,1761536078.949 [DAT](INFO): DAT read: user:370>Tx time:03:34:40.4130 2025-10-27T03:34:38.950Z,1761536078.950 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:38.952Z,1761536078.952 [DAT](INFO): direction in FSK: [0.945467,-0.263979,0.190809] 2025-10-27T03:34:38.952Z,1761536078.952 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:38.962Z,1761536078.962 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:38.962Z,1761536078.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:39.188Z,1761536079.188 [DAT](INFO): DAT read: 2025-10-27T03:34:39.188Z,1761536079.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:39.232Z,1761536079.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038331,0.990941,0.128714],[-0.992502,-0.052715,0.110276],[0.116062,-0.123522,0.985531]] 2025-10-27T03:34:39.257Z,1761536079.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 110.699997 m, deltaT: 3.527939 s, deltaX: -2.500000 m, approachRate: -0.708629 m/s, rangeRepo size: 4 2025-10-27T03:34:39.261Z,1761536079.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.246529 m, bearing: 253.170363 deg, lat: 36.779349 deg, lon: -121.859568 deg, deltaT: 3.527939 s, deltaX: -2.486931 m, approachRate: -0.704925 m/s, posRepo size: 4 2025-10-27T03:34:39.262Z,1761536079.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.25 m. 2025-10-27T03:34:39.282Z,1761536079.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.246529 m, nav range: 107.173447 m, bearing: 248.587250 deg, approach rate: 0.000000 m/s, LOS rate: -0.149550 deg/s, cmd heading: 266.744268 deg, new cmd heading: 266.580627 deg. 2025-10-27T03:34:39.287Z,1761536079.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652709 target range: 110.246529 and range: 110.70 m. 2025-10-27T03:34:39.440Z,1761536079.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:39.626Z,1761536079.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040983,0.989878,0.135875],[-0.992034,-0.056525,0.112575],[0.119116,-0.130179,0.984309]] 2025-10-27T03:34:39.692Z,1761536079.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:39.710Z,1761536079.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.25 m. 2025-10-27T03:34:39.718Z,1761536079.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.246529 m, nav range: 106.931984 m, bearing: 248.529198 deg, approach rate: -0.533194 m/s, LOS rate: -0.128480 deg/s, cmd heading: 266.580617 deg, new cmd heading: 266.406066 deg. 2025-10-27T03:34:39.724Z,1761536079.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649663 target range: 110.246529 and range: 110.70 m. 2025-10-27T03:34:39.947Z,1761536079.947 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:40.152Z,1761536080.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043212,0.988954,0.141786],[-0.991625,-0.059745,0.114504],[0.121710,-0.135651,0.983253]] 2025-10-27T03:34:40.181Z,1761536080.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.25 m. 2025-10-27T03:34:40.184Z,1761536080.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.246529 m, nav range: 106.665497 m, bearing: 248.465151 deg, approach rate: -0.565203 m/s, LOS rate: -0.136177 deg/s, cmd heading: 266.406064 deg, new cmd heading: 266.213447 deg. 2025-10-27T03:34:40.185Z,1761536080.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646301 target range: 110.246529 and range: 110.70 m. 2025-10-27T03:34:40.196Z,1761536080.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:40.450Z,1761536080.450 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:40.603Z,1761536080.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045128,0.987847,0.148736],[-0.991278,-0.062735,0.115898],[0.123821,-0.142208,0.982062]] 2025-10-27T03:34:40.651Z,1761536080.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:40.655Z,1761536080.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.25 m. 2025-10-27T03:34:40.680Z,1761536080.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.246529 m, nav range: 106.435272 m, bearing: 248.414114 deg, approach rate: -0.486156 m/s, LOS rate: -0.108007 deg/s, cmd heading: 266.213453 deg, new cmd heading: 266.060010 deg. 2025-10-27T03:34:40.680Z,1761536080.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643623 target range: 110.246529 and range: 110.70 m. 2025-10-27T03:34:40.701Z,1761536080.701 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:40.952Z,1761536080.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:41.044Z,1761536081.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.25 m. 2025-10-27T03:34:41.048Z,1761536081.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.246529 m, nav range: 106.239929 m, bearing: 248.370619 deg, approach rate: -0.501264 m/s, LOS rate: -0.111815 deg/s, cmd heading: 266.060020 deg, new cmd heading: 265.929297 deg. 2025-10-27T03:34:41.049Z,1761536081.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641342 target range: 110.246529 and range: 110.70 m. 2025-10-27T03:34:41.204Z,1761536081.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:41.449Z,1761536081.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048558,0.985320,0.163668],[-0.990788,-0.068256,0.116964],[0.126418,-0.156480,0.979557]] 2025-10-27T03:34:41.456Z,1761536081.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:41.508Z,1761536081.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.25 m. 2025-10-27T03:34:41.515Z,1761536081.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.246529 m, nav range: 106.036995 m, bearing: 248.327025 deg, approach rate: -0.437474 m/s, LOS rate: -0.094158 deg/s, cmd heading: 265.929290 deg, new cmd heading: 265.798258 deg. 2025-10-27T03:34:41.516Z,1761536081.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639055 target range: 110.246529 and range: 110.70 m. 2025-10-27T03:34:41.708Z,1761536081.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:41.897Z,1761536081.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.25 m. 2025-10-27T03:34:41.900Z,1761536081.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.246529 m, nav range: 105.853470 m, bearing: 248.287445 deg, approach rate: -0.472013 m/s, LOS rate: -0.101973 deg/s, cmd heading: 265.798260 deg, new cmd heading: 265.679314 deg. 2025-10-27T03:34:41.901Z,1761536081.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636979 target range: 110.246529 and range: 110.70 m. 2025-10-27T03:34:41.962Z,1761536081.962 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:42.212Z,1761536082.212 [DAT](INFO): DAT read: Rx Time:03:34:42.9624 2025-10-27T03:34:42.213Z,1761536082.213 [DAT](INFO): Rx dataTimestamp_ set to:1761536082.212385 2025-10-27T03:34:42.213Z,1761536082.213 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:42.263Z,1761536082.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050286,0.984083,0.170448],[-0.990673,-0.070789,0.116433],[0.126646,-0.163003,0.978463]] 2025-10-27T03:34:42.300Z,1761536082.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.25 m. 2025-10-27T03:34:42.303Z,1761536082.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.246529 m, nav range: 105.671219 m, bearing: 248.248183 deg, approach rate: -0.452575 m/s, LOS rate: -0.097666 deg/s, cmd heading: 265.679305 deg, new cmd heading: 265.561316 deg. 2025-10-27T03:34:42.304Z,1761536082.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634919 target range: 110.246529 and range: 110.70 m. 2025-10-27T03:34:42.468Z,1761536082.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:42.725Z,1761536082.725 [DAT](INFO): DAT read: 03:34:42.9624 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.29,-1.552,-2.794,-0.907,-1.493, PHS= 0.044,-1.256, 0.543, RAW= 165.6, 8.4, CAL= 165.3, 8.7, ROT= 344.7, -8.7 2025-10-27T03:34:42.726Z,1761536082.726 [DAT](INFO): got valid direction response: 03:34:42.9624 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.29,-1.552,-2.794,-0.907,-1.493, PHS= 0.044,-1.256, 0.543, RAW= 165.6, 8.4, CAL= 165.3, 8.7, ROT= 344.7, -8.7 2025-10-27T03:34:42.728Z,1761536082.728 [DAT](INFO): DAT read: Bearing 53.7, -9.2 (Local) 2025-10-27T03:34:42.728Z,1761536082.728 [DAT](INFO): Local bearing/azimuth received: Bearing 53.7, -9.2 (Local) 2025-10-27T03:34:42.730Z,1761536082.730 [DAT](INFO): DAT read: Range 11 to 50 : 108.9 m (Round-trip 145.2 ms) speed 0.3 m/s 2025-10-27T03:34:42.731Z,1761536082.731 [DAT](INFO): DAT read: user:371>Tx time:03:34:44.0630 2025-10-27T03:34:42.750Z,1761536082.750 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:42.756Z,1761536082.756 [DAT](INFO): direction in FSK: [0.953459,-0.260837,0.151261] 2025-10-27T03:34:42.756Z,1761536082.756 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:42.768Z,1761536082.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:42.768Z,1761536082.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:42.812Z,1761536082.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.900002 m, deltaT: 3.780424 s, deltaX: -1.799995 m, approachRate: -0.476136 m/s, rangeRepo size: 4 2025-10-27T03:34:42.814Z,1761536082.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.453384 m, bearing: 252.936865 deg, lat: 36.779399 deg, lon: -121.859568 deg, deltaT: 3.780424 s, deltaX: -1.793144 m, approachRate: -0.474324 m/s, posRepo size: 4 2025-10-27T03:34:42.819Z,1761536082.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T03:34:42.822Z,1761536082.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453384 m, nav range: 103.532272 m, bearing: 251.070977 deg, approach rate: 0.000000 m/s, LOS rate: -0.097666 deg/s, cmd heading: 265.561307 deg, new cmd heading: 265.411337 deg. 2025-10-27T03:34:42.827Z,1761536082.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632302 target range: 108.453384 and range: 108.90 m. 2025-10-27T03:34:42.968Z,1761536082.968 [DAT](INFO): DAT read: 2025-10-27T03:34:42.968Z,1761536082.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:43.119Z,1761536083.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049247,0.983648,0.173235],[-0.990873,-0.069907,0.115257],[0.125482,-0.165978,0.978113]] 2025-10-27T03:34:43.174Z,1761536083.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:43.177Z,1761536083.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T03:34:43.180Z,1761536083.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453384 m, nav range: 103.376251 m, bearing: 251.044179 deg, approach rate: -0.427077 m/s, LOS rate: -0.073465 deg/s, cmd heading: 265.411343 deg, new cmd heading: 265.330828 deg. 2025-10-27T03:34:43.181Z,1761536083.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630897 target range: 108.453384 and range: 108.90 m. 2025-10-27T03:34:43.220Z,1761536083.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:43.474Z,1761536083.474 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:43.522Z,1761536083.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048194,0.983808,0.172623],[-0.991012,-0.068689,0.114793],[0.124791,-0.165539,0.978276]] 2025-10-27T03:34:43.600Z,1761536083.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T03:34:43.607Z,1761536083.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453384 m, nav range: 103.189224 m, bearing: 251.013244 deg, approach rate: -0.441676 m/s, LOS rate: -0.073188 deg/s, cmd heading: 265.330829 deg, new cmd heading: 265.237855 deg. 2025-10-27T03:34:43.615Z,1761536083.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629274 target range: 108.453384 and range: 108.90 m. 2025-10-27T03:34:43.724Z,1761536083.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:43.925Z,1761536083.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047485,0.983724,0.173298],[-0.991127,-0.067965,0.114224],[0.124143,-0.166336,0.978223]] 2025-10-27T03:34:43.956Z,1761536083.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T03:34:43.959Z,1761536083.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453384 m, nav range: 103.041756 m, bearing: 250.988706 deg, approach rate: -0.414826 m/s, LOS rate: -0.069125 deg/s, cmd heading: 265.237856 deg, new cmd heading: 265.164136 deg. 2025-10-27T03:34:43.960Z,1761536083.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627987 target range: 108.453384 and range: 108.90 m. 2025-10-27T03:34:43.978Z,1761536083.978 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:44.228Z,1761536084.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:44.329Z,1761536084.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046711,0.983708,0.173601],[-0.991241,-0.067139,0.113730],[0.123533,-0.166768,0.978227]] 2025-10-27T03:34:44.370Z,1761536084.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T03:34:44.373Z,1761536084.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453384 m, nav range: 102.869286 m, bearing: 250.959832 deg, approach rate: -0.416296 m/s, LOS rate: -0.069809 deg/s, cmd heading: 265.164145 deg, new cmd heading: 265.077380 deg. 2025-10-27T03:34:44.374Z,1761536084.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626473 target range: 108.453384 and range: 108.90 m. 2025-10-27T03:34:44.482Z,1761536084.482 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:44.732Z,1761536084.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:44.737Z,1761536084.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045913,0.983761,0.173509],[-0.991369,-0.066224,0.113146],[0.122799,-0.166817,0.978311]] 2025-10-27T03:34:44.790Z,1761536084.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T03:34:44.793Z,1761536084.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453384 m, nav range: 102.684120 m, bearing: 250.930017 deg, approach rate: -0.440852 m/s, LOS rate: -0.071113 deg/s, cmd heading: 265.077374 deg, new cmd heading: 264.987768 deg. 2025-10-27T03:34:44.794Z,1761536084.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624909 target range: 108.453384 and range: 108.90 m. 2025-10-27T03:34:44.984Z,1761536084.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:45.143Z,1761536085.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045299,0.983987,0.172388],[-0.991476,-0.065386,0.112690],[0.122157,-0.165814,0.978562]] 2025-10-27T03:34:45.175Z,1761536085.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:45.177Z,1761536085.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T03:34:45.180Z,1761536085.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453384 m, nav range: 102.514572 m, bearing: 250.902551 deg, approach rate: -0.438189 m/s, LOS rate: -0.071103 deg/s, cmd heading: 264.987762 deg, new cmd heading: 264.905227 deg. 2025-10-27T03:34:45.181Z,1761536085.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623468 target range: 108.453384 and range: 108.90 m. 2025-10-27T03:34:45.236Z,1761536085.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:45.491Z,1761536085.491 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:45.542Z,1761536085.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045066,0.983961,0.172599],[-0.991554,-0.065091,0.112174],[0.121610,-0.166087,0.978584]] 2025-10-27T03:34:45.613Z,1761536085.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T03:34:45.624Z,1761536085.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453384 m, nav range: 102.313759 m, bearing: 250.867259 deg, approach rate: -0.461209 m/s, LOS rate: -0.081213 deg/s, cmd heading: 264.905226 deg, new cmd heading: 264.799144 deg. 2025-10-27T03:34:45.625Z,1761536085.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621617 target range: 108.453384 and range: 108.90 m. 2025-10-27T03:34:45.740Z,1761536085.740 [DAT](INFO): DAT read: Rx Time:03:34:46.6106 2025-10-27T03:34:45.740Z,1761536085.740 [DAT](INFO): Rx dataTimestamp_ set to:1761536085.740209 2025-10-27T03:34:45.741Z,1761536085.741 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:45.954Z,1761536085.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045000,0.983915,0.172876],[-0.991657,-0.064921,0.111364],[0.120796,-0.166423,0.978628]] 2025-10-27T03:34:45.972Z,1761536085.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T03:34:45.975Z,1761536085.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453384 m, nav range: 102.145576 m, bearing: 250.837586 deg, approach rate: -0.467831 m/s, LOS rate: -0.082679 deg/s, cmd heading: 264.799139 deg, new cmd heading: 264.709972 deg. 2025-10-27T03:34:45.978Z,1761536085.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620060 target range: 108.453384 and range: 108.90 m. 2025-10-27T03:34:45.992Z,1761536085.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:46.249Z,1761536086.249 [DAT](INFO): DAT read: 03:34:46.6106 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 426, 0.09, 0.882,-0.308, 1.491, 1.017, PHS=-0.033,-1.280, 0.430, RAW= 165.2, 11.5, CAL= 165.3, 13.2, ROT= 344.7, -13.2 2025-10-27T03:34:46.251Z,1761536086.251 [DAT](INFO): got valid direction response: 03:34:46.6106 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 426, 0.09, 0.882,-0.308, 1.491, 1.017, PHS=-0.033,-1.280, 0.430, RAW= 165.2, 11.5, CAL= 165.3, 13.2, ROT= 344.7, -13.2 2025-10-27T03:34:46.252Z,1761536086.252 [DAT](INFO): DAT read: Bearing 57.0, -9.8 (Local) 2025-10-27T03:34:46.252Z,1761536086.252 [DAT](INFO): Local bearing/azimuth received: Bearing 57.0, -9.8 (Local) 2025-10-27T03:34:46.253Z,1761536086.253 [DAT](INFO): DAT read: Range 11 to 50 : 107.5 m (Round-trip 143.4 ms) speed 0.5 m/s 2025-10-27T03:34:46.254Z,1761536086.254 [DAT](INFO): DAT read: user:372>Tx time:03:34:47.7130 2025-10-27T03:34:46.255Z,1761536086.255 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:46.256Z,1761536086.256 [DAT](INFO): direction in FSK: [0.939073,-0.256901,0.228351] 2025-10-27T03:34:46.257Z,1761536086.257 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:46.261Z,1761536086.261 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:46.261Z,1761536086.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:46.401Z,1761536086.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045633,0.983859,0.173027],[-0.991805,-0.065313,0.109806],[0.119335,-0.166598,0.978777]] 2025-10-27T03:34:46.440Z,1761536086.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.500000 m, deltaT: 3.527325 s, deltaX: -1.400002 m, approachRate: -0.396902 m/s, rangeRepo size: 4 2025-10-27T03:34:46.442Z,1761536086.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.060310 m, bearing: 253.938738 deg, lat: 36.779429 deg, lon: -121.859568 deg, deltaT: 3.527325 s, deltaX: -1.393074 m, approachRate: -0.394938 m/s, posRepo size: 4 2025-10-27T03:34:46.447Z,1761536086.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m. 2025-10-27T03:34:46.450Z,1761536086.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.060310 m, nav range: 100.888519 m, bearing: 252.594829 deg, approach rate: 0.000000 m/s, LOS rate: -0.082679 deg/s, cmd heading: 264.709965 deg, new cmd heading: 264.593974 deg. 2025-10-27T03:34:46.455Z,1761536086.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618036 target range: 107.060310 and range: 107.50 m. 2025-10-27T03:34:46.498Z,1761536086.498 [DAT](INFO): DAT read: 2025-10-27T03:34:46.500Z,1761536086.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:46.752Z,1761536086.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:46.859Z,1761536086.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047121,0.983729,0.173372],[-0.991855,-0.066641,0.108550],[0.118338,-0.166845,0.978856]] 2025-10-27T03:34:46.911Z,1761536086.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m. 2025-10-27T03:34:46.914Z,1761536086.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.060310 m, nav range: 100.636826 m, bearing: 252.548543 deg, approach rate: -0.534228 m/s, LOS rate: -0.098490 deg/s, cmd heading: 264.593961 deg, new cmd heading: 264.454754 deg. 2025-10-27T03:34:46.915Z,1761536086.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615606 target range: 107.060310 and range: 107.50 m. 2025-10-27T03:34:47.000Z,1761536087.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:47.252Z,1761536087.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:47.265Z,1761536087.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049633,0.983259,0.175322],[-0.991876,-0.069110,0.106794],[0.117123,-0.168597,0.978702]] 2025-10-27T03:34:47.282Z,1761536087.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:47.285Z,1761536087.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m. 2025-10-27T03:34:47.287Z,1761536087.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.060310 m, nav range: 100.445496 m, bearing: 252.513509 deg, approach rate: -0.511899 m/s, LOS rate: -0.093910 deg/s, cmd heading: 264.454761 deg, new cmd heading: 264.349460 deg. 2025-10-27T03:34:47.288Z,1761536087.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613769 target range: 107.060310 and range: 107.50 m. 2025-10-27T03:34:47.506Z,1761536087.506 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:47.673Z,1761536087.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053118,0.983409,0.173449],[-0.991786,-0.072193,0.105587],[0.116357,-0.166415,0.979167]] 2025-10-27T03:34:47.730Z,1761536087.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m. 2025-10-27T03:34:47.733Z,1761536087.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.060310 m, nav range: 100.206253 m, bearing: 252.466140 deg, approach rate: -0.537527 m/s, LOS rate: -0.106682 deg/s, cmd heading: 264.349467 deg, new cmd heading: 264.207021 deg. 2025-10-27T03:34:47.734Z,1761536087.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611282 target range: 107.060310 and range: 107.50 m. 2025-10-27T03:34:47.756Z,1761536087.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:48.008Z,1761536088.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:48.106Z,1761536088.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m. 2025-10-27T03:34:48.109Z,1761536088.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.060310 m, nav range: 100.001541 m, bearing: 252.425417 deg, approach rate: -0.543462 m/s, LOS rate: -0.108331 deg/s, cmd heading: 264.207017 deg, new cmd heading: 264.084598 deg. 2025-10-27T03:34:48.110Z,1761536088.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609146 target range: 107.060310 and range: 107.50 m. 2025-10-27T03:34:48.260Z,1761536088.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:48.275Z,1761536088.275 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:34:48.474Z,1761536088.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060005,0.982814,0.174575],[-0.991659,-0.078679,0.102087],[0.114068,-0.166993,0.979338]] 2025-10-27T03:34:48.496Z,1761536088.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m. 2025-10-27T03:34:48.514Z,1761536088.514 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:48.521Z,1761536088.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.060310 m, nav range: 99.792763 m, bearing: 252.384638 deg, approach rate: -0.535802 m/s, LOS rate: -0.104874 deg/s, cmd heading: 264.084592 deg, new cmd heading: 263.961998 deg. 2025-10-27T03:34:48.529Z,1761536088.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607006 target range: 107.060310 and range: 107.50 m. 2025-10-27T03:34:48.765Z,1761536088.765 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:48.942Z,1761536088.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m. 2025-10-27T03:34:48.945Z,1761536088.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.060310 m, nav range: 99.513435 m, bearing: 252.327966 deg, approach rate: -0.626531 m/s, LOS rate: -0.127471 deg/s, cmd heading: 263.962004 deg, new cmd heading: 263.791513 deg. 2025-10-27T03:34:48.946Z,1761536088.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604031 target range: 107.060310 and range: 107.50 m. 2025-10-27T03:34:49.017Z,1761536089.017 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:49.268Z,1761536089.268 [DAT](INFO): DAT read: Rx Time:03:34:50.2580 2025-10-27T03:34:49.268Z,1761536089.268 [DAT](INFO): Rx dataTimestamp_ set to:1761536089.268100 2025-10-27T03:34:49.269Z,1761536089.269 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:49.279Z,1761536089.279 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:34:49.291Z,1761536089.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069361,0.982250,0.174284],[-0.991169,-0.087648,0.099512],[0.113021,-0.165842,0.979654]] 2025-10-27T03:34:49.327Z,1761536089.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:49.329Z,1761536089.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m. 2025-10-27T03:34:49.336Z,1761536089.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.060310 m, nav range: 99.274422 m, bearing: 252.280655 deg, approach rate: -0.616556 m/s, LOS rate: -0.122338 deg/s, cmd heading: 263.791523 deg, new cmd heading: 263.649247 deg. 2025-10-27T03:34:49.337Z,1761536089.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601547 target range: 107.060310 and range: 107.50 m. 2025-10-27T03:34:49.522Z,1761536089.522 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:49.700Z,1761536089.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074428,0.981352,0.177227],[-0.990830,-0.092869,0.098136],[0.112765,-0.168297,0.979265]] 2025-10-27T03:34:49.774Z,1761536089.774 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:34:49.810Z,1761536089.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.06 m. 2025-10-27T03:34:49.824Z,1761536089.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.060310 m, nav range: 98.997696 m, bearing: 252.224406 deg, approach rate: -0.578369 m/s, LOS rate: -0.117891 deg/s, cmd heading: 263.649236 deg, new cmd heading: 263.480019 deg. 2025-10-27T03:34:49.825Z,1761536089.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598594 target range: 107.060310 and range: 107.50 m. 2025-10-27T03:34:50.030Z,1761536090.030 [DAT](INFO): DAT read: 03:34:50.2580 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 415,-0.41,-1.973, 3.083,-1.378,-1.848, PHS=-0.023,-1.307, 0.427, RAW= 164.5, 11.6, CAL= 164.6, 13.2, ROT= 345.4, -13.2 2025-10-27T03:34:50.031Z,1761536090.031 [DAT](INFO): got valid direction response: 03:34:50.2580 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 415,-0.41,-1.973, 3.083,-1.378,-1.848, PHS=-0.023,-1.307, 0.427, RAW= 164.5, 11.6, CAL= 164.6, 13.2, ROT= 345.4, -13.2 2025-10-27T03:34:50.032Z,1761536090.032 [DAT](INFO): DAT read: Bearing 57.1, -9.6 (Local) 2025-10-27T03:34:50.033Z,1761536090.033 [DAT](INFO): Local bearing/azimuth received: Bearing 57.1, -9.6 (Local) 2025-10-27T03:34:50.037Z,1761536090.037 [DAT](INFO): DAT read: Range 11 to 50 : 105.6 m (Round-trip 140.8 ms) speed 0.4 m/s 2025-10-27T03:34:50.038Z,1761536090.038 [DAT](INFO): DAT read: Tx time:03:34:51.3162 2025-10-27T03:34:50.038Z,1761536090.038 [DAT](INFO): Ping request sent. 2025-10-27T03:34:50.038Z,1761536090.038 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:34:50.039Z,1761536090.039 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:50.040Z,1761536090.040 [DAT](INFO): direction in FSK: [0.942141,-0.245410,0.228351] 2025-10-27T03:34:50.040Z,1761536090.040 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:50.040Z,1761536090.040 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:50.066Z,1761536090.066 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:50.066Z,1761536090.066 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:50.186Z,1761536090.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079831,0.980661,0.178692],[-0.990437,-0.098272,0.096833],[0.112521,-0.169253,0.979128]] 2025-10-27T03:34:50.241Z,1761536090.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.599998 m, deltaT: 3.780051 s, deltaX: -1.900002 m, approachRate: -0.502639 m/s, rangeRepo size: 4 2025-10-27T03:34:50.247Z,1761536090.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.164749 m, bearing: 252.768813 deg, lat: 36.779430 deg, lon: -121.859566 deg, deltaT: 3.780051 s, deltaX: -1.895561 m, approachRate: -0.501464 m/s, posRepo size: 4 2025-10-27T03:34:50.248Z,1761536090.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.16 m. 2025-10-27T03:34:50.255Z,1761536090.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.164749 m, nav range: 98.502556 m, bearing: 252.181791 deg, approach rate: 0.000000 m/s, LOS rate: -0.117891 deg/s, cmd heading: 263.480011 deg, new cmd heading: 263.326994 deg. 2025-10-27T03:34:50.256Z,1761536090.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595923 target range: 105.164749 and range: 105.60 m. 2025-10-27T03:34:50.629Z,1761536090.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085127,0.979736,0.181303],[-0.990020,-0.103683,0.095448],[0.112312,-0.171368,0.978784]] 2025-10-27T03:34:50.689Z,1761536090.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.16 m. 2025-10-27T03:34:50.693Z,1761536090.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.164749 m, nav range: 98.206757 m, bearing: 252.117785 deg, approach rate: -0.660085 m/s, LOS rate: -0.143260 deg/s, cmd heading: 263.326988 deg, new cmd heading: 263.134394 deg. 2025-10-27T03:34:50.695Z,1761536090.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592562 target range: 105.164749 and range: 105.60 m. 2025-10-27T03:34:51.044Z,1761536091.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.16 m. 2025-10-27T03:34:51.047Z,1761536091.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.164749 m, nav range: 97.979546 m, bearing: 252.068339 deg, approach rate: -0.639088 m/s, LOS rate: -0.139403 deg/s, cmd heading: 263.134404 deg, new cmd heading: 262.985721 deg. 2025-10-27T03:34:51.048Z,1761536091.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589967 target range: 105.164749 and range: 105.60 m. 2025-10-27T03:34:51.414Z,1761536091.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097573,0.978734,0.180441],[-0.988779,-0.115941,0.094196],[0.113114,-0.169225,0.979065]] 2025-10-27T03:34:51.431Z,1761536091.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:51.433Z,1761536091.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.16 m. 2025-10-27T03:34:51.436Z,1761536091.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.164749 m, nav range: 97.730629 m, bearing: 252.015959 deg, approach rate: -0.639655 m/s, LOS rate: -0.134948 deg/s, cmd heading: 262.985724 deg, new cmd heading: 262.828183 deg. 2025-10-27T03:34:51.437Z,1761536091.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587217 target range: 105.164749 and range: 105.60 m. 2025-10-27T03:34:51.537Z,1761536091.537 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:51.538Z,1761536091.538 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:51.538Z,1761536091.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:51.788Z,1761536091.788 [DAT](INFO): DAT read: user:373> 2025-10-27T03:34:51.789Z,1761536091.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750139 2025-10-27T03:34:51.818Z,1761536091.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103513,0.977852,0.181906],[-0.988093,-0.122029,0.093706],[0.113829,-0.170041,0.978841]] 2025-10-27T03:34:51.862Z,1761536091.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.16 m. 2025-10-27T03:34:51.865Z,1761536091.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.164749 m, nav range: 97.455284 m, bearing: 251.958789 deg, approach rate: -0.641892 m/s, LOS rate: -0.133653 deg/s, cmd heading: 262.828193 deg, new cmd heading: 262.656199 deg. 2025-10-27T03:34:51.866Z,1761536091.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584216 target range: 105.164749 and range: 105.60 m. 2025-10-27T03:34:52.041Z,1761536092.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002543 2025-10-27T03:34:52.223Z,1761536092.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108703,0.976619,0.185470],[-0.987493,-0.127521,0.092714],[0.114197,-0.173072,0.978266]] 2025-10-27T03:34:52.255Z,1761536092.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.16 m. 2025-10-27T03:34:52.258Z,1761536092.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.164749 m, nav range: 97.203293 m, bearing: 251.907056 deg, approach rate: -0.642466 m/s, LOS rate: -0.132238 deg/s, cmd heading: 262.656209 deg, new cmd heading: 262.500608 deg. 2025-10-27T03:34:52.258Z,1761536092.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581500 target range: 105.164749 and range: 105.60 m. 2025-10-27T03:34:52.293Z,1761536092.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254316 2025-10-27T03:34:52.544Z,1761536092.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505507 2025-10-27T03:34:52.693Z,1761536092.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113536,0.975736,0.187213],[-0.986949,-0.132422,0.091634],[0.114202,-0.174366,0.978036]] 2025-10-27T03:34:52.751Z,1761536092.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.16 m. 2025-10-27T03:34:52.754Z,1761536092.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.164749 m, nav range: 96.907143 m, bearing: 251.856026 deg, approach rate: -0.596569 m/s, LOS rate: -0.103110 deg/s, cmd heading: 262.500617 deg, new cmd heading: 262.347059 deg. 2025-10-27T03:34:52.772Z,1761536092.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578820 target range: 105.164749 and range: 105.60 m. 2025-10-27T03:34:52.797Z,1761536092.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758719 2025-10-27T03:34:53.049Z,1761536093.049 [DAT](INFO): DAT read: Rx Time:03:34:53.8578 2025-10-27T03:34:53.049Z,1761536093.049 [DAT](INFO): Rx dataTimestamp_ set to:1761536093.048923 2025-10-27T03:34:53.050Z,1761536093.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011745 2025-10-27T03:34:53.102Z,1761536093.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117570,0.974861,0.189269],[-0.986502,-0.136527,0.090411],[0.113979,-0.176085,0.977754]] 2025-10-27T03:34:53.146Z,1761536093.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.16 m. 2025-10-27T03:34:53.154Z,1761536093.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.164749 m, nav range: 96.686470 m, bearing: 251.818371 deg, approach rate: -0.559580 m/s, LOS rate: -0.095703 deg/s, cmd heading: 262.347047 deg, new cmd heading: 262.233825 deg. 2025-10-27T03:34:53.162Z,1761536093.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576844 target range: 105.164749 and range: 105.60 m. 2025-10-27T03:34:53.300Z,1761536093.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261555 2025-10-27T03:34:53.565Z,1761536093.565 [DAT](INFO): DAT read: 03:34:53.8578 LVL= 32752, 32753, 31074, 32755, AGC= 69, IDX= 156, 0.28, 1.736, 0.393, 2.381, 1.722, PHS= 0.116,-1.284, 0.615, RAW= 164.7, 6.5, CAL= 164.1, 6.2, ROT= 345.9, -6.2 2025-10-27T03:34:53.566Z,1761536093.566 [DAT](INFO): got valid direction response: 03:34:53.8578 LVL= 32752, 32753, 31074, 32755, AGC= 69, IDX= 156, 0.28, 1.736, 0.393, 2.381, 1.722, PHS= 0.116,-1.284, 0.615, RAW= 164.7, 6.5, CAL= 164.1, 6.2, ROT= 345.9, -6.2 2025-10-27T03:34:53.574Z,1761536093.574 [DAT](INFO): DAT read: Bearing 49.2, -8.4 (Local) 2025-10-27T03:34:53.576Z,1761536093.576 [DAT](INFO): Local bearing/azimuth received: Bearing 49.2, -8.4 (Local) 2025-10-27T03:34:53.635Z,1761536093.635 [DAT](INFO): DAT read: Range 11 to 50 : 103.1 m (Round-trip 137.5 ms) speed 0.4 m/s 2025-10-27T03:34:53.663Z,1761536093.663 [DAT](INFO): DAT read: Tx time:03:34:54.9162 2025-10-27T03:34:53.664Z,1761536093.664 [DAT](INFO): Ping request sent. 2025-10-27T03:34:53.664Z,1761536093.664 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:34:53.664Z,1761536093.664 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:53.665Z,1761536093.665 [DAT](INFO): direction in FSK: [0.964199,-0.242190,0.107999] 2025-10-27T03:34:53.665Z,1761536093.665 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:53.666Z,1761536093.666 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:53.685Z,1761536093.685 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:53.685Z,1761536093.685 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:53.732Z,1761536093.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124869,0.973975,0.189158],[-0.985871,-0.143255,0.086812],[0.111651,-0.175645,0.978102]] 2025-10-27T03:34:53.825Z,1761536093.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.099998 m, deltaT: 3.529254 s, deltaX: -2.500000 m, approachRate: -0.708365 m/s, rangeRepo size: 4 2025-10-27T03:34:53.831Z,1761536093.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.676582 m, bearing: 249.670502 deg, lat: 36.779430 deg, lon: -121.859566 deg, deltaT: 3.529254 s, deltaX: -2.488167 m, approachRate: -0.705012 m/s, posRepo size: 4 2025-10-27T03:34:53.832Z,1761536093.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.68 m. 2025-10-27T03:34:53.843Z,1761536093.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.676582 m, nav range: 96.290558 m, bearing: 251.760335 deg, approach rate: 0.000000 m/s, LOS rate: -0.095703 deg/s, cmd heading: 262.233830 deg, new cmd heading: 262.038957 deg. 2025-10-27T03:34:53.844Z,1761536093.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573442 target range: 102.676582 and range: 103.10 m. 2025-10-27T03:34:54.172Z,1761536094.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127835,0.973732,0.188427],[-0.985717,-0.145740,0.084393],[0.109638,-0.174948,0.978454]] 2025-10-27T03:34:54.188Z,1761536094.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:54.190Z,1761536094.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.68 m. 2025-10-27T03:34:54.193Z,1761536094.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.676582 m, nav range: 96.064186 m, bearing: 251.727361 deg, approach rate: -0.617721 m/s, LOS rate: -0.090190 deg/s, cmd heading: 262.038951 deg, new cmd heading: 261.939796 deg. 2025-10-27T03:34:54.194Z,1761536094.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571712 target range: 102.676582 and range: 103.10 m. 2025-10-27T03:34:54.309Z,1761536094.309 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:54.309Z,1761536094.309 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:54.309Z,1761536094.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:54.558Z,1761536094.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129287,0.973966,0.186213],[-0.985839,-0.146474,0.081651],[0.106801,-0.173020,0.979111]] 2025-10-27T03:34:54.560Z,1761536094.560 [DAT](INFO): DAT read: user:374> 2025-10-27T03:34:54.560Z,1761536094.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.896630 2025-10-27T03:34:54.680Z,1761536094.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.68 m. 2025-10-27T03:34:54.683Z,1761536094.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.676582 m, nav range: 95.835480 m, bearing: 251.694098 deg, approach rate: -0.467497 m/s, LOS rate: -0.068156 deg/s, cmd heading: 261.939804 deg, new cmd heading: 261.839776 deg. 2025-10-27T03:34:54.688Z,1761536094.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569966 target range: 102.676582 and range: 103.10 m. 2025-10-27T03:34:54.813Z,1761536094.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.148537 2025-10-27T03:34:55.037Z,1761536095.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130203,0.974328,0.183663],[-0.986062,-0.146601,0.078675],[0.103580,-0.170859,0.979836]] 2025-10-27T03:34:55.064Z,1761536095.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.400227 2025-10-27T03:34:55.075Z,1761536095.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.68 m. 2025-10-27T03:34:55.094Z,1761536095.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.676582 m, nav range: 95.575844 m, bearing: 251.658652 deg, approach rate: -0.657521 m/s, LOS rate: -0.090008 deg/s, cmd heading: 261.839782 deg, new cmd heading: 261.733157 deg. 2025-10-27T03:34:55.095Z,1761536095.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568105 target range: 102.676582 and range: 103.10 m. 2025-10-27T03:34:55.316Z,1761536095.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.652043 2025-10-27T03:34:55.519Z,1761536095.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130222,0.974901,0.180583],[-0.986448,-0.145728,0.075388],[0.099812,-0.168319,0.980666]] 2025-10-27T03:34:55.537Z,1761536095.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.68 m. 2025-10-27T03:34:55.540Z,1761536095.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.676582 m, nav range: 95.331444 m, bearing: 251.625094 deg, approach rate: -0.528261 m/s, LOS rate: -0.072720 deg/s, cmd heading: 261.733150 deg, new cmd heading: 261.632218 deg. 2025-10-27T03:34:55.541Z,1761536095.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566344 target range: 102.676582 and range: 103.10 m. 2025-10-27T03:34:55.568Z,1761536095.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.904181 2025-10-27T03:34:55.820Z,1761536095.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.156340 2025-10-27T03:34:55.977Z,1761536095.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128513,0.976676,0.172011],[-0.987534,-0.141930,0.068068],[0.090893,-0.161119,0.982741]] 2025-10-27T03:34:56.023Z,1761536096.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.68 m. 2025-10-27T03:34:56.026Z,1761536096.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.676582 m, nav range: 95.086647 m, bearing: 251.601465 deg, approach rate: -0.504119 m/s, LOS rate: -0.048787 deg/s, cmd heading: 261.632227 deg, new cmd heading: 261.561155 deg. 2025-10-27T03:34:56.027Z,1761536096.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565104 target range: 102.676582 and range: 103.10 m. 2025-10-27T03:34:56.072Z,1761536096.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.408287 2025-10-27T03:34:56.324Z,1761536096.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.660357 2025-10-27T03:34:56.498Z,1761536096.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:56.501Z,1761536096.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.68 m. 2025-10-27T03:34:56.503Z,1761536096.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.676582 m, nav range: 94.845596 m, bearing: 251.578075 deg, approach rate: -0.504508 m/s, LOS rate: -0.049078 deg/s, cmd heading: 261.561165 deg, new cmd heading: 261.490818 deg. 2025-10-27T03:34:56.504Z,1761536096.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563876 target range: 102.676582 and range: 103.10 m. 2025-10-27T03:34:56.576Z,1761536096.576 [DAT](INFO): DAT read: Rx Time:03:34:57.4556 2025-10-27T03:34:56.577Z,1761536096.577 [DAT](INFO): Rx dataTimestamp_ set to:1761536096.576256 2025-10-27T03:34:56.577Z,1761536096.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.913648 2025-10-27T03:34:56.828Z,1761536096.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.163990 2025-10-27T03:34:56.915Z,1761536096.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.68 m. 2025-10-27T03:34:56.918Z,1761536096.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.676582 m, nav range: 94.652481 m, bearing: 251.558899 deg, approach rate: -0.466256 m/s, LOS rate: -0.046393 deg/s, cmd heading: 261.490814 deg, new cmd heading: 261.433168 deg. 2025-10-27T03:34:56.919Z,1761536096.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562870 target range: 102.676582 and range: 103.10 m. 2025-10-27T03:34:57.086Z,1761536097.086 [DAT](INFO): DAT read: 03:34:57.4556 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 166, 0.05,-0.098,-1.415, 0.525,-0.063, PHS= 0.067,-1.307, 0.545, RAW= 164.4, 8.4, CAL= 164.1, 8.7, ROT= 345.9, -8.7 2025-10-27T03:34:57.087Z,1761536097.087 [DAT](INFO): got valid direction response: 03:34:57.4556 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 166, 0.05,-0.098,-1.415, 0.525,-0.063, PHS= 0.067,-1.307, 0.545, RAW= 164.4, 8.4, CAL= 164.1, 8.7, ROT= 345.9, -8.7 2025-10-27T03:34:57.088Z,1761536097.088 [DAT](INFO): DAT read: Bearing 51.6, -9.8 (Local) 2025-10-27T03:34:57.089Z,1761536097.089 [DAT](INFO): Local bearing/azimuth received: Bearing 51.6, -9.8 (Local) 2025-10-27T03:34:57.090Z,1761536097.090 [DAT](INFO): DAT read: Range 11 to 50 : 101.4 m (Round-trip 135.3 ms) speed 0.6 m/s 2025-10-27T03:34:57.091Z,1761536097.091 [DAT](INFO): DAT read: Tx time:03:34:58.5193 2025-10-27T03:34:57.092Z,1761536097.092 [DAT](INFO): Ping request sent. 2025-10-27T03:34:57.092Z,1761536097.092 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:34:57.092Z,1761536097.092 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:34:57.093Z,1761536097.093 [DAT](INFO): direction in FSK: [0.958713,-0.240812,0.151261] 2025-10-27T03:34:57.093Z,1761536097.093 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:57.093Z,1761536097.093 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:57.097Z,1761536097.097 [DAT](INFO): publishing transmit ping time 2025-10-27T03:34:57.097Z,1761536097.097 [DAT](INFO): publishing direction and range info 2025-10-27T03:34:57.270Z,1761536097.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126076,0.979896,0.154627],[-0.989143,-0.136037,0.055589],[0.075507,-0.145940,0.986408]] 2025-10-27T03:34:57.317Z,1761536097.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 3.527145 s, deltaX: -1.699997 m, approachRate: -0.481975 m/s, rangeRepo size: 4 2025-10-27T03:34:57.324Z,1761536097.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 100.984337 m, bearing: 249.817189 deg, lat: 36.779429 deg, lon: -121.859575 deg, deltaT: 3.527145 s, deltaX: -1.692245 m, approachRate: -0.479778 m/s, posRepo size: 4 2025-10-27T03:34:57.325Z,1761536097.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.98 m. 2025-10-27T03:34:57.333Z,1761536097.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.984337 m, nav range: 95.235245 m, bearing: 251.637308 deg, approach rate: 0.000000 m/s, LOS rate: -0.046393 deg/s, cmd heading: 261.433168 deg, new cmd heading: 261.377250 deg. 2025-10-27T03:34:57.334Z,1761536097.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561893 target range: 100.984337 and range: 101.40 m. 2025-10-27T03:34:57.721Z,1761536097.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126150,0.980310,0.151915],[-0.989530,-0.135174,0.050577],[0.070116,-0.143944,0.987099]] 2025-10-27T03:34:57.766Z,1761536097.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.98 m. 2025-10-27T03:34:57.768Z,1761536097.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.984337 m, nav range: 95.034340 m, bearing: 251.613405 deg, approach rate: -0.447469 m/s, LOS rate: -0.053351 deg/s, cmd heading: 261.377242 deg, new cmd heading: 261.305381 deg. 2025-10-27T03:34:57.769Z,1761536097.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560639 target range: 100.984337 and range: 101.40 m. 2025-10-27T03:34:58.078Z,1761536098.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126258,0.980396,0.151268],[-0.989890,-0.134451,0.045178],[0.064630,-0.144035,0.987460]] 2025-10-27T03:34:58.097Z,1761536098.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.98 m. 2025-10-27T03:34:58.100Z,1761536098.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.984337 m, nav range: 94.892349 m, bearing: 251.596454 deg, approach rate: -0.428491 m/s, LOS rate: -0.051228 deg/s, cmd heading: 261.305388 deg, new cmd heading: 261.254461 deg. 2025-10-27T03:34:58.101Z,1761536098.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559751 target range: 100.984337 and range: 101.40 m. 2025-10-27T03:34:58.482Z,1761536098.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126994,0.980459,0.150244],[-0.990121,-0.134379,0.040029],[0.059437,-0.143676,0.987838]] 2025-10-27T03:34:58.500Z,1761536098.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.98 m. 2025-10-27T03:34:58.503Z,1761536098.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.984337 m, nav range: 94.719681 m, bearing: 251.575845 deg, approach rate: -0.428424 m/s, LOS rate: -0.051227 deg/s, cmd heading: 261.254463 deg, new cmd heading: 261.192524 deg. 2025-10-27T03:34:58.504Z,1761536098.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558670 target range: 100.984337 and range: 101.40 m. 2025-10-27T03:34:58.886Z,1761536098.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128752,0.980441,0.148857],[-0.990168,-0.135377,0.035216],[0.054679,-0.142860,0.988231]] 2025-10-27T03:34:58.928Z,1761536098.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:34:58.931Z,1761536098.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.98 m. 2025-10-27T03:34:58.934Z,1761536098.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.984337 m, nav range: 94.488640 m, bearing: 251.548843 deg, approach rate: -0.536584 m/s, LOS rate: -0.062866 deg/s, cmd heading: 261.192526 deg, new cmd heading: 261.111321 deg. 2025-10-27T03:34:58.935Z,1761536098.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557252 target range: 100.984337 and range: 101.40 m. 2025-10-27T03:34:59.096Z,1761536099.096 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:34:59.096Z,1761536099.096 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:34:59.096Z,1761536099.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:34:59.289Z,1761536099.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131021,0.980051,0.149445],[-0.990105,-0.136999,0.030388],[0.050256,-0.143985,0.988303]] 2025-10-27T03:34:59.316Z,1761536099.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.98 m. 2025-10-27T03:34:59.319Z,1761536099.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.984337 m, nav range: 94.281082 m, bearing: 251.524771 deg, approach rate: -0.538549 m/s, LOS rate: -0.062595 deg/s, cmd heading: 261.111329 deg, new cmd heading: 261.038956 deg. 2025-10-27T03:34:59.320Z,1761536099.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555989 target range: 100.984337 and range: 101.40 m. 2025-10-27T03:34:59.348Z,1761536099.348 [DAT](INFO): DAT read: user:375> 2025-10-27T03:34:59.349Z,1761536099.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256958 2025-10-27T03:34:59.600Z,1761536099.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508220 2025-10-27T03:34:59.737Z,1761536099.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134404,0.979408,0.150652],[-0.989843,-0.139805,0.025801],[0.046331,-0.145654,0.988250]] 2025-10-27T03:34:59.780Z,1761536099.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.98 m. 2025-10-27T03:34:59.783Z,1761536099.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.984337 m, nav range: 94.032379 m, bearing: 251.489877 deg, approach rate: -0.536202 m/s, LOS rate: -0.075430 deg/s, cmd heading: 261.038956 deg, new cmd heading: 260.933998 deg. 2025-10-27T03:34:59.784Z,1761536099.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554157 target range: 100.984337 and range: 101.40 m. 2025-10-27T03:34:59.852Z,1761536099.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760283 2025-10-27T03:35:00.097Z,1761536100.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138364,0.978704,0.151635],[-0.989459,-0.143213,0.021479],[0.042738,-0.147065,0.988203]] 2025-10-27T03:35:00.104Z,1761536100.104 [DAT](INFO): DAT read: Rx Time:03:35:01.0568 2025-10-27T03:35:00.105Z,1761536100.105 [DAT](INFO): Rx dataTimestamp_ set to:1761536100.104253 2025-10-27T03:35:00.105Z,1761536100.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013337 2025-10-27T03:35:00.118Z,1761536100.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.98 m. 2025-10-27T03:35:00.145Z,1761536100.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.984337 m, nav range: 93.850548 m, bearing: 251.464721 deg, approach rate: -0.536943 m/s, LOS rate: -0.074432 deg/s, cmd heading: 260.933990 deg, new cmd heading: 260.858373 deg. 2025-10-27T03:35:00.151Z,1761536100.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552837 target range: 100.984337 and range: 101.40 m. 2025-10-27T03:35:00.357Z,1761536100.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264832 2025-10-27T03:35:00.503Z,1761536100.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142899,0.977824,0.153100],[-0.988941,-0.147269,0.017533],[0.039691,-0.148902,0.988055]] 2025-10-27T03:35:00.522Z,1761536100.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.98 m. 2025-10-27T03:35:00.524Z,1761536100.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.984337 m, nav range: 93.634087 m, bearing: 251.435292 deg, approach rate: -0.536958 m/s, LOS rate: -0.073170 deg/s, cmd heading: 260.858366 deg, new cmd heading: 260.769876 deg. 2025-10-27T03:35:00.525Z,1761536100.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551293 target range: 100.984337 and range: 101.40 m. 2025-10-27T03:35:00.631Z,1761536100.631 [DAT](INFO): DAT read: 03:35:01.0568 LVL= 32752, 32753, 31938, 32755, AGC= 71, IDX= 162, 0.31,-1.350,-2.714,-0.713,-1.336, PHS= 0.087,-1.333, 0.579, RAW= 164.3, 7.8, CAL= 163.9, 7.9, ROT= 346.1, -7.9 2025-10-27T03:35:00.633Z,1761536100.633 [DAT](INFO): got valid direction response: 03:35:01.0568 LVL= 32752, 32753, 31938, 32755, AGC= 71, IDX= 162, 0.31,-1.350,-2.714,-0.713,-1.336, PHS= 0.087,-1.333, 0.579, RAW= 164.3, 7.8, CAL= 163.9, 7.9, ROT= 346.1, -7.9 2025-10-27T03:35:00.634Z,1761536100.634 [DAT](INFO): DAT read: Bearing 51.1, -11.9 (Local) 2025-10-27T03:35:00.639Z,1761536100.639 [DAT](INFO): Local bearing/azimuth received: Bearing 51.1, -11.9 (Local) 2025-10-27T03:35:00.642Z,1761536100.642 [DAT](INFO): DAT read: Range 11 to 50 : 99.9 m (Round-trip 133.3 ms) speed 0.7 m/s 2025-10-27T03:35:00.648Z,1761536100.648 [DAT](INFO): DAT read: Tx time:03:35:02.1177 2025-10-27T03:35:00.648Z,1761536100.648 [DAT](INFO): Ping request sent. 2025-10-27T03:35:00.648Z,1761536100.648 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:00.649Z,1761536100.649 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:00.656Z,1761536100.656 [DAT](INFO): direction in FSK: [0.961504,-0.237948,0.137445] 2025-10-27T03:35:00.656Z,1761536100.656 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:00.656Z,1761536100.656 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:00.664Z,1761536100.664 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:00.664Z,1761536100.664 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:00.906Z,1761536100.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147749,0.976475,0.157057],[-0.988336,-0.151699,0.013401],[0.036911,-0.153246,0.987499]] 2025-10-27T03:35:00.988Z,1761536100.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.529485 s, deltaX: -1.500000 m, approachRate: -0.424991 m/s, rangeRepo size: 4 2025-10-27T03:35:00.990Z,1761536100.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.486320 m, bearing: 248.857453 deg, lat: 36.779396 deg, lon: -121.859585 deg, deltaT: 3.529485 s, deltaX: -1.498016 m, approachRate: -0.424429 m/s, posRepo size: 4 2025-10-27T03:35:00.990Z,1761536100.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.49 m. 2025-10-27T03:35:00.997Z,1761536100.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.486320 m, nav range: 95.399345 m, bearing: 249.474644 deg, approach rate: 0.000000 m/s, LOS rate: -0.073170 deg/s, cmd heading: 260.769874 deg, new cmd heading: 260.668660 deg. 2025-10-27T03:35:00.998Z,1761536100.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549526 target range: 99.486320 and range: 99.90 m. 2025-10-27T03:35:01.309Z,1761536101.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152390,0.975094,0.161150],[-0.987725,-0.155920,0.009413],[0.034305,-0.157737,0.986885]] 2025-10-27T03:35:01.326Z,1761536101.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:01.329Z,1761536101.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.49 m. 2025-10-27T03:35:01.348Z,1761536101.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.486320 m, nav range: 95.182213 m, bearing: 249.443497 deg, approach rate: -0.626569 m/s, LOS rate: -0.090085 deg/s, cmd heading: 260.668651 deg, new cmd heading: 260.574996 deg. 2025-10-27T03:35:01.349Z,1761536101.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547892 target range: 99.486320 and range: 99.90 m. 2025-10-27T03:35:01.364Z,1761536101.364 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:01.364Z,1761536101.364 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:01.364Z,1761536101.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:01.616Z,1761536101.616 [DAT](INFO): DAT read: user:376> 2025-10-27T03:35:01.617Z,1761536101.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968025 2025-10-27T03:35:01.765Z,1761536101.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156795,0.974000,0.163520],[-0.987122,-0.159869,0.005726],[0.031718,-0.160517,0.986523]] 2025-10-27T03:35:01.809Z,1761536101.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.49 m. 2025-10-27T03:35:01.812Z,1761536101.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.486320 m, nav range: 94.879135 m, bearing: 249.392625 deg, approach rate: -0.631220 m/s, LOS rate: -0.106289 deg/s, cmd heading: 260.574995 deg, new cmd heading: 260.421893 deg. 2025-10-27T03:35:01.813Z,1761536101.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545219 target range: 99.486320 and range: 99.90 m. 2025-10-27T03:35:01.869Z,1761536101.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220236 2025-10-27T03:35:02.120Z,1761536102.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471715 2025-10-27T03:35:02.168Z,1761536102.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.49 m. 2025-10-27T03:35:02.171Z,1761536102.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.486320 m, nav range: 94.653091 m, bearing: 249.354462 deg, approach rate: -0.630090 m/s, LOS rate: -0.106631 deg/s, cmd heading: 260.421890 deg, new cmd heading: 260.307129 deg. 2025-10-27T03:35:02.172Z,1761536102.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543216 target range: 99.486320 and range: 99.90 m. 2025-10-27T03:35:02.372Z,1761536102.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723362 2025-10-27T03:35:02.522Z,1761536102.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165158,0.972509,0.164160],[-0.985896,-0.167358,-0.000437],[0.027048,-0.161916,0.986434]] 2025-10-27T03:35:02.540Z,1761536102.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.49 m. 2025-10-27T03:35:02.543Z,1761536102.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.486320 m, nav range: 94.418365 m, bearing: 249.315935 deg, approach rate: -0.631508 m/s, LOS rate: -0.103910 deg/s, cmd heading: 260.307115 deg, new cmd heading: 260.191248 deg. 2025-10-27T03:35:02.544Z,1761536102.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541194 target range: 99.486320 and range: 99.90 m. 2025-10-27T03:35:02.626Z,1761536102.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976993 2025-10-27T03:35:02.876Z,1761536102.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227388 2025-10-27T03:35:02.988Z,1761536102.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.49 m. 2025-10-27T03:35:02.992Z,1761536102.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.486320 m, nav range: 94.116035 m, bearing: 249.264700 deg, approach rate: -0.673827 m/s, LOS rate: -0.114559 deg/s, cmd heading: 260.191248 deg, new cmd heading: 260.037049 deg. 2025-10-27T03:35:02.993Z,1761536102.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538503 target range: 99.486320 and range: 99.90 m. 2025-10-27T03:35:03.129Z,1761536103.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480907 2025-10-27T03:35:03.330Z,1761536103.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171870,0.971632,0.162458],[-0.984850,-0.173331,-0.005247],[0.023061,-0.160899,0.986701]] 2025-10-27T03:35:03.357Z,1761536103.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:03.359Z,1761536103.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.49 m. 2025-10-27T03:35:03.361Z,1761536103.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.486320 m, nav range: 93.866119 m, bearing: 249.223201 deg, approach rate: -0.674985 m/s, LOS rate: -0.112382 deg/s, cmd heading: 260.037050 deg, new cmd heading: 259.912220 deg. 2025-10-27T03:35:03.362Z,1761536103.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536324 target range: 99.486320 and range: 99.90 m. 2025-10-27T03:35:03.381Z,1761536103.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732936 2025-10-27T03:35:03.632Z,1761536103.632 [DAT](INFO): DAT read: Rx Time:03:35:04.6521 2025-10-27T03:35:03.633Z,1761536103.633 [DAT](INFO): Rx dataTimestamp_ set to:1761536103.632800 2025-10-27T03:35:03.635Z,1761536103.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985757 2025-10-27T03:35:03.791Z,1761536103.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175320,0.971334,0.160538],[-0.984280,-0.176469,-0.007183],[0.021353,-0.159274,0.987004]] 2025-10-27T03:35:03.834Z,1761536103.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.49 m. 2025-10-27T03:35:03.837Z,1761536103.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.486320 m, nav range: 93.567787 m, bearing: 249.172270 deg, approach rate: -0.627700 m/s, LOS rate: -0.107501 deg/s, cmd heading: 259.912221 deg, new cmd heading: 259.758942 deg. 2025-10-27T03:35:03.838Z,1761536103.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533649 target range: 99.486320 and range: 99.90 m. 2025-10-27T03:35:03.885Z,1761536103.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235907 2025-10-27T03:35:04.137Z,1761536104.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487944 2025-10-27T03:35:04.213Z,1761536104.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178445,0.970975,0.159263],[-0.983757,-0.179258,-0.009367],[0.019455,-0.158348,0.987192]] 2025-10-27T03:35:04.235Z,1761536104.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.49 m. 2025-10-27T03:35:04.238Z,1761536104.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.486320 m, nav range: 93.315796 m, bearing: 249.129512 deg, approach rate: -0.628230 m/s, LOS rate: -0.106887 deg/s, cmd heading: 259.758952 deg, new cmd heading: 259.630330 deg. 2025-10-27T03:35:04.239Z,1761536104.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531404 target range: 99.486320 and range: 99.90 m. 2025-10-27T03:35:04.394Z,1761536104.394 [DAT](INFO): DAT read: 03:35:04.6521 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 147,-0.36, 0.012,-1.314, 0.625, 0.015, PHS= 0.099,-1.284, 0.566, RAW= 164.0, 7.5, CAL= 163.6, 7.4, ROT= 346.4, -7.4 2025-10-27T03:35:04.395Z,1761536104.395 [DAT](INFO): got valid direction response: 03:35:04.6521 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 147,-0.36, 0.012,-1.314, 0.625, 0.015, PHS= 0.099,-1.284, 0.566, RAW= 164.0, 7.5, CAL= 163.6, 7.4, ROT= 346.4, -7.4 2025-10-27T03:35:04.396Z,1761536104.396 [DAT](INFO): DAT read: Bearing 48.8, -13.2 (Local) 2025-10-27T03:35:04.396Z,1761536104.396 [DAT](INFO): Local bearing/azimuth received: Bearing 48.8, -13.2 (Local) 2025-10-27T03:35:04.398Z,1761536104.398 [DAT](INFO): DAT read: Range 11 to 50 : 97.6 m (Round-trip 130.2 ms) speed 0.6 m/s 2025-10-27T03:35:04.399Z,1761536104.399 [DAT](INFO): DAT read: Tx time:03:35:05.7130 2025-10-27T03:35:04.399Z,1761536104.399 [DAT](INFO): Ping request sent. 2025-10-27T03:35:04.399Z,1761536104.399 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:04.399Z,1761536104.399 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:04.400Z,1761536104.400 [DAT](INFO): direction in FSK: [0.963866,-0.233184,0.128796] 2025-10-27T03:35:04.401Z,1761536104.401 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:04.401Z,1761536104.401 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:04.405Z,1761536104.405 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:04.405Z,1761536104.405 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:04.554Z,1761536104.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181285,0.970561,0.158578],[-0.983270,-0.181799,-0.011380],[0.017784,-0.157988,0.987281]] 2025-10-27T03:35:04.601Z,1761536104.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.599998 m, deltaT: 3.778009 s, deltaX: -2.300003 m, approachRate: -0.608787 m/s, rangeRepo size: 4 2025-10-27T03:35:04.603Z,1761536104.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.195992 m, bearing: 247.230082 deg, lat: 36.779391 deg, lon: -121.859589 deg, deltaT: 3.778009 s, deltaX: -2.290329 m, approachRate: -0.606226 m/s, posRepo size: 4 2025-10-27T03:35:04.605Z,1761536104.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m. 2025-10-27T03:35:04.621Z,1761536104.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.195992 m, nav range: 93.650688 m, bearing: 248.837800 deg, approach rate: 0.000000 m/s, LOS rate: -0.106887 deg/s, cmd heading: 259.630326 deg, new cmd heading: 259.513324 deg. 2025-10-27T03:35:04.637Z,1761536104.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529362 target range: 97.195992 and range: 97.60 m. 2025-10-27T03:35:04.994Z,1761536104.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184505,0.970351,0.156133],[-0.982699,-0.184751,-0.013066],[0.016167,-0.155843,0.987650]] 2025-10-27T03:35:05.030Z,1761536105.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m. 2025-10-27T03:35:05.033Z,1761536105.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.195992 m, nav range: 93.381752 m, bearing: 248.795901 deg, approach rate: -0.625224 m/s, LOS rate: -0.097686 deg/s, cmd heading: 259.513311 deg, new cmd heading: 259.387254 deg. 2025-10-27T03:35:05.034Z,1761536105.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527162 target range: 97.195992 and range: 97.60 m. 2025-10-27T03:35:05.394Z,1761536105.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187401,0.969903,0.155466],[-0.982184,-0.187271,-0.015610],[0.013974,-0.155622,0.987718]] 2025-10-27T03:35:05.412Z,1761536105.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:05.414Z,1761536105.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m. 2025-10-27T03:35:05.417Z,1761536105.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.195992 m, nav range: 93.150444 m, bearing: 248.760110 deg, approach rate: -0.603024 m/s, LOS rate: -0.093540 deg/s, cmd heading: 259.387253 deg, new cmd heading: 259.279612 deg. 2025-10-27T03:35:05.418Z,1761536105.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525283 target range: 97.195992 and range: 97.60 m. 2025-10-27T03:35:05.648Z,1761536105.648 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:05.648Z,1761536105.648 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:05.649Z,1761536105.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:05.842Z,1761536105.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189707,0.969159,0.157297],[-0.981772,-0.189136,-0.018732],[0.011596,-0.157984,0.987374]] 2025-10-27T03:35:05.860Z,1761536105.860 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, 9+327.48, 5, 4.25, 0.00 2025-10-27T03:35:05.875Z,1761536105.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m. 2025-10-27T03:35:05.878Z,1761536105.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.195992 m, nav range: 92.871857 m, bearing: 248.717193 deg, approach rate: -0.604101 m/s, LOS rate: -0.093342 deg/s, cmd heading: 259.279609 deg, new cmd heading: 259.150473 deg. 2025-10-27T03:35:05.879Z,1761536105.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523029 target range: 97.195992 and range: 97.60 m. 2025-10-27T03:35:05.900Z,1761536105.900 [DAT](INFO): DAT read: user:377> 2025-10-27T03:35:05.901Z,1761536105.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501418 2025-10-27T03:35:06.153Z,1761536106.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753129 2025-10-27T03:35:06.242Z,1761536106.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191437,0.968453,0.159531],[-0.981466,-0.190332,-0.022324],[0.008744,-0.160848,0.986941]] 2025-10-27T03:35:06.261Z,1761536106.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m. 2025-10-27T03:35:06.292Z,1761536106.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.195992 m, nav range: 92.638687 m, bearing: 248.681342 deg, approach rate: -0.604445 m/s, LOS rate: -0.093172 deg/s, cmd heading: 259.150464 deg, new cmd heading: 259.042638 deg. 2025-10-27T03:35:06.293Z,1761536106.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521147 target range: 97.195992 and range: 97.60 m. 2025-10-27T03:35:06.404Z,1761536106.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004751 2025-10-27T03:35:06.656Z,1761536106.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256764 2025-10-27T03:35:06.660Z,1761536106.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193026,0.968228,0.158982],[-0.981179,-0.191356,-0.025899],[0.005346,-0.160989,0.986942]] 2025-10-27T03:35:06.678Z,1761536106.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m. 2025-10-27T03:35:06.698Z,1761536106.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.195992 m, nav range: 92.386742 m, bearing: 248.642663 deg, approach rate: -0.603578 m/s, LOS rate: -0.092914 deg/s, cmd heading: 259.042629 deg, new cmd heading: 258.926277 deg. 2025-10-27T03:35:06.704Z,1761536106.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519116 target range: 97.195992 and range: 97.60 m. 2025-10-27T03:35:06.908Z,1761536106.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508804 2025-10-27T03:35:07.046Z,1761536107.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194758,0.967871,0.159047],[-0.980849,-0.192514,-0.029548],[0.002021,-0.161756,0.986829]] 2025-10-27T03:35:07.089Z,1761536107.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m. 2025-10-27T03:35:07.092Z,1761536107.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.195992 m, nav range: 92.161255 m, bearing: 248.615788 deg, approach rate: -0.548970 m/s, LOS rate: -0.065590 deg/s, cmd heading: 258.926270 deg, new cmd heading: 258.845448 deg. 2025-10-27T03:35:07.093Z,1761536107.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517705 target range: 97.195992 and range: 97.60 m. 2025-10-27T03:35:07.161Z,1761536107.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761491 2025-10-27T03:35:07.412Z,1761536107.412 [DAT](INFO): DAT read: Rx Time:03:35:08.2445 2025-10-27T03:35:07.412Z,1761536107.412 [DAT](INFO): Rx dataTimestamp_ set to:1761536107.412115 2025-10-27T03:35:07.413Z,1761536107.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013749 2025-10-27T03:35:07.451Z,1761536107.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195378,0.967708,0.159276],[-0.980727,-0.192521,-0.033329],[-0.001589,-0.162718,0.986671]] 2025-10-27T03:35:07.498Z,1761536107.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:07.501Z,1761536107.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.20 m. 2025-10-27T03:35:07.508Z,1761536107.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.195992 m, nav range: 91.935371 m, bearing: 248.588825 deg, approach rate: -0.548466 m/s, LOS rate: -0.065631 deg/s, cmd heading: 258.845455 deg, new cmd heading: 258.764365 deg. 2025-10-27T03:35:07.509Z,1761536107.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516290 target range: 97.195992 and range: 97.60 m. 2025-10-27T03:35:07.664Z,1761536107.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265005 2025-10-27T03:35:07.890Z,1761536107.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195059,0.967933,0.158296],[-0.980778,-0.191658,-0.036626],[-0.005112,-0.162398,0.986712]] 2025-10-27T03:35:07.922Z,1761536107.922 [DAT](INFO): DAT read: 03:35:08.2445 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405,-0.23, 1.979, 0.628, 2.553, 1.975, PHS= 0.107,-1.302, 0.534, RAW= 162.9, 8.0, CAL= 162.5, 8.2, ROT= 347.5, -8.2 2025-10-27T03:35:07.923Z,1761536107.923 [DAT](INFO): got valid direction response: 03:35:08.2445 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405,-0.23, 1.979, 0.628, 2.553, 1.975, PHS= 0.107,-1.302, 0.534, RAW= 162.9, 8.0, CAL= 162.5, 8.2, ROT= 347.5, -8.2 2025-10-27T03:35:07.924Z,1761536107.924 [DAT](INFO): DAT read: Bearing 49.0, -13.6 (Local) 2025-10-27T03:35:07.924Z,1761536107.924 [DAT](INFO): Local bearing/azimuth received: Bearing 49.0, -13.6 (Local) 2025-10-27T03:35:07.926Z,1761536107.926 [DAT](INFO): DAT read: Range 11 to 50 : 95.4 m (Round-trip 127.3 ms) speed 0.1 m/s 2025-10-27T03:35:07.927Z,1761536107.927 [DAT](INFO): DAT read: user:378>Tx time:03:35:09.3130 2025-10-27T03:35:07.928Z,1761536107.928 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:07.929Z,1761536107.929 [DAT](INFO): direction in FSK: [0.966315,-0.214227,0.142629] 2025-10-27T03:35:07.929Z,1761536107.929 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:07.940Z,1761536107.940 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:07.940Z,1761536107.940 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:07.941Z,1761536107.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:08.003Z,1761536108.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.528179 s, deltaX: -2.199997 m, approachRate: -0.623550 m/s, rangeRepo size: 4 2025-10-27T03:35:08.005Z,1761536108.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.005669 m, bearing: 247.739357 deg, lat: 36.779381 deg, lon: -121.859598 deg, deltaT: 3.528179 s, deltaX: -2.190323 m, approachRate: -0.620808 m/s, posRepo size: 4 2025-10-27T03:35:08.006Z,1761536108.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T03:35:08.013Z,1761536108.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.005669 m, nav range: 92.837097 m, bearing: 248.130073 deg, approach rate: 0.000000 m/s, LOS rate: -0.065631 deg/s, cmd heading: 258.764367 deg, new cmd heading: 258.667148 deg. 2025-10-27T03:35:08.014Z,1761536108.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514594 target range: 95.005669 and range: 95.40 m. 2025-10-27T03:35:08.168Z,1761536108.168 [DAT](INFO): DAT read: 2025-10-27T03:35:08.169Z,1761536108.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769388 2025-10-27T03:35:08.322Z,1761536108.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194589,0.968460,0.155627],[-0.980850,-0.190774,-0.039230],[-0.008303,-0.160281,0.987037]] 2025-10-27T03:35:08.340Z,1761536108.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T03:35:08.343Z,1761536108.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.005669 m, nav range: 92.635147 m, bearing: 248.105432 deg, approach rate: -0.583934 m/s, LOS rate: -0.071402 deg/s, cmd heading: 258.667160 deg, new cmd heading: 258.593078 deg. 2025-10-27T03:35:08.344Z,1761536108.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513300 target range: 95.005669 and range: 95.40 m. 2025-10-27T03:35:08.421Z,1761536108.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021605 2025-10-27T03:35:08.672Z,1761536108.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272721 2025-10-27T03:35:08.770Z,1761536108.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T03:35:08.778Z,1761536108.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.005669 m, nav range: 92.412674 m, bearing: 248.078160 deg, approach rate: -0.517589 m/s, LOS rate: -0.063602 deg/s, cmd heading: 258.593066 deg, new cmd heading: 258.511053 deg. 2025-10-27T03:35:08.779Z,1761536108.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511869 target range: 95.005669 and range: 95.40 m. 2025-10-27T03:35:08.924Z,1761536108.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524793 2025-10-27T03:35:09.144Z,1761536109.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195053,0.968844,0.152627],[-0.980699,-0.190503,-0.044032],[-0.013585,-0.158270,0.987302]] 2025-10-27T03:35:09.178Z,1761536109.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778860 2025-10-27T03:35:09.215Z,1761536109.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T03:35:09.218Z,1761536109.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.005669 m, nav range: 92.174171 m, bearing: 248.055174 deg, approach rate: -0.541183 m/s, LOS rate: -0.052294 deg/s, cmd heading: 258.511049 deg, new cmd heading: 258.441910 deg. 2025-10-27T03:35:09.223Z,1761536109.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510662 target range: 95.005669 and range: 95.40 m. 2025-10-27T03:35:09.428Z,1761536109.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029222 2025-10-27T03:35:09.530Z,1761536109.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194771,0.969145,0.151068],[-0.980713,-0.189854,-0.046456],[-0.016342,-0.157203,0.987431]] 2025-10-27T03:35:09.559Z,1761536109.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:09.561Z,1761536109.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T03:35:09.564Z,1761536109.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.005669 m, nav range: 91.979279 m, bearing: 248.036265 deg, approach rate: -0.556514 m/s, LOS rate: -0.054107 deg/s, cmd heading: 258.441900 deg, new cmd heading: 258.385054 deg. 2025-10-27T03:35:09.565Z,1761536109.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509670 target range: 95.005669 and range: 95.40 m. 2025-10-27T03:35:09.680Z,1761536109.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280757 2025-10-27T03:35:09.932Z,1761536109.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532781 2025-10-27T03:35:09.937Z,1761536109.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194731,0.969493,0.148871],[-0.980673,-0.189503,-0.048670],[-0.018974,-0.155471,0.987658]] 2025-10-27T03:35:10.008Z,1761536110.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T03:35:10.010Z,1761536110.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.005669 m, nav range: 91.761360 m, bearing: 248.015198 deg, approach rate: -0.487571 m/s, LOS rate: -0.047247 deg/s, cmd heading: 258.385045 deg, new cmd heading: 258.321695 deg. 2025-10-27T03:35:10.016Z,1761536110.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508564 target range: 95.005669 and range: 95.40 m. 2025-10-27T03:35:10.184Z,1761536110.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784816 2025-10-27T03:35:10.340Z,1761536110.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195524,0.969870,0.145337],[-0.980474,-0.190146,-0.050158],[-0.021011,-0.152306,0.988110]] 2025-10-27T03:35:10.358Z,1761536110.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T03:35:10.361Z,1761536110.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.005669 m, nav range: 91.563622 m, bearing: 247.996101 deg, approach rate: -0.564432 m/s, LOS rate: -0.054631 deg/s, cmd heading: 258.321689 deg, new cmd heading: 258.264271 deg. 2025-10-27T03:35:10.362Z,1761536110.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507562 target range: 95.005669 and range: 95.40 m. 2025-10-27T03:35:10.437Z,1761536110.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037163 2025-10-27T03:35:10.688Z,1761536110.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289139 2025-10-27T03:35:10.742Z,1761536110.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196045,0.969816,0.144991],[-0.980328,-0.190391,-0.052035],[-0.022859,-0.152340,0.988064]] 2025-10-27T03:35:10.784Z,1761536110.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T03:35:10.786Z,1761536110.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.005669 m, nav range: 91.354454 m, bearing: 247.975880 deg, approach rate: -0.491654 m/s, LOS rate: -0.047637 deg/s, cmd heading: 258.264260 deg, new cmd heading: 258.203461 deg. 2025-10-27T03:35:10.793Z,1761536110.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506501 target range: 95.005669 and range: 95.40 m. 2025-10-27T03:35:10.941Z,1761536110.941 [DAT](INFO): DAT read: Rx Time:03:35:11.8422 2025-10-27T03:35:10.942Z,1761536110.942 [DAT](INFO): Rx dataTimestamp_ set to:1761536110.941176 2025-10-27T03:35:10.942Z,1761536110.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542967 2025-10-27T03:35:11.192Z,1761536111.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792541 2025-10-27T03:35:11.210Z,1761536111.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195684,0.970079,0.143716],[-0.980336,-0.189697,-0.054379],[-0.025490,-0.151531,0.988124]] 2025-10-27T03:35:11.264Z,1761536111.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T03:35:11.267Z,1761536111.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.005669 m, nav range: 91.095055 m, bearing: 247.955457 deg, approach rate: -0.539687 m/s, LOS rate: -0.042614 deg/s, cmd heading: 258.203472 deg, new cmd heading: 258.142025 deg. 2025-10-27T03:35:11.268Z,1761536111.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505428 target range: 95.005669 and range: 95.40 m. 2025-10-27T03:35:11.449Z,1761536111.449 [DAT](INFO): DAT read: 03:35:11.8422 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.39,-1.418,-2.790,-0.839,-1.394, PHS= 0.079,-1.350, 0.512, RAW= 162.8, 9.0, CAL= 162.6, 9.6, ROT= 347.4, -9.6 2025-10-27T03:35:11.451Z,1761536111.451 [DAT](INFO): got valid direction response: 03:35:11.8422 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.39,-1.418,-2.790,-0.839,-1.394, PHS= 0.079,-1.350, 0.512, RAW= 162.8, 9.0, CAL= 162.6, 9.6, ROT= 347.4, -9.6 2025-10-27T03:35:11.452Z,1761536111.452 [DAT](INFO): DAT read: Bearing 49.7, -14.8 (Local) 2025-10-27T03:35:11.452Z,1761536111.452 [DAT](INFO): Local bearing/azimuth received: Bearing 49.7, -14.8 (Local) 2025-10-27T03:35:11.453Z,1761536111.453 [DAT](INFO): DAT read: Range 11 to 50 : 93.7 m (Round-trip 125.0 ms) speed 0.4 m/s 2025-10-27T03:35:11.454Z,1761536111.454 [DAT](INFO): DAT read: user:379>Tx time:03:35:12.9130 2025-10-27T03:35:11.455Z,1761536111.455 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:11.456Z,1761536111.456 [DAT](INFO): direction in FSK: [0.962250,-0.215088,0.166769] 2025-10-27T03:35:11.456Z,1761536111.456 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:11.472Z,1761536111.472 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:11.472Z,1761536111.472 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:11.472Z,1761536111.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:11.635Z,1761536111.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195465,0.970763,0.139329],[-0.980330,-0.189447,-0.055351],[-0.027337,-0.147407,0.988698]] 2025-10-27T03:35:11.696Z,1761536111.696 [DAT](INFO): DAT read: 2025-10-27T03:35:11.697Z,1761536111.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298150 2025-10-27T03:35:11.703Z,1761536111.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.699997 m, deltaT: 3.527896 s, deltaX: -1.700005 m, approachRate: -0.481875 m/s, rangeRepo size: 4 2025-10-27T03:35:11.714Z,1761536111.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.312866 m, bearing: 247.716560 deg, lat: 36.779375 deg, lon: -121.859601 deg, deltaT: 3.527896 s, deltaX: -1.692802 m, approachRate: -0.479833 m/s, posRepo size: 4 2025-10-27T03:35:11.723Z,1761536111.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.31 m. 2025-10-27T03:35:11.726Z,1761536111.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.312866 m, nav range: 91.398521 m, bearing: 247.575097 deg, approach rate: 0.000000 m/s, LOS rate: -0.042614 deg/s, cmd heading: 258.142027 deg, new cmd heading: 258.086160 deg. 2025-10-27T03:35:11.730Z,1761536111.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504453 target range: 93.312866 and range: 93.70 m. 2025-10-27T03:35:11.951Z,1761536111.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.551467 2025-10-27T03:35:12.104Z,1761536112.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:12.106Z,1761536112.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.31 m. 2025-10-27T03:35:12.126Z,1761536112.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.312866 m, nav range: 91.169922 m, bearing: 247.555810 deg, approach rate: -0.565133 m/s, LOS rate: -0.047798 deg/s, cmd heading: 258.086156 deg, new cmd heading: 258.028153 deg. 2025-10-27T03:35:12.129Z,1761536112.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503441 target range: 93.312866 and range: 93.70 m. 2025-10-27T03:35:12.201Z,1761536112.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801626 2025-10-27T03:35:12.452Z,1761536112.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052829 2025-10-27T03:35:12.456Z,1761536112.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196577,0.970660,0.138481],[-0.980038,-0.190238,-0.057746],[-0.029707,-0.147068,0.988680]] 2025-10-27T03:35:12.500Z,1761536112.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.31 m. 2025-10-27T03:35:12.503Z,1761536112.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.312866 m, nav range: 90.967621 m, bearing: 247.538811 deg, approach rate: -0.513232 m/s, LOS rate: -0.043223 deg/s, cmd heading: 258.028154 deg, new cmd heading: 257.977042 deg. 2025-10-27T03:35:12.508Z,1761536112.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502549 target range: 93.312866 and range: 93.70 m. 2025-10-27T03:35:12.705Z,1761536112.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305467 2025-10-27T03:35:12.862Z,1761536112.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196535,0.970418,0.140226],[-0.979997,-0.189852,-0.059679],[-0.031291,-0.149150,0.988319]] 2025-10-27T03:35:12.948Z,1761536112.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.31 m. 2025-10-27T03:35:12.952Z,1761536112.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.312866 m, nav range: 90.741707 m, bearing: 247.519727 deg, approach rate: -0.503766 m/s, LOS rate: -0.042661 deg/s, cmd heading: 257.977037 deg, new cmd heading: 257.919643 deg. 2025-10-27T03:35:12.953Z,1761536112.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501547 target range: 93.312866 and range: 93.70 m. 2025-10-27T03:35:12.956Z,1761536112.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556829 2025-10-27T03:35:13.209Z,1761536113.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809939 2025-10-27T03:35:13.261Z,1761536113.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196764,0.970439,0.139760],[-0.979901,-0.189873,-0.061167],[-0.032822,-0.148987,0.988294]] 2025-10-27T03:35:13.309Z,1761536113.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.31 m. 2025-10-27T03:35:13.312Z,1761536113.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.312866 m, nav range: 90.529343 m, bearing: 247.498002 deg, approach rate: -0.588286 m/s, LOS rate: -0.060322 deg/s, cmd heading: 257.919636 deg, new cmd heading: 257.854309 deg. 2025-10-27T03:35:13.313Z,1761536113.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500407 target range: 93.312866 and range: 93.70 m. 2025-10-27T03:35:13.460Z,1761536113.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060665 2025-10-27T03:35:13.672Z,1761536113.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197263,0.970445,0.139009],[-0.979749,-0.190185,-0.062615],[-0.034327,-0.148545,0.988310]] 2025-10-27T03:35:13.702Z,1761536113.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.31 m. 2025-10-27T03:35:13.706Z,1761536113.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.312866 m, nav range: 90.311478 m, bearing: 247.475681 deg, approach rate: -0.555891 m/s, LOS rate: -0.057090 deg/s, cmd heading: 257.854312 deg, new cmd heading: 257.787188 deg. 2025-10-27T03:35:13.708Z,1761536113.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499235 target range: 93.312866 and range: 93.70 m. 2025-10-27T03:35:13.721Z,1761536113.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321406 2025-10-27T03:35:13.972Z,1761536113.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572770 2025-10-27T03:35:14.069Z,1761536114.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198685,0.970474,0.136765],[-0.979405,-0.191495,-0.063999],[-0.035919,-0.146664,0.988534]] 2025-10-27T03:35:14.154Z,1761536114.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:14.156Z,1761536114.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.31 m. 2025-10-27T03:35:14.159Z,1761536114.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.312866 m, nav range: 90.038734 m, bearing: 247.443511 deg, approach rate: -0.599615 m/s, LOS rate: -0.070939 deg/s, cmd heading: 257.787185 deg, new cmd heading: 257.690383 deg. 2025-10-27T03:35:14.160Z,1761536114.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497546 target range: 93.312866 and range: 93.70 m. 2025-10-27T03:35:14.224Z,1761536114.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824816 2025-10-27T03:35:14.476Z,1761536114.476 [DAT](INFO): DAT read: Rx Time:03:35:15.4399 2025-10-27T03:35:14.476Z,1761536114.476 [DAT](INFO): Rx dataTimestamp_ set to:1761536114.476033 2025-10-27T03:35:14.477Z,1761536114.477 [DAT](INFO): Reached modem response timeout 2025-10-27T03:35:14.477Z,1761536114.477 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:35:14.477Z,1761536114.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:14.481Z,1761536114.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199824,0.970413,0.135531],[-0.979119,-0.192483,-0.065402],[-0.037380,-0.145770,0.988612]] 2025-10-27T03:35:14.499Z,1761536114.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.31 m. 2025-10-27T03:35:14.502Z,1761536114.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.312866 m, nav range: 89.835281 m, bearing: 247.419540 deg, approach rate: -0.593937 m/s, LOS rate: -0.070137 deg/s, cmd heading: 257.690388 deg, new cmd heading: 257.618311 deg. 2025-10-27T03:35:14.503Z,1761536114.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496288 target range: 93.312866 and range: 93.70 m. 2025-10-27T03:35:14.728Z,1761536114.728 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:35:14.878Z,1761536114.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201412,0.970270,0.134199],[-0.978737,-0.193926,-0.066829],[-0.038817,-0.144806,0.988698]] 2025-10-27T03:35:14.933Z,1761536114.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.31 m. 2025-10-27T03:35:14.965Z,1761536114.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.312866 m, nav range: 89.596748 m, bearing: 247.391549 deg, approach rate: -0.573517 m/s, LOS rate: -0.067480 deg/s, cmd heading: 257.618316 deg, new cmd heading: 257.534119 deg. 2025-10-27T03:35:14.974Z,1761536114.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494818 target range: 93.312866 and range: 93.70 m. 2025-10-27T03:35:15.001Z,1761536115.001 [DAT](INFO): DAT read: 03:35:15.4399 LVL= 32752, 32753, 29922, 32755, AGC= 68, IDX= 422,-0.31,-0.614,-1.976,-0.035,-0.549, PHS= 0.037,-1.383, 0.470, RAW= 162.9, 10.5, CAL= 162.9, 11.5, ROT= 347.1, -11.5 2025-10-27T03:35:15.002Z,1761536115.002 [DAT](INFO): got valid direction response: 03:35:15.4399 LVL= 32752, 32753, 29922, 32755, AGC= 68, IDX= 422,-0.31,-0.614,-1.976,-0.035,-0.549, PHS= 0.037,-1.383, 0.470, RAW= 162.9, 10.5, CAL= 162.9, 11.5, ROT= 347.1, -11.5 2025-10-27T03:35:15.011Z,1761536115.011 [DAT](INFO): DAT read: Bearing 51.0, -15.9 (Local) 2025-10-27T03:35:15.012Z,1761536115.012 [DAT](INFO): Local bearing/azimuth received: Bearing 51.0, -15.9 (Local) 2025-10-27T03:35:15.013Z,1761536115.013 [DAT](INFO): DAT read: Range 11 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.5 m/s 2025-10-27T03:35:15.014Z,1761536115.014 [DAT](INFO): DAT read: user:380> 2025-10-27T03:35:15.023Z,1761536115.023 [DAT](INFO): DAT read: Tx time:03:35:16.5130 2025-10-27T03:35:15.023Z,1761536115.023 [DAT](INFO): Ping request sent. 2025-10-27T03:35:15.023Z,1761536115.023 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:15.024Z,1761536115.024 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:15.025Z,1761536115.025 [DAT](INFO): direction in FSK: [0.955193,-0.218768,0.199368] 2025-10-27T03:35:15.025Z,1761536115.025 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:15.025Z,1761536115.025 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:15.044Z,1761536115.044 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:15.044Z,1761536115.044 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:15.302Z,1761536115.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203612,0.970110,0.132014],[-0.978216,-0.196011,-0.068360],[-0.040441,-0.143058,0.988888]] 2025-10-27T03:35:15.394Z,1761536115.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.000000 m, deltaT: 3.537783 s, deltaX: -1.699997 m, approachRate: -0.480526 m/s, rangeRepo size: 4 2025-10-27T03:35:15.396Z,1761536115.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 91.619423 m, bearing: 247.204498 deg, lat: 36.779373 deg, lon: -121.859603 deg, deltaT: 3.537783 s, deltaX: -1.693443 m, approachRate: -0.478674 m/s, posRepo size: 4 2025-10-27T03:35:15.397Z,1761536115.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.62 m. 2025-10-27T03:35:15.400Z,1761536115.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.619423 m, nav range: 89.577637 m, bearing: 247.318931 deg, approach rate: 0.000000 m/s, LOS rate: -0.067480 deg/s, cmd heading: 257.534113 deg, new cmd heading: 257.437198 deg. 2025-10-27T03:35:15.401Z,1761536115.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493127 target range: 91.619423 and range: 92.00 m. 2025-10-27T03:35:15.706Z,1761536115.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205996,0.969701,0.131319],[-0.977667,-0.198240,-0.069773],[-0.041626,-0.142759,0.988882]] 2025-10-27T03:35:15.730Z,1761536115.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.62 m. 2025-10-27T03:35:15.733Z,1761536115.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.619423 m, nav range: 89.350929 m, bearing: 247.288090 deg, approach rate: -0.672529 m/s, LOS rate: -0.091722 deg/s, cmd heading: 257.437206 deg, new cmd heading: 257.344449 deg. 2025-10-27T03:35:15.734Z,1761536115.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491508 target range: 91.619423 and range: 92.00 m. 2025-10-27T03:35:16.098Z,1761536116.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208541,0.968610,0.135297],[-0.977065,-0.200244,-0.072429],[-0.043063,-0.147298,0.988154]] 2025-10-27T03:35:16.156Z,1761536116.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:16.158Z,1761536116.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.62 m. 2025-10-27T03:35:16.161Z,1761536116.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.619423 m, nav range: 89.099220 m, bearing: 247.249204 deg, approach rate: -0.588317 m/s, LOS rate: -0.091145 deg/s, cmd heading: 257.344452 deg, new cmd heading: 257.227464 deg. 2025-10-27T03:35:16.162Z,1761536116.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489466 target range: 91.619423 and range: 92.00 m. 2025-10-27T03:35:16.241Z,1761536116.241 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:16.241Z,1761536116.241 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:16.241Z,1761536116.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:16.492Z,1761536116.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468493 2025-10-27T03:35:16.508Z,1761536116.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211454,0.967420,0.139235],[-0.976384,-0.202626,-0.074950],[-0.044296,-0.151796,0.987419]] 2025-10-27T03:35:16.527Z,1761536116.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.62 m. 2025-10-27T03:35:16.530Z,1761536116.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.619423 m, nav range: 88.882011 m, bearing: 247.215912 deg, approach rate: -0.588870 m/s, LOS rate: -0.090479 deg/s, cmd heading: 257.227465 deg, new cmd heading: 257.127344 deg. 2025-10-27T03:35:16.531Z,1761536116.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487719 target range: 91.619423 and range: 92.00 m. 2025-10-27T03:35:16.744Z,1761536116.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720547 2025-10-27T03:35:16.906Z,1761536116.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214543,0.966525,0.140714],[-0.975657,-0.205372,-0.076918],[-0.045445,-0.153791,0.987058]] 2025-10-27T03:35:16.959Z,1761536116.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.62 m. 2025-10-27T03:35:16.978Z,1761536116.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.619423 m, nav range: 88.646126 m, bearing: 247.180078 deg, approach rate: -0.553442 m/s, LOS rate: -0.084296 deg/s, cmd heading: 257.127334 deg, new cmd heading: 257.019549 deg. 2025-10-27T03:35:16.986Z,1761536116.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485837 target range: 91.619423 and range: 92.00 m. 2025-10-27T03:35:16.996Z,1761536116.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972632 2025-10-27T03:35:17.248Z,1761536117.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224507 2025-10-27T03:35:17.311Z,1761536117.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217379,0.966462,0.136741],[-0.974964,-0.208268,-0.077910],[-0.046818,-0.150253,0.987538]] 2025-10-27T03:35:17.364Z,1761536117.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.62 m. 2025-10-27T03:35:17.367Z,1761536117.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.619423 m, nav range: 88.368469 m, bearing: 247.134250 deg, approach rate: -0.676105 m/s, LOS rate: -0.111944 deg/s, cmd heading: 257.019554 deg, new cmd heading: 256.881638 deg. 2025-10-27T03:35:17.368Z,1761536117.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483430 target range: 91.619423 and range: 92.00 m. 2025-10-27T03:35:17.500Z,1761536117.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476434 2025-10-27T03:35:17.729Z,1761536117.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219913,0.966241,0.134229],[-0.974329,-0.210759,-0.079148],[-0.048186,-0.148189,0.987785]] 2025-10-27T03:35:17.747Z,1761536117.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.62 m. 2025-10-27T03:35:17.749Z,1761536117.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.619423 m, nav range: 88.124313 m, bearing: 247.094138 deg, approach rate: -0.638281 m/s, LOS rate: -0.105154 deg/s, cmd heading: 256.881639 deg, new cmd heading: 256.760968 deg. 2025-10-27T03:35:17.750Z,1761536117.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481324 target range: 91.619423 and range: 92.00 m. 2025-10-27T03:35:17.752Z,1761536117.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728670 2025-10-27T03:35:18.004Z,1761536118.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980535 2025-10-27T03:35:18.175Z,1761536118.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:18.177Z,1761536118.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.62 m. 2025-10-27T03:35:18.180Z,1761536118.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.619423 m, nav range: 87.856689 m, bearing: 247.050653 deg, approach rate: -0.621575 m/s, LOS rate: -0.101304 deg/s, cmd heading: 256.760963 deg, new cmd heading: 256.630112 deg. 2025-10-27T03:35:18.181Z,1761536118.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479041 target range: 91.619423 and range: 92.00 m. 2025-10-27T03:35:18.258Z,1761536118.258 [DAT](INFO): DAT read: Rx Time:03:35:19.0368 2025-10-27T03:35:18.258Z,1761536118.258 [DAT](INFO): Rx dataTimestamp_ set to:1761536118.257784 2025-10-27T03:35:18.259Z,1761536118.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235646 2025-10-27T03:35:18.508Z,1761536118.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484480 2025-10-27T03:35:18.532Z,1761536118.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223750,0.965611,0.132406],[-0.973302,-0.214235,-0.082386],[-0.051187,-0.147305,0.987766]] 2025-10-27T03:35:18.608Z,1761536118.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.62 m. 2025-10-27T03:35:18.617Z,1761536118.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.619423 m, nav range: 87.609451 m, bearing: 247.010917 deg, approach rate: -0.580369 m/s, LOS rate: -0.093540 deg/s, cmd heading: 256.630124 deg, new cmd heading: 256.510579 deg. 2025-10-27T03:35:18.624Z,1761536118.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476954 target range: 91.619423 and range: 92.00 m. 2025-10-27T03:35:18.765Z,1761536118.765 [DAT](INFO): DAT read: 03:35:19.0368 LVL= 32752, 32753, 29666, 32755, AGC= 70, IDX= 406,-0.46, 2.521, 1.097, 3.109, 2.526, PHS= 0.097,-1.384, 0.539, RAW= 162.7, 8.6, CAL= 162.4, 9.0, ROT= 347.6, -9.0 2025-10-27T03:35:18.767Z,1761536118.767 [DAT](INFO): got valid direction response: 03:35:19.0368 LVL= 32752, 32753, 29666, 32755, AGC= 70, IDX= 406,-0.46, 2.521, 1.097, 3.109, 2.526, PHS= 0.097,-1.384, 0.539, RAW= 162.7, 8.6, CAL= 162.4, 9.0, ROT= 347.6, -9.0 2025-10-27T03:35:18.768Z,1761536118.768 [DAT](INFO): DAT read: Bearing 48.0, -16.3 (Local) 2025-10-27T03:35:18.768Z,1761536118.768 [DAT](INFO): Local bearing/azimuth received: Bearing 48.0, -16.3 (Local) 2025-10-27T03:35:18.769Z,1761536118.769 [DAT](INFO): DAT read: Range 11 to 50 : 89.7 m (Round-trip 119.6 ms) speed 0.5 m/s 2025-10-27T03:35:18.770Z,1761536118.770 [DAT](INFO): DAT read: user:381> 2025-10-27T03:35:18.771Z,1761536118.771 [DAT](INFO): DAT read: Tx time:03:35:20.1130 2025-10-27T03:35:18.772Z,1761536118.772 [DAT](INFO): Ping request sent. 2025-10-27T03:35:18.772Z,1761536118.772 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:18.772Z,1761536118.772 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:18.773Z,1761536118.773 [DAT](INFO): direction in FSK: [0.964648,-0.212092,0.156434] 2025-10-27T03:35:18.773Z,1761536118.773 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:18.773Z,1761536118.773 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:18.777Z,1761536118.777 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:18.777Z,1761536118.777 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:18.954Z,1761536118.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225796,0.965645,0.128634],[-0.972710,-0.216246,-0.084097],[-0.053392,-0.144112,0.988120]] 2025-10-27T03:35:19.056Z,1761536119.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.778219 s, deltaX: -2.300003 m, approachRate: -0.608753 m/s, rangeRepo size: 4 2025-10-27T03:35:19.058Z,1761536119.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.327995 m, bearing: 246.037471 deg, lat: 36.779370 deg, lon: -121.859606 deg, deltaT: 3.778219 s, deltaX: -2.291428 m, approachRate: -0.606484 m/s, posRepo size: 4 2025-10-27T03:35:19.058Z,1761536119.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.33 m. 2025-10-27T03:35:19.065Z,1761536119.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.327995 m, nav range: 87.699532 m, bearing: 246.849355 deg, approach rate: 0.000000 m/s, LOS rate: -0.093540 deg/s, cmd heading: 256.510568 deg, new cmd heading: 256.384902 deg. 2025-10-27T03:35:19.066Z,1761536119.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474761 target range: 89.327995 and range: 89.70 m. 2025-10-27T03:35:19.371Z,1761536119.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227156,0.965400,0.128073],[-0.972280,-0.217334,-0.086242],[-0.055424,-0.144114,0.988008]] 2025-10-27T03:35:19.399Z,1761536119.399 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:35:19.420Z,1761536119.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.33 m. 2025-10-27T03:35:19.423Z,1761536119.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.327995 m, nav range: 87.467468 m, bearing: 246.811637 deg, approach rate: -0.628620 m/s, LOS rate: -0.102441 deg/s, cmd heading: 256.384893 deg, new cmd heading: 256.271441 deg. 2025-10-27T03:35:19.424Z,1761536119.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472780 target range: 89.327995 and range: 89.70 m. 2025-10-27T03:35:19.807Z,1761536119.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.33 m. 2025-10-27T03:35:19.810Z,1761536119.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.327995 m, nav range: 87.234230 m, bearing: 246.773519 deg, approach rate: -0.602888 m/s, LOS rate: -0.098795 deg/s, cmd heading: 256.271430 deg, new cmd heading: 256.156768 deg. 2025-10-27T03:35:19.811Z,1761536119.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470779 target range: 89.327995 and range: 89.70 m. 2025-10-27T03:35:20.178Z,1761536120.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229709,0.965133,0.125504],[-0.971458,-0.219527,-0.089875],[-0.059190,-0.142567,0.988014]] 2025-10-27T03:35:20.229Z,1761536120.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:20.235Z,1761536120.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.33 m. 2025-10-27T03:35:20.238Z,1761536120.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.327995 m, nav range: 87.004471 m, bearing: 246.743382 deg, approach rate: -0.542101 m/s, LOS rate: -0.071293 deg/s, cmd heading: 256.156765 deg, new cmd heading: 256.066116 deg. 2025-10-27T03:35:20.244Z,1761536120.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469197 target range: 89.327995 and range: 89.70 m. 2025-10-27T03:35:20.272Z,1761536120.272 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:20.272Z,1761536120.272 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:20.272Z,1761536120.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:20.403Z,1761536120.403 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:35:20.524Z,1761536120.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752683 2025-10-27T03:35:20.584Z,1761536120.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232092,0.964930,0.122655],[-0.970828,-0.221991,-0.090626],[-0.060219,-0.140110,0.988303]] 2025-10-27T03:35:20.612Z,1761536120.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.33 m. 2025-10-27T03:35:20.619Z,1761536120.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.327995 m, nav range: 86.782761 m, bearing: 246.714537 deg, approach rate: -0.580971 m/s, LOS rate: -0.075778 deg/s, cmd heading: 256.066114 deg, new cmd heading: 255.979359 deg. 2025-10-27T03:35:20.620Z,1761536120.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467683 target range: 89.327995 and range: 89.70 m. 2025-10-27T03:35:20.776Z,1761536120.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004226 2025-10-27T03:35:21.002Z,1761536121.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236203,0.964297,0.119747],[-0.969851,-0.226349,-0.090302],[-0.059974,-0.137467,0.988689]] 2025-10-27T03:35:21.030Z,1761536121.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258325 2025-10-27T03:35:21.075Z,1761536121.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.33 m. 2025-10-27T03:35:21.082Z,1761536121.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.327995 m, nav range: 86.520767 m, bearing: 246.681039 deg, approach rate: -0.566949 m/s, LOS rate: -0.072710 deg/s, cmd heading: 255.979371 deg, new cmd heading: 255.878571 deg. 2025-10-27T03:35:21.083Z,1761536121.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465923 target range: 89.327995 and range: 89.70 m. 2025-10-27T03:35:21.280Z,1761536121.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508177 2025-10-27T03:35:21.400Z,1761536121.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241094,0.962429,0.124912],[-0.968696,-0.230796,-0.091442],[-0.059177,-0.143048,0.987945]] 2025-10-27T03:35:21.451Z,1761536121.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.33 m. 2025-10-27T03:35:21.454Z,1761536121.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.327995 m, nav range: 86.317505 m, bearing: 246.655285 deg, approach rate: -0.539730 m/s, LOS rate: -0.068544 deg/s, cmd heading: 255.878557 deg, new cmd heading: 255.801116 deg. 2025-10-27T03:35:21.455Z,1761536121.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464571 target range: 89.327995 and range: 89.70 m. 2025-10-27T03:35:21.532Z,1761536121.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760469 2025-10-27T03:35:21.784Z,1761536121.784 [DAT](INFO): DAT read: Rx Time:03:35:22.6340 2025-10-27T03:35:21.784Z,1761536121.784 [DAT](INFO): Rx dataTimestamp_ set to:1761536121.784101 2025-10-27T03:35:21.785Z,1761536121.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013266 2025-10-27T03:35:21.810Z,1761536121.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246756,0.960056,0.131927],[-0.967341,-0.235874,-0.092817],[-0.057991,-0.150522,0.986904]] 2025-10-27T03:35:21.836Z,1761536121.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.33 m. 2025-10-27T03:35:21.839Z,1761536121.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.327995 m, nav range: 86.111786 m, bearing: 246.629898 deg, approach rate: -0.534205 m/s, LOS rate: -0.066082 deg/s, cmd heading: 255.801103 deg, new cmd heading: 255.724760 deg. 2025-10-27T03:35:21.840Z,1761536121.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463239 target range: 89.327995 and range: 89.70 m. 2025-10-27T03:35:22.040Z,1761536122.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267088 2025-10-27T03:35:22.212Z,1761536122.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253014,0.957064,0.141463],[-0.965799,-0.241294,-0.094916],[-0.056707,-0.160640,0.985383]] 2025-10-27T03:35:22.254Z,1761536122.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:22.257Z,1761536122.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.33 m. 2025-10-27T03:35:22.260Z,1761536122.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.327995 m, nav range: 85.886009 m, bearing: 246.612529 deg, approach rate: -0.536987 m/s, LOS rate: -0.041420 deg/s, cmd heading: 255.724769 deg, new cmd heading: 255.672523 deg. 2025-10-27T03:35:22.261Z,1761536122.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462327 target range: 89.327995 and range: 89.70 m. 2025-10-27T03:35:22.293Z,1761536122.293 [DAT](INFO): DAT read: 03:35:22.6340 LVL= 32752, 32753, 31474, 32755, AGC= 66, IDX= 409,-0.22, 0.246,-1.214, 0.797, 0.220, PHS= 0.128,-1.389, 0.533, RAW= 161.5, 8.4, CAL= 161.2, 8.6, ROT= 348.8, -8.6 2025-10-27T03:35:22.295Z,1761536122.295 [DAT](INFO): got valid direction response: 03:35:22.6340 LVL= 32752, 32753, 31474, 32755, AGC= 66, IDX= 409,-0.22, 0.246,-1.214, 0.797, 0.220, PHS= 0.128,-1.389, 0.533, RAW= 161.5, 8.4, CAL= 161.2, 8.6, ROT= 348.8, -8.6 2025-10-27T03:35:22.296Z,1761536122.296 [DAT](INFO): DAT read: Bearing 46.2, -15.7 (Local) 2025-10-27T03:35:22.296Z,1761536122.296 [DAT](INFO): Local bearing/azimuth received: Bearing 46.2, -15.7 (Local) 2025-10-27T03:35:22.297Z,1761536122.297 [DAT](INFO): DAT read: Range 11 to 50 : 87.6 m (Round-trip 116.8 ms) speed 0.0 m/s 2025-10-27T03:35:22.298Z,1761536122.298 [DAT](INFO): DAT read: user:382> 2025-10-27T03:35:22.299Z,1761536122.299 [DAT](INFO): DAT read: Tx time:03:35:23.7130 2025-10-27T03:35:22.300Z,1761536122.300 [DAT](INFO): Ping request sent. 2025-10-27T03:35:22.300Z,1761536122.300 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:22.300Z,1761536122.300 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:22.301Z,1761536122.301 [DAT](INFO): direction in FSK: [0.969926,-0.192051,0.149535] 2025-10-27T03:35:22.301Z,1761536122.301 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:22.302Z,1761536122.302 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:22.305Z,1761536122.305 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:22.305Z,1761536122.305 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:22.620Z,1761536122.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259228,0.953706,0.152462],[-0.964220,-0.246483,-0.097602],[-0.055504,-0.172308,0.983478]] 2025-10-27T03:35:22.663Z,1761536122.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.599998 m, deltaT: 3.527921 s, deltaX: -2.099998 m, approachRate: -0.595251 m/s, rangeRepo size: 4 2025-10-27T03:35:22.665Z,1761536122.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.236420 m, bearing: 245.473169 deg, lat: 36.779370 deg, lon: -121.859607 deg, deltaT: 3.527921 s, deltaX: -2.091576 m, approachRate: -0.592864 m/s, posRepo size: 4 2025-10-27T03:35:22.666Z,1761536122.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.24 m. 2025-10-27T03:35:22.669Z,1761536122.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.236420 m, nav range: 85.757187 m, bearing: 246.620783 deg, approach rate: 0.000000 m/s, LOS rate: -0.041420 deg/s, cmd heading: 255.672531 deg, new cmd heading: 255.622175 deg. 2025-10-27T03:35:22.670Z,1761536122.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461449 target range: 87.236420 and range: 87.60 m. 2025-10-27T03:35:23.112Z,1761536123.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265021,0.950308,0.163338],[-0.962685,-0.251145,-0.100812],[-0.054781,-0.183960,0.981406]] 2025-10-27T03:35:23.165Z,1761536123.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.24 m. 2025-10-27T03:35:23.168Z,1761536123.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.236420 m, nav range: 85.497269 m, bearing: 246.604870 deg, approach rate: -0.516631 m/s, LOS rate: -0.031726 deg/s, cmd heading: 255.622179 deg, new cmd heading: 255.574295 deg. 2025-10-27T03:35:23.169Z,1761536123.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460613 target range: 87.236420 and range: 87.60 m. 2025-10-27T03:35:23.544Z,1761536123.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.24 m. 2025-10-27T03:35:23.548Z,1761536123.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.236420 m, nav range: 85.306961 m, bearing: 246.593157 deg, approach rate: -0.502081 m/s, LOS rate: -0.030971 deg/s, cmd heading: 255.574286 deg, new cmd heading: 255.539068 deg. 2025-10-27T03:35:23.549Z,1761536123.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459998 target range: 87.236420 and range: 87.60 m. 2025-10-27T03:35:23.967Z,1761536123.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273681,0.944421,0.182123],[-0.960219,-0.257360,-0.108375],[-0.055480,-0.204538,0.977285]] 2025-10-27T03:35:24.014Z,1761536124.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.24 m. 2025-10-27T03:35:24.029Z,1761536124.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.236420 m, nav range: 85.084381 m, bearing: 246.580645 deg, approach rate: -0.473727 m/s, LOS rate: -0.026698 deg/s, cmd heading: 255.539070 deg, new cmd heading: 255.501437 deg. 2025-10-27T03:35:24.037Z,1761536124.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459342 target range: 87.236420 and range: 87.60 m. 2025-10-27T03:35:24.415Z,1761536124.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276056,0.943675,0.182401],[-0.959262,-0.258648,-0.113652],[-0.060073,-0.206344,0.976634]] 2025-10-27T03:35:24.467Z,1761536124.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:24.469Z,1761536124.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.24 m. 2025-10-27T03:35:24.476Z,1761536124.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.236420 m, nav range: 84.853310 m, bearing: 246.571818 deg, approach rate: -0.507550 m/s, LOS rate: -0.019442 deg/s, cmd heading: 255.501449 deg, new cmd heading: 255.474895 deg. 2025-10-27T03:35:24.477Z,1761536124.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458878 target range: 87.236420 and range: 87.60 m. 2025-10-27T03:35:24.556Z,1761536124.556 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:24.556Z,1761536124.556 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:24.556Z,1761536124.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:24.808Z,1761536124.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508212 2025-10-27T03:35:24.809Z,1761536124.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275558,0.944891,0.176775],[-0.959201,-0.258170,-0.115246],[-0.063257,-0.201320,0.977481]] 2025-10-27T03:35:24.837Z,1761536124.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.24 m. 2025-10-27T03:35:24.840Z,1761536124.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.236420 m, nav range: 84.662094 m, bearing: 246.564449 deg, approach rate: -0.519672 m/s, LOS rate: -0.020072 deg/s, cmd heading: 255.474893 deg, new cmd heading: 255.452736 deg. 2025-10-27T03:35:24.841Z,1761536124.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458491 target range: 87.236420 and range: 87.60 m. 2025-10-27T03:35:25.064Z,1761536125.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763887 2025-10-27T03:35:25.213Z,1761536125.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274502,0.946736,0.168344],[-0.959248,-0.257404,-0.116557],[-0.067016,-0.193478,0.978813]] 2025-10-27T03:35:25.262Z,1761536125.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.24 m. 2025-10-27T03:35:25.265Z,1761536125.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.236420 m, nav range: 84.428154 m, bearing: 246.550194 deg, approach rate: -0.551115 m/s, LOS rate: -0.033674 deg/s, cmd heading: 255.452736 deg, new cmd heading: 255.409853 deg. 2025-10-27T03:35:25.266Z,1761536125.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457743 target range: 87.236420 and range: 87.60 m. 2025-10-27T03:35:25.313Z,1761536125.313 [DAT](INFO): DAT read: Rx Time:03:35:26.2317 2025-10-27T03:35:25.314Z,1761536125.314 [DAT](INFO): Rx dataTimestamp_ set to:1761536125.313362 2025-10-27T03:35:25.315Z,1761536125.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014767 2025-10-27T03:35:25.564Z,1761536125.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264066 2025-10-27T03:35:25.628Z,1761536125.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272783,0.948886,0.158763],[-0.959452,-0.256130,-0.117685],[-0.071006,-0.184428,0.980278]] 2025-10-27T03:35:25.648Z,1761536125.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.24 m. 2025-10-27T03:35:25.650Z,1761536125.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.236420 m, nav range: 84.215340 m, bearing: 246.536920 deg, approach rate: -0.551267 m/s, LOS rate: -0.034472 deg/s, cmd heading: 255.409842 deg, new cmd heading: 255.369919 deg. 2025-10-27T03:35:25.652Z,1761536125.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457046 target range: 87.236420 and range: 87.60 m. 2025-10-27T03:35:25.825Z,1761536125.825 [DAT](INFO): DAT read: 03:35:26.2317 LVL= 32752, 32753, 32242, 32755, AGC= 70, IDX= 417,-0.26, 1.761, 0.241, 2.246, 1.710, PHS= 0.152,-1.424, 0.492, RAW= 159.6, 8.9, CAL= 159.3, 9.3, ROT= 350.7, -9.3 2025-10-27T03:35:25.826Z,1761536125.826 [DAT](INFO): got valid direction response: 03:35:26.2317 LVL= 32752, 32753, 32242, 32755, AGC= 70, IDX= 417,-0.26, 1.761, 0.241, 2.246, 1.710, PHS= 0.152,-1.424, 0.492, RAW= 159.6, 8.9, CAL= 159.3, 9.3, ROT= 350.7, -9.3 2025-10-27T03:35:25.827Z,1761536125.827 [DAT](INFO): DAT read: Bearing 43.6, -14.5 (Local) 2025-10-27T03:35:25.828Z,1761536125.828 [DAT](INFO): Local bearing/azimuth received: Bearing 43.6, -14.5 (Local) 2025-10-27T03:35:25.829Z,1761536125.829 [DAT](INFO): DAT read: Range 11 to 50 : 85.8 m (Round-trip 114.5 ms) speed 0.1 m/s 2025-10-27T03:35:25.830Z,1761536125.830 [DAT](INFO): DAT read: user:383> 2025-10-27T03:35:25.831Z,1761536125.831 [DAT](INFO): DAT read: Tx time:03:35:27.3130 2025-10-27T03:35:25.855Z,1761536125.855 [DAT](INFO): Ping request sent. 2025-10-27T03:35:25.856Z,1761536125.856 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:25.856Z,1761536125.856 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:25.858Z,1761536125.858 [DAT](INFO): direction in FSK: [0.973884,-0.159479,0.161604] 2025-10-27T03:35:25.858Z,1761536125.858 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:25.858Z,1761536125.858 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:25.879Z,1761536125.879 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:25.879Z,1761536125.879 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:26.018Z,1761536126.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271160,0.950747,0.150172],[-0.959629,-0.254919,-0.118860],[-0.074724,-0.176340,0.981489]] 2025-10-27T03:35:26.136Z,1761536126.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.800003 m, deltaT: 3.530280 s, deltaX: -1.799995 m, approachRate: -0.509873 m/s, rangeRepo size: 4 2025-10-27T03:35:26.138Z,1761536126.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.443535 m, bearing: 246.796271 deg, lat: 36.779370 deg, lon: -121.859607 deg, deltaT: 3.530280 s, deltaX: -1.792885 m, approachRate: -0.507859 m/s, posRepo size: 4 2025-10-27T03:35:26.138Z,1761536126.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.44 m. 2025-10-27T03:35:26.161Z,1761536126.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.443535 m, nav range: 84.003944 m, bearing: 246.526206 deg, approach rate: 0.000000 m/s, LOS rate: -0.034472 deg/s, cmd heading: 255.369927 deg, new cmd heading: 255.320466 deg. 2025-10-27T03:35:26.162Z,1761536126.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456183 target range: 85.443535 and range: 85.80 m. 2025-10-27T03:35:26.469Z,1761536126.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269966,0.952914,0.138107],[-0.959674,-0.254613,-0.119152],[-0.078378,-0.164705,0.983224]] 2025-10-27T03:35:26.524Z,1761536126.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:26.526Z,1761536126.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.44 m. 2025-10-27T03:35:26.529Z,1761536126.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.443535 m, nav range: 83.758667 m, bearing: 246.502459 deg, approach rate: -0.612789 m/s, LOS rate: -0.059501 deg/s, cmd heading: 255.320476 deg, new cmd heading: 255.249028 deg. 2025-10-27T03:35:26.530Z,1761536126.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454936 target range: 85.443535 and range: 85.80 m. 2025-10-27T03:35:26.573Z,1761536126.573 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:26.573Z,1761536126.573 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:26.574Z,1761536126.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:26.825Z,1761536126.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969933 2025-10-27T03:35:26.873Z,1761536126.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269641,0.954877,0.124509],[-0.959472,-0.255413,-0.119071],[-0.081897,-0.151570,0.985048]] 2025-10-27T03:35:26.902Z,1761536126.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.44 m. 2025-10-27T03:35:26.909Z,1761536126.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.443535 m, nav range: 83.543716 m, bearing: 246.481511 deg, approach rate: -0.572063 m/s, LOS rate: -0.055894 deg/s, cmd heading: 255.249032 deg, new cmd heading: 255.186026 deg. 2025-10-27T03:35:26.910Z,1761536126.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453836 target range: 85.443535 and range: 85.80 m. 2025-10-27T03:35:27.077Z,1761536127.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220895 2025-10-27T03:35:27.278Z,1761536127.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269655,0.956082,0.114861],[-0.959169,-0.256108,-0.120013],[-0.085325,-0.142534,0.986105]] 2025-10-27T03:35:27.328Z,1761536127.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472429 2025-10-27T03:35:27.336Z,1761536127.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.44 m. 2025-10-27T03:35:27.343Z,1761536127.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.443535 m, nav range: 83.293686 m, bearing: 246.462559 deg, approach rate: -0.576038 m/s, LOS rate: -0.043796 deg/s, cmd heading: 255.186031 deg, new cmd heading: 255.129002 deg. 2025-10-27T03:35:27.344Z,1761536127.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452841 target range: 85.443535 and range: 85.80 m. 2025-10-27T03:35:27.580Z,1761536127.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724512 2025-10-27T03:35:27.683Z,1761536127.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269697,0.957057,0.106328],[-0.958876,-0.256774,-0.120929],[-0.088434,-0.134569,0.986950]] 2025-10-27T03:35:27.710Z,1761536127.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.44 m. 2025-10-27T03:35:27.714Z,1761536127.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.443535 m, nav range: 83.056656 m, bearing: 246.444489 deg, approach rate: -0.634817 m/s, LOS rate: -0.048532 deg/s, cmd heading: 255.129012 deg, new cmd heading: 255.074649 deg. 2025-10-27T03:35:27.716Z,1761536127.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451892 target range: 85.443535 and range: 85.80 m. 2025-10-27T03:35:27.832Z,1761536127.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976757 2025-10-27T03:35:28.087Z,1761536128.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230551 2025-10-27T03:35:28.145Z,1761536128.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270133,0.957839,0.097842],[-0.958518,-0.257935,-0.121293],[-0.090942,-0.126548,0.987783]] 2025-10-27T03:35:28.190Z,1761536128.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.44 m. 2025-10-27T03:35:28.193Z,1761536128.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.443535 m, nav range: 82.764168 m, bearing: 246.418454 deg, approach rate: -0.608918 m/s, LOS rate: -0.054394 deg/s, cmd heading: 255.074644 deg, new cmd heading: 254.996261 deg. 2025-10-27T03:35:28.194Z,1761536128.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450524 target range: 85.443535 and range: 85.80 m. 2025-10-27T03:35:28.336Z,1761536128.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480420 2025-10-27T03:35:28.494Z,1761536128.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271582,0.957755,0.094599],[-0.957952,-0.259558,-0.122305],[-0.092585,-0.123838,0.987974]] 2025-10-27T03:35:28.513Z,1761536128.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.44 m. 2025-10-27T03:35:28.516Z,1761536128.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.443535 m, nav range: 82.568359 m, bearing: 246.401135 deg, approach rate: -0.605967 m/s, LOS rate: -0.053724 deg/s, cmd heading: 254.996261 deg, new cmd heading: 254.944181 deg. 2025-10-27T03:35:28.517Z,1761536128.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449615 target range: 85.443535 and range: 85.80 m. 2025-10-27T03:35:28.588Z,1761536128.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732468 2025-10-27T03:35:28.840Z,1761536128.840 [DAT](INFO): DAT read: Rx Time:03:35:29.8291 2025-10-27T03:35:28.840Z,1761536128.840 [DAT](INFO): Rx dataTimestamp_ set to:1761536128.840090 2025-10-27T03:35:28.841Z,1761536128.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985400 2025-10-27T03:35:28.910Z,1761536128.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272861,0.956794,0.100459],[-0.957406,-0.259807,-0.125992],[-0.094449,-0.130558,0.986932]] 2025-10-27T03:35:28.930Z,1761536128.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:28.933Z,1761536128.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.44 m. 2025-10-27T03:35:28.936Z,1761536128.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.443535 m, nav range: 82.314903 m, bearing: 246.378844 deg, approach rate: -0.603661 m/s, LOS rate: -0.053254 deg/s, cmd heading: 254.944187 deg, new cmd heading: 254.877109 deg. 2025-10-27T03:35:28.937Z,1761536128.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448445 target range: 85.443535 and range: 85.80 m. 2025-10-27T03:35:29.096Z,1761536129.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239490 2025-10-27T03:35:29.298Z,1761536129.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274244,0.955828,0.105754],[-0.956815,-0.260181,-0.129657],[-0.096414,-0.136745,0.985903]] 2025-10-27T03:35:29.347Z,1761536129.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491128 2025-10-27T03:35:29.453Z,1761536129.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.44 m. 2025-10-27T03:35:29.460Z,1761536129.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.443535 m, nav range: 82.006058 m, bearing: 246.343042 deg, approach rate: -0.593246 m/s, LOS rate: -0.069028 deg/s, cmd heading: 254.877115 deg, new cmd heading: 254.769306 deg. 2025-10-27T03:35:29.461Z,1761536129.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446563 target range: 85.443535 and range: 85.80 m. 2025-10-27T03:35:29.609Z,1761536129.609 [DAT](INFO): DAT read: 03:35:29.8291 LVL= 32752, 32753, 30994, 32755, AGC= 68, IDX= 423,-0.49,-1.656, 3.124,-1.178,-1.662, PHS= 0.108,-1.452, 0.440, RAW= 159.5, 10.4, CAL= 159.5, 11.3, ROT= 350.5, -11.3 2025-10-27T03:35:29.611Z,1761536129.611 [DAT](INFO): got valid direction response: 03:35:29.8291 LVL= 32752, 32753, 30994, 32755, AGC= 68, IDX= 423,-0.49,-1.656, 3.124,-1.178,-1.662, PHS= 0.108,-1.452, 0.440, RAW= 159.5, 10.4, CAL= 159.5, 11.3, ROT= 350.5, -11.3 2025-10-27T03:35:29.613Z,1761536129.613 [DAT](INFO): DAT read: Bearing 47.7, -16.2 (Local) 2025-10-27T03:35:29.614Z,1761536129.614 [DAT](INFO): Local bearing/azimuth received: Bearing 47.7, -16.2 (Local) 2025-10-27T03:35:29.617Z,1761536129.617 [DAT](INFO): DAT read: Range 11 to 50 : 83.9 m (Round-trip 111.9 ms) speed 0.5 m/s 2025-10-27T03:35:29.617Z,1761536129.617 [DAT](INFO): DAT read: user:384> 2025-10-27T03:35:29.619Z,1761536129.619 [DAT](INFO): DAT read: Tx time:03:35:30.9130 2025-10-27T03:35:29.620Z,1761536129.620 [DAT](INFO): Ping request sent. 2025-10-27T03:35:29.620Z,1761536129.620 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:29.620Z,1761536129.620 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:29.622Z,1761536129.622 [DAT](INFO): direction in FSK: [0.967166,-0.161848,0.195946] 2025-10-27T03:35:29.623Z,1761536129.623 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:29.624Z,1761536129.624 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:29.629Z,1761536129.629 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:29.629Z,1761536129.629 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:29.795Z,1761536129.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275930,0.955629,0.103129],[-0.956128,-0.261912,-0.131228],[-0.098395,-0.134814,0.985973]] 2025-10-27T03:35:29.839Z,1761536129.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.900002 m, deltaT: 3.780378 s, deltaX: -1.900002 m, approachRate: -0.502596 m/s, rangeRepo size: 4 2025-10-27T03:35:29.845Z,1761536129.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.550987 m, bearing: 246.156328 deg, lat: 36.779364 deg, lon: -121.859609 deg, deltaT: 3.780378 s, deltaX: -1.892548 m, approachRate: -0.500624 m/s, posRepo size: 4 2025-10-27T03:35:29.846Z,1761536129.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.55 m. 2025-10-27T03:35:29.853Z,1761536129.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.550987 m, nav range: 82.198303 m, bearing: 245.925195 deg, approach rate: 0.000000 m/s, LOS rate: -0.069028 deg/s, cmd heading: 254.769307 deg, new cmd heading: 254.689665 deg. 2025-10-27T03:35:29.854Z,1761536129.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445173 target range: 83.550987 and range: 83.90 m. 2025-10-27T03:35:30.203Z,1761536130.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277978,0.955097,0.102556],[-0.955372,-0.263778,-0.132988],[-0.099965,-0.134947,0.985797]] 2025-10-27T03:35:30.246Z,1761536130.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.55 m. 2025-10-27T03:35:30.249Z,1761536130.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.550987 m, nav range: 81.931557 m, bearing: 245.898997 deg, approach rate: -0.653040 m/s, LOS rate: -0.064347 deg/s, cmd heading: 254.689667 deg, new cmd heading: 254.610816 deg. 2025-10-27T03:35:30.250Z,1761536130.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.443797 target range: 83.550987 and range: 83.90 m. 2025-10-27T03:35:30.629Z,1761536130.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279658,0.954639,0.102260],[-0.954708,-0.265233,-0.134850],[-0.101610,-0.135340,0.985575]] 2025-10-27T03:35:30.664Z,1761536130.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.55 m. 2025-10-27T03:35:30.666Z,1761536130.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.550987 m, nav range: 81.679527 m, bearing: 245.874410 deg, approach rate: -0.604331 m/s, LOS rate: -0.059136 deg/s, cmd heading: 254.610820 deg, new cmd heading: 254.536833 deg. 2025-10-27T03:35:30.667Z,1761536130.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442506 target range: 83.550987 and range: 83.90 m. 2025-10-27T03:35:31.055Z,1761536131.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:31.057Z,1761536131.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.55 m. 2025-10-27T03:35:31.060Z,1761536131.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.550987 m, nav range: 81.423485 m, bearing: 245.849276 deg, approach rate: -0.650483 m/s, LOS rate: -0.064056 deg/s, cmd heading: 254.536835 deg, new cmd heading: 254.461194 deg. 2025-10-27T03:35:31.061Z,1761536131.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441185 target range: 83.550987 and range: 83.90 m. 2025-10-27T03:35:31.109Z,1761536131.109 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:31.109Z,1761536131.109 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:31.109Z,1761536131.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:31.360Z,1761536131.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739838 2025-10-27T03:35:31.495Z,1761536131.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.55 m. 2025-10-27T03:35:31.498Z,1761536131.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.550987 m, nav range: 81.175224 m, bearing: 245.818114 deg, approach rate: -0.566946 m/s, LOS rate: -0.071382 deg/s, cmd heading: 254.461184 deg, new cmd heading: 254.367411 deg. 2025-10-27T03:35:31.499Z,1761536131.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439549 target range: 83.550987 and range: 83.90 m. 2025-10-27T03:35:31.613Z,1761536131.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992125 2025-10-27T03:35:31.844Z,1761536131.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285008,0.952748,0.105075],[-0.952559,-0.269315,-0.141778],[-0.106781,-0.140498,0.984306]] 2025-10-27T03:35:31.862Z,1761536131.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.55 m. 2025-10-27T03:35:31.864Z,1761536131.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243879 2025-10-27T03:35:31.867Z,1761536131.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.550987 m, nav range: 80.967285 m, bearing: 245.792732 deg, approach rate: -0.565850 m/s, LOS rate: -0.069247 deg/s, cmd heading: 254.367419 deg, new cmd heading: 254.291078 deg. 2025-10-27T03:35:31.868Z,1761536131.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438217 target range: 83.550987 and range: 83.90 m. 2025-10-27T03:35:32.117Z,1761536132.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496979 2025-10-27T03:35:32.246Z,1761536132.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286780,0.951875,0.108130],[-0.951842,-0.270343,-0.144608],[-0.108416,-0.144393,0.983563]] 2025-10-27T03:35:32.303Z,1761536132.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.55 m. 2025-10-27T03:35:32.306Z,1761536132.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.550987 m, nav range: 80.728073 m, bearing: 245.774663 deg, approach rate: -0.548372 m/s, LOS rate: -0.041543 deg/s, cmd heading: 254.291085 deg, new cmd heading: 254.236718 deg. 2025-10-27T03:35:32.306Z,1761536132.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437268 target range: 83.550987 and range: 83.90 m. 2025-10-27T03:35:32.369Z,1761536132.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748327 2025-10-27T03:35:32.621Z,1761536132.621 [DAT](INFO): DAT read: Rx Time:03:35:33.4260 2025-10-27T03:35:32.622Z,1761536132.622 [DAT](INFO): Rx dataTimestamp_ set to:1761536132.621367 2025-10-27T03:35:32.624Z,1761536132.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003079 2025-10-27T03:35:32.695Z,1761536132.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.55 m. 2025-10-27T03:35:32.699Z,1761536132.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.550987 m, nav range: 80.494919 m, bearing: 245.756948 deg, approach rate: -0.588823 m/s, LOS rate: -0.044868 deg/s, cmd heading: 254.236716 deg, new cmd heading: 254.183418 deg. 2025-10-27T03:35:32.701Z,1761536132.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436337 target range: 83.550987 and range: 83.90 m. 2025-10-27T03:35:32.872Z,1761536132.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251720 2025-10-27T03:35:33.055Z,1761536133.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289831,0.950446,0.112474],[-0.950600,-0.272225,-0.149174],[-0.111164,-0.150153,0.982393]] 2025-10-27T03:35:33.071Z,1761536133.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:33.073Z,1761536133.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.55 m. 2025-10-27T03:35:33.076Z,1761536133.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.550987 m, nav range: 80.277992 m, bearing: 245.740863 deg, approach rate: -0.572745 m/s, LOS rate: -0.042585 deg/s, cmd heading: 254.183414 deg, new cmd heading: 254.135027 deg. 2025-10-27T03:35:33.077Z,1761536133.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435493 target range: 83.550987 and range: 83.90 m. 2025-10-27T03:35:33.133Z,1761536133.133 [DAT](INFO): DAT read: 03:35:33.4260 LVL= 32752, 32753, 31394, 32755, AGC= 71, IDX= 407,-0.04,-1.848, 2.904,-1.342,-1.811, PHS= 0.064,-1.523, 0.425, RAW= 160.0, 11.5, CAL= 160.2, 12.8, ROT= 349.8, -12.8 2025-10-27T03:35:33.135Z,1761536133.135 [DAT](INFO): got valid direction response: 03:35:33.4260 LVL= 32752, 32753, 31394, 32755, AGC= 71, IDX= 407,-0.04,-1.848, 2.904,-1.342,-1.811, PHS= 0.064,-1.523, 0.425, RAW= 160.0, 11.5, CAL= 160.2, 12.8, ROT= 349.8, -12.8 2025-10-27T03:35:33.136Z,1761536133.136 [DAT](INFO): DAT read: Bearing 47.5, -18.4 (Local) 2025-10-27T03:35:33.137Z,1761536133.137 [DAT](INFO): Local bearing/azimuth received: Bearing 47.5, -18.4 (Local) 2025-10-27T03:35:33.139Z,1761536133.139 [DAT](INFO): DAT read: Range 11 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.5 m/s 2025-10-27T03:35:33.140Z,1761536133.140 [DAT](INFO): DAT read: user:385> 2025-10-27T03:35:33.140Z,1761536133.140 [DAT](INFO): DAT read: Tx time:03:35:34.5130 2025-10-27T03:35:33.141Z,1761536133.141 [DAT](INFO): Ping request sent. 2025-10-27T03:35:33.141Z,1761536133.141 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:33.141Z,1761536133.141 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:33.142Z,1761536133.142 [DAT](INFO): direction in FSK: [0.959738,-0.172684,0.221548] 2025-10-27T03:35:33.142Z,1761536133.142 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:33.143Z,1761536133.143 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:33.146Z,1761536133.146 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:33.146Z,1761536133.146 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:33.461Z,1761536133.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291525,0.950096,0.111040],[-0.949903,-0.273864,-0.150607],[-0.112681,-0.149383,0.982338]] 2025-10-27T03:35:33.580Z,1761536133.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.526006 s, deltaX: -2.300003 m, approachRate: -0.652297 m/s, rangeRepo size: 4 2025-10-27T03:35:33.582Z,1761536133.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.260101 m, bearing: 244.966778 deg, lat: 36.779357 deg, lon: -121.859610 deg, deltaT: 3.526006 s, deltaX: -2.290886 m, approachRate: -0.649711 m/s, posRepo size: 4 2025-10-27T03:35:33.582Z,1761536133.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m. 2025-10-27T03:35:33.585Z,1761536133.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.260101 m, nav range: 80.353287 m, bearing: 245.212300 deg, approach rate: 0.000000 m/s, LOS rate: -0.042585 deg/s, cmd heading: 254.135029 deg, new cmd heading: 254.070459 deg. 2025-10-27T03:35:33.586Z,1761536133.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434366 target range: 81.260101 and range: 81.60 m. 2025-10-27T03:35:33.917Z,1761536133.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293119,0.949758,0.109735],[-0.949229,-0.275385,-0.152075],[-0.114215,-0.148739,0.982258]] 2025-10-27T03:35:33.936Z,1761536133.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m. 2025-10-27T03:35:33.939Z,1761536133.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.260101 m, nav range: 80.152870 m, bearing: 245.195656 deg, approach rate: -0.560618 m/s, LOS rate: -0.046676 deg/s, cmd heading: 254.070470 deg, new cmd heading: 254.020411 deg. 2025-10-27T03:35:33.940Z,1761536133.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433493 target range: 81.260101 and range: 81.60 m. 2025-10-27T03:35:34.317Z,1761536134.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294597,0.949458,0.108356],[-0.948601,-0.276828,-0.153371],[-0.115623,-0.147970,0.982210]] 2025-10-27T03:35:34.366Z,1761536134.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m. 2025-10-27T03:35:34.369Z,1761536134.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.260101 m, nav range: 79.911301 m, bearing: 245.182903 deg, approach rate: -0.562484 m/s, LOS rate: -0.029783 deg/s, cmd heading: 254.020418 deg, new cmd heading: 253.982045 deg. 2025-10-27T03:35:34.370Z,1761536134.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432823 target range: 81.260101 and range: 81.60 m. 2025-10-27T03:35:34.730Z,1761536134.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295146,0.949627,0.105344],[-0.948275,-0.277654,-0.153895],[-0.116894,-0.145316,0.982456]] 2025-10-27T03:35:34.752Z,1761536134.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m. 2025-10-27T03:35:34.755Z,1761536134.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.260101 m, nav range: 79.696404 m, bearing: 245.171605 deg, approach rate: -0.556113 m/s, LOS rate: -0.029318 deg/s, cmd heading: 253.982032 deg, new cmd heading: 253.948045 deg. 2025-10-27T03:35:34.756Z,1761536134.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432230 target range: 81.260101 and range: 81.60 m. 2025-10-27T03:35:35.131Z,1761536135.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295793,0.950028,0.099771],[-0.947903,-0.278981,-0.153782],[-0.118263,-0.140061,0.983055]] 2025-10-27T03:35:35.149Z,1761536135.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:35.151Z,1761536135.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m. 2025-10-27T03:35:35.154Z,1761536135.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.260101 m, nav range: 79.470451 m, bearing: 245.159806 deg, approach rate: -0.566425 m/s, LOS rate: -0.029661 deg/s, cmd heading: 253.948045 deg, new cmd heading: 253.912549 deg. 2025-10-27T03:35:35.155Z,1761536135.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.431610 target range: 81.260101 and range: 81.60 m. 2025-10-27T03:35:35.394Z,1761536135.394 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:35.394Z,1761536135.394 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:35.394Z,1761536135.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:35.581Z,1761536135.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m. 2025-10-27T03:35:35.584Z,1761536135.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.260101 m, nav range: 79.234428 m, bearing: 245.147834 deg, approach rate: -0.548579 m/s, LOS rate: -0.027910 deg/s, cmd heading: 253.912556 deg, new cmd heading: 253.876532 deg. 2025-10-27T03:35:35.585Z,1761536135.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430981 target range: 81.260101 and range: 81.60 m. 2025-10-27T03:35:35.644Z,1761536135.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503215 2025-10-27T03:35:35.896Z,1761536135.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755554 2025-10-27T03:35:35.934Z,1761536135.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295997,0.950955,0.089834],[-0.947426,-0.280325,-0.154277],[-0.121528,-0.130777,0.983935]] 2025-10-27T03:35:35.952Z,1761536135.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m. 2025-10-27T03:35:35.955Z,1761536135.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.260101 m, nav range: 79.031258 m, bearing: 245.137574 deg, approach rate: -0.547905 m/s, LOS rate: -0.027740 deg/s, cmd heading: 253.876520 deg, new cmd heading: 253.845660 deg. 2025-10-27T03:35:35.956Z,1761536135.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430442 target range: 81.260101 and range: 81.60 m. 2025-10-27T03:35:36.148Z,1761536136.148 [DAT](INFO): DAT read: Rx Time:03:35:37.0233 2025-10-27T03:35:36.148Z,1761536136.148 [DAT](INFO): Rx dataTimestamp_ set to:1761536136.148181 2025-10-27T03:35:36.149Z,1761536136.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008187 2025-10-27T03:35:36.338Z,1761536136.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295902,0.951188,0.087654],[-0.947302,-0.280421,-0.154867],[-0.122727,-0.128860,0.984039]] 2025-10-27T03:35:36.398Z,1761536136.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.26 m. 2025-10-27T03:35:36.402Z,1761536136.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260452 2025-10-27T03:35:36.408Z,1761536136.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.260101 m, nav range: 78.810226 m, bearing: 245.129608 deg, approach rate: -0.499375 m/s, LOS rate: -0.018047 deg/s, cmd heading: 253.845647 deg, new cmd heading: 253.821683 deg. 2025-10-27T03:35:36.409Z,1761536136.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430024 target range: 81.260101 and range: 81.60 m. 2025-10-27T03:35:36.658Z,1761536136.658 [DAT](INFO): DAT read: 03:35:37.0233 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.35,-0.955,-2.430,-0.537,-0.947, PHS= 0.094,-1.438, 0.366, RAW= 158.0, 11.6, CAL= 158.2, 12.9, ROT= 351.8, -12.9 2025-10-27T03:35:36.659Z,1761536136.659 [DAT](INFO): got valid direction response: 03:35:37.0233 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.35,-0.955,-2.430,-0.537,-0.947, PHS= 0.094,-1.438, 0.366, RAW= 158.0, 11.6, CAL= 158.2, 12.9, ROT= 351.8, -12.9 2025-10-27T03:35:36.660Z,1761536136.660 [DAT](INFO): DAT read: Bearing 48.2, -16.9 (Local) 2025-10-27T03:35:36.660Z,1761536136.660 [DAT](INFO): Local bearing/azimuth received: Bearing 48.2, -16.9 (Local) 2025-10-27T03:35:36.661Z,1761536136.661 [DAT](INFO): DAT read: Range 11 to 50 : 79.5 m (Round-trip 106.1 ms) speed 0.4 m/s 2025-10-27T03:35:36.662Z,1761536136.662 [DAT](INFO): DAT read: user:386> 2025-10-27T03:35:36.663Z,1761536136.663 [DAT](INFO): DAT read: Tx time:03:35:38.1130 2025-10-27T03:35:36.663Z,1761536136.663 [DAT](INFO): Ping request sent. 2025-10-27T03:35:36.664Z,1761536136.664 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:36.664Z,1761536136.664 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:36.665Z,1761536136.665 [DAT](INFO): direction in FSK: [0.964795,-0.139029,0.223250] 2025-10-27T03:35:36.665Z,1761536136.665 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:36.665Z,1761536136.665 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:36.702Z,1761536136.702 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:36.702Z,1761536136.702 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:36.768Z,1761536136.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295564,0.951065,0.090093],[-0.947241,-0.279516,-0.156864],[-0.124006,-0.131703,0.983502]] 2025-10-27T03:35:36.838Z,1761536136.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.500000 m, deltaT: 3.527414 s, deltaX: -2.099998 m, approachRate: -0.595337 m/s, rangeRepo size: 4 2025-10-27T03:35:36.844Z,1761536136.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.169518 m, bearing: 246.416962 deg, lat: 36.779364 deg, lon: -121.859618 deg, deltaT: 3.527414 s, deltaX: -2.090584 m, approachRate: -0.592668 m/s, posRepo size: 4 2025-10-27T03:35:36.845Z,1761536136.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.17 m. 2025-10-27T03:35:36.855Z,1761536136.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.169518 m, nav range: 78.945404 m, bearing: 245.872693 deg, approach rate: 0.000000 m/s, LOS rate: -0.018047 deg/s, cmd heading: 253.821687 deg, new cmd heading: 253.797751 deg. 2025-10-27T03:35:36.856Z,1761536136.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429606 target range: 79.169518 and range: 79.50 m. 2025-10-27T03:35:37.153Z,1761536137.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295898,0.951068,0.088961],[-0.946964,-0.279848,-0.157940],[-0.125316,-0.130977,0.983433]] 2025-10-27T03:35:37.172Z,1761536137.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:37.174Z,1761536137.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.17 m. 2025-10-27T03:35:37.177Z,1761536137.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.169518 m, nav range: 78.746788 m, bearing: 245.867386 deg, approach rate: -0.589192 m/s, LOS rate: -0.015781 deg/s, cmd heading: 253.797754 deg, new cmd heading: 253.781795 deg. 2025-10-27T03:35:37.178Z,1761536137.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429328 target range: 79.169518 and range: 79.50 m. 2025-10-27T03:35:37.408Z,1761536137.408 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:37.409Z,1761536137.409 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:37.409Z,1761536137.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:37.557Z,1761536137.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296446,0.951361,0.083860],[-0.946604,-0.281039,-0.157980],[-0.126728,-0.126215,0.983875]] 2025-10-27T03:35:37.621Z,1761536137.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.17 m. 2025-10-27T03:35:37.639Z,1761536137.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.169518 m, nav range: 78.521873 m, bearing: 245.861254 deg, approach rate: -0.503718 m/s, LOS rate: -0.013772 deg/s, cmd heading: 253.781798 deg, new cmd heading: 253.763350 deg. 2025-10-27T03:35:37.640Z,1761536137.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429006 target range: 79.169518 and range: 79.50 m. 2025-10-27T03:35:37.660Z,1761536137.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996445 2025-10-27T03:35:37.912Z,1761536137.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248279 2025-10-27T03:35:37.963Z,1761536137.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297185,0.951328,0.081592],[-0.946148,-0.281918,-0.159140],[-0.128392,-0.124492,0.983879]] 2025-10-27T03:35:37.981Z,1761536137.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.17 m. 2025-10-27T03:35:37.984Z,1761536137.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.169518 m, nav range: 78.329971 m, bearing: 245.856129 deg, approach rate: -0.531751 m/s, LOS rate: -0.014236 deg/s, cmd heading: 253.763357 deg, new cmd heading: 253.747944 deg. 2025-10-27T03:35:37.985Z,1761536137.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428737 target range: 79.169518 and range: 79.50 m. 2025-10-27T03:35:38.164Z,1761536138.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500393 2025-10-27T03:35:38.365Z,1761536138.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298179,0.951087,0.080762],[-0.945589,-0.282792,-0.160906],[-0.130197,-0.124346,0.983660]] 2025-10-27T03:35:38.414Z,1761536138.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.17 m. 2025-10-27T03:35:38.416Z,1761536138.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752409 2025-10-27T03:35:38.419Z,1761536138.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.169518 m, nav range: 78.102692 m, bearing: 245.854045 deg, approach rate: -0.525309 m/s, LOS rate: -0.004832 deg/s, cmd heading: 253.747948 deg, new cmd heading: 253.741676 deg. 2025-10-27T03:35:38.420Z,1761536138.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428627 target range: 79.169518 and range: 79.50 m. 2025-10-27T03:35:38.668Z,1761536138.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004504 2025-10-27T03:35:38.775Z,1761536138.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299005,0.950893,0.079994],[-0.945081,-0.283495,-0.162639],[-0.131974,-0.124231,0.983438]] 2025-10-27T03:35:38.793Z,1761536138.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.17 m. 2025-10-27T03:35:38.796Z,1761536138.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.169518 m, nav range: 77.898026 m, bearing: 245.852303 deg, approach rate: -0.539393 m/s, LOS rate: -0.004602 deg/s, cmd heading: 253.741664 deg, new cmd heading: 253.736426 deg. 2025-10-27T03:35:38.797Z,1761536138.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428536 target range: 79.169518 and range: 79.50 m. 2025-10-27T03:35:38.920Z,1761536138.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256376 2025-10-27T03:35:39.172Z,1761536139.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508250 2025-10-27T03:35:39.175Z,1761536139.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300303,0.950575,0.078898],[-0.944447,-0.284744,-0.164137],[-0.133559,-0.123806,0.983277]] 2025-10-27T03:35:39.192Z,1761536139.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:39.194Z,1761536139.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.17 m. 2025-10-27T03:35:39.213Z,1761536139.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.169518 m, nav range: 77.685310 m, bearing: 245.850715 deg, approach rate: -0.531092 m/s, LOS rate: -0.003977 deg/s, cmd heading: 253.736419 deg, new cmd heading: 253.731640 deg. 2025-10-27T03:35:39.214Z,1761536139.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428452 target range: 79.169518 and range: 79.50 m. 2025-10-27T03:35:39.424Z,1761536139.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760584 2025-10-27T03:35:39.577Z,1761536139.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301635,0.950303,0.077074],[-0.943796,-0.286152,-0.165429],[-0.135153,-0.122641,0.983205]] 2025-10-27T03:35:39.654Z,1761536139.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.17 m. 2025-10-27T03:35:39.661Z,1761536139.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.169518 m, nav range: 77.446785 m, bearing: 245.848417 deg, approach rate: -0.519113 m/s, LOS rate: -0.005015 deg/s, cmd heading: 253.731638 deg, new cmd heading: 253.724724 deg. 2025-10-27T03:35:39.662Z,1761536139.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428332 target range: 79.169518 and range: 79.50 m. 2025-10-27T03:35:39.676Z,1761536139.676 [DAT](INFO): DAT read: Rx Time:03:35:40.6210 2025-10-27T03:35:39.677Z,1761536139.677 [DAT](INFO): Rx dataTimestamp_ set to:1761536139.676401 2025-10-27T03:35:39.677Z,1761536139.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013659 2025-10-27T03:35:39.928Z,1761536139.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264340 2025-10-27T03:35:40.024Z,1761536140.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.17 m. 2025-10-27T03:35:40.026Z,1761536140.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.169518 m, nav range: 77.243187 m, bearing: 245.846445 deg, approach rate: -0.550266 m/s, LOS rate: -0.005344 deg/s, cmd heading: 253.724725 deg, new cmd heading: 253.718793 deg. 2025-10-27T03:35:40.027Z,1761536140.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428228 target range: 79.169518 and range: 79.50 m. 2025-10-27T03:35:40.191Z,1761536140.191 [DAT](INFO): DAT read: 03:35:40.6210 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.12, 2.436, 0.907, 2.956, 2.436, PHS= 0.102,-1.484, 0.476, RAW= 160.4, 10.1, CAL= 160.3, 10.9, ROT= 349.7, -10.9 2025-10-27T03:35:40.193Z,1761536140.193 [DAT](INFO): got valid direction response: 03:35:40.6210 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.12, 2.436, 0.907, 2.956, 2.436, PHS= 0.102,-1.484, 0.476, RAW= 160.4, 10.1, CAL= 160.3, 10.9, ROT= 349.7, -10.9 2025-10-27T03:35:40.194Z,1761536140.194 [DAT](INFO): DAT read: Bearing 45.0, -19.3 (Local) 2025-10-27T03:35:40.194Z,1761536140.194 [DAT](INFO): Local bearing/azimuth received: Bearing 45.0, -19.3 (Local) 2025-10-27T03:35:40.196Z,1761536140.196 [DAT](INFO): DAT read: Range 11 to 50 : 77.9 m (Round-trip 103.9 ms) speed 0.4 m/s 2025-10-27T03:35:40.196Z,1761536140.196 [DAT](INFO): DAT read: user:387> 2025-10-27T03:35:40.197Z,1761536140.197 [DAT](INFO): DAT read: Tx time:03:35:41.7130 2025-10-27T03:35:40.197Z,1761536140.197 [DAT](INFO): Ping request sent. 2025-10-27T03:35:40.197Z,1761536140.197 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:40.198Z,1761536140.198 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:40.200Z,1761536140.200 [DAT](INFO): direction in FSK: [0.966134,-0.175576,0.189095] 2025-10-27T03:35:40.200Z,1761536140.200 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:40.200Z,1761536140.200 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:40.212Z,1761536140.212 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:40.212Z,1761536140.212 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:40.385Z,1761536140.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302745,0.949691,0.080206],[-0.942821,-0.286117,-0.170954],[-0.139405,-0.127375,0.982009]] 2025-10-27T03:35:40.488Z,1761536140.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.900002 m, deltaT: 3.530909 s, deltaX: -1.599998 m, approachRate: -0.453141 m/s, rangeRepo size: 4 2025-10-27T03:35:40.490Z,1761536140.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.575943 m, bearing: 243.559445 deg, lat: 36.779364 deg, lon: -121.859618 deg, deltaT: 3.530909 s, deltaX: -1.593575 m, approachRate: -0.451321 m/s, posRepo size: 4 2025-10-27T03:35:40.490Z,1761536140.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.58 m. 2025-10-27T03:35:40.497Z,1761536140.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.575943 m, nav range: 77.004364 m, bearing: 245.841172 deg, approach rate: 0.000000 m/s, LOS rate: -0.005344 deg/s, cmd heading: 253.718797 deg, new cmd heading: 253.711443 deg. 2025-10-27T03:35:40.498Z,1761536140.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428100 target range: 77.575943 and range: 77.90 m. 2025-10-27T03:35:40.796Z,1761536140.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303551,0.949500,0.079410],[-0.942281,-0.286792,-0.172793],[-0.141293,-0.127278,0.981752]] 2025-10-27T03:35:40.820Z,1761536140.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.58 m. 2025-10-27T03:35:40.826Z,1761536140.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.575943 m, nav range: 76.813057 m, bearing: 245.837061 deg, approach rate: -0.565627 m/s, LOS rate: -0.012184 deg/s, cmd heading: 253.711448 deg, new cmd heading: 253.699084 deg. 2025-10-27T03:35:40.834Z,1761536140.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427884 target range: 77.575943 and range: 77.90 m. 2025-10-27T03:35:41.196Z,1761536141.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304037,0.949368,0.079131],[-0.941819,-0.287042,-0.174883],[-0.143314,-0.127698,0.981404]] 2025-10-27T03:35:41.222Z,1761536141.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:41.225Z,1761536141.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.58 m. 2025-10-27T03:35:41.228Z,1761536141.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.575943 m, nav range: 76.595016 m, bearing: 245.832450 deg, approach rate: -0.539226 m/s, LOS rate: -0.011435 deg/s, cmd heading: 253.699071 deg, new cmd heading: 253.685200 deg. 2025-10-27T03:35:41.229Z,1761536141.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427642 target range: 77.575943 and range: 77.90 m. 2025-10-27T03:35:41.444Z,1761536141.444 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:41.444Z,1761536141.444 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:41.444Z,1761536141.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:41.617Z,1761536141.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304516,0.949261,0.078567],[-0.941345,-0.287331,-0.176948],[-0.145396,-0.127842,0.981079]] 2025-10-27T03:35:41.656Z,1761536141.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.58 m. 2025-10-27T03:35:41.658Z,1761536141.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.575943 m, nav range: 76.345375 m, bearing: 245.824629 deg, approach rate: -0.579481 m/s, LOS rate: -0.018213 deg/s, cmd heading: 253.685192 deg, new cmd heading: 253.661654 deg. 2025-10-27T03:35:41.659Z,1761536141.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427231 target range: 77.575943 and range: 77.90 m. 2025-10-27T03:35:41.697Z,1761536141.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499255 2025-10-27T03:35:41.948Z,1761536141.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750831 2025-10-27T03:35:42.002Z,1761536142.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305020,0.949109,0.078452],[-0.940879,-0.287578,-0.179015],[-0.147344,-0.128417,0.980713]] 2025-10-27T03:35:42.044Z,1761536142.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.58 m. 2025-10-27T03:35:42.051Z,1761536142.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.575943 m, nav range: 76.131546 m, bearing: 245.817994 deg, approach rate: -0.549740 m/s, LOS rate: -0.017108 deg/s, cmd heading: 253.661642 deg, new cmd heading: 253.641678 deg. 2025-10-27T03:35:42.052Z,1761536142.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426882 target range: 77.575943 and range: 77.90 m. 2025-10-27T03:35:42.200Z,1761536142.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002403 2025-10-27T03:35:42.412Z,1761536142.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304933,0.949040,0.079619],[-0.940605,-0.287009,-0.181349],[-0.149256,-0.130190,0.980190]] 2025-10-27T03:35:42.452Z,1761536142.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254791 2025-10-27T03:35:42.457Z,1761536142.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.58 m. 2025-10-27T03:35:42.460Z,1761536142.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.575943 m, nav range: 75.876381 m, bearing: 245.799930 deg, approach rate: -0.618198 m/s, LOS rate: -0.043910 deg/s, cmd heading: 253.641670 deg, new cmd heading: 253.587298 deg. 2025-10-27T03:35:42.461Z,1761536142.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425933 target range: 77.575943 and range: 77.90 m. 2025-10-27T03:35:42.705Z,1761536142.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507251 2025-10-27T03:35:42.822Z,1761536142.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306913,0.948351,0.080218],[-0.939620,-0.288519,-0.184043],[-0.151393,-0.131860,0.979639]] 2025-10-27T03:35:42.841Z,1761536142.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.58 m. 2025-10-27T03:35:42.844Z,1761536142.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.575943 m, nav range: 75.647865 m, bearing: 245.784040 deg, approach rate: -0.595690 m/s, LOS rate: -0.041548 deg/s, cmd heading: 253.587302 deg, new cmd heading: 253.539486 deg. 2025-10-27T03:35:42.845Z,1761536142.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425099 target range: 77.575943 and range: 77.90 m. 2025-10-27T03:35:42.956Z,1761536142.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758424 2025-10-27T03:35:43.213Z,1761536143.213 [DAT](INFO): DAT read: Rx Time:03:35:44.2183 2025-10-27T03:35:43.213Z,1761536143.213 [DAT](INFO): Rx dataTimestamp_ set to:1761536143.213171 2025-10-27T03:35:43.214Z,1761536143.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016556 2025-10-27T03:35:43.223Z,1761536143.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307945,0.948165,0.078438],[-0.939211,-0.289807,-0.184104],[-0.151829,-0.130363,0.979772]] 2025-10-27T03:35:43.240Z,1761536143.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:43.242Z,1761536143.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.58 m. 2025-10-27T03:35:43.269Z,1761536143.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.575943 m, nav range: 75.410233 m, bearing: 245.767614 deg, approach rate: -0.592073 m/s, LOS rate: -0.041054 deg/s, cmd heading: 253.539491 deg, new cmd heading: 253.490059 deg. 2025-10-27T03:35:43.270Z,1761536143.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.424236 target range: 77.575943 and range: 77.90 m. 2025-10-27T03:35:43.463Z,1761536143.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265336 2025-10-27T03:35:43.679Z,1761536143.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.58 m. 2025-10-27T03:35:43.682Z,1761536143.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.575943 m, nav range: 75.145523 m, bearing: 245.749438 deg, approach rate: -0.606295 m/s, LOS rate: -0.041777 deg/s, cmd heading: 253.490067 deg, new cmd heading: 253.435347 deg. 2025-10-27T03:35:43.683Z,1761536143.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423281 target range: 77.575943 and range: 77.90 m. 2025-10-27T03:35:43.712Z,1761536143.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514649 2025-10-27T03:35:43.970Z,1761536143.970 [DAT](INFO): DAT read: 03:35:44.2183 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.04, 2.343, 0.812, 2.796, 2.412, PHS= 0.033,-1.554, 0.341, RAW= 158.7, 13.3, CAL= 159.2, 15.2, ROT= 350.8, -15.2 2025-10-27T03:35:43.972Z,1761536143.972 [DAT](INFO): got valid direction response: 03:35:44.2183 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.04, 2.343, 0.812, 2.796, 2.412, PHS= 0.033,-1.554, 0.341, RAW= 158.7, 13.3, CAL= 159.2, 15.2, ROT= 350.8, -15.2 2025-10-27T03:35:43.976Z,1761536143.976 [DAT](INFO): DAT read: Bearing 50.1, -19.5 (Local) 2025-10-27T03:35:43.976Z,1761536143.976 [DAT](INFO): Local bearing/azimuth received: Bearing 50.1, -19.5 (Local) 2025-10-27T03:35:43.979Z,1761536143.979 [DAT](INFO): DAT read: Range 11 to 50 : 75.8 m (Round-trip 101.1 ms) speed 0.7 m/s 2025-10-27T03:35:44.024Z,1761536144.024 [DAT](INFO): DAT read: user:388> 2025-10-27T03:35:44.024Z,1761536144.024 [DAT](INFO): DAT read: Tx time:03:35:45.3130 2025-10-27T03:35:44.025Z,1761536144.025 [DAT](INFO): Ping request sent. 2025-10-27T03:35:44.025Z,1761536144.025 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:44.025Z,1761536144.025 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:44.026Z,1761536144.026 [DAT](INFO): direction in FSK: [0.952603,-0.154288,0.262189] 2025-10-27T03:35:44.026Z,1761536144.026 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:44.027Z,1761536144.027 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:44.054Z,1761536144.054 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:44.054Z,1761536144.054 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:44.091Z,1761536144.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310621,0.947702,0.073314],[-0.938267,-0.293347,-0.183313],[-0.152219,-0.125729,0.980317]] 2025-10-27T03:35:44.158Z,1761536144.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.800003 m, deltaT: 3.781162 s, deltaX: -2.099998 m, approachRate: -0.555384 m/s, rangeRepo size: 4 2025-10-27T03:35:44.164Z,1761536144.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.484390 m, bearing: 244.748325 deg, lat: 36.779354 deg, lon: -121.859612 deg, deltaT: 3.781162 s, deltaX: -2.091553 m, approachRate: -0.553151 m/s, posRepo size: 4 2025-10-27T03:35:44.165Z,1761536144.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.48 m. 2025-10-27T03:35:44.172Z,1761536144.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.484390 m, nav range: 74.829788 m, bearing: 244.748594 deg, approach rate: 0.000000 m/s, LOS rate: -0.041777 deg/s, cmd heading: 253.435344 deg, new cmd heading: 253.375370 deg. 2025-10-27T03:35:44.173Z,1761536144.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422235 target range: 75.484390 and range: 75.80 m. 2025-10-27T03:35:44.468Z,1761536144.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312125,0.947367,0.071231],[-0.937732,-0.295184,-0.183099],[-0.152436,-0.123945,0.980511]] 2025-10-27T03:35:44.529Z,1761536144.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.48 m. 2025-10-27T03:35:44.538Z,1761536144.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.484390 m, nav range: 74.611595 m, bearing: 244.723358 deg, approach rate: -0.586611 m/s, LOS rate: -0.068045 deg/s, cmd heading: 253.375375 deg, new cmd heading: 253.299445 deg. 2025-10-27T03:35:44.539Z,1761536144.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420909 target range: 75.484390 and range: 75.80 m. 2025-10-27T03:35:44.875Z,1761536144.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313703,0.947050,0.068465],[-0.937201,-0.297249,-0.182475],[-0.152462,-0.121409,0.980824]] 2025-10-27T03:35:44.898Z,1761536144.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.48 m. 2025-10-27T03:35:44.901Z,1761536144.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.484390 m, nav range: 74.380959 m, bearing: 244.696823 deg, approach rate: -0.624681 m/s, LOS rate: -0.072091 deg/s, cmd heading: 253.299451 deg, new cmd heading: 253.219601 deg. 2025-10-27T03:35:44.902Z,1761536144.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419516 target range: 75.484390 and range: 75.80 m. 2025-10-27T03:35:45.277Z,1761536145.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315561,0.946532,0.067077],[-0.936446,-0.299221,-0.183129],[-0.153266,-0.120602,0.980798]] 2025-10-27T03:35:45.294Z,1761536145.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:45.296Z,1761536145.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.48 m. 2025-10-27T03:35:45.299Z,1761536145.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.484390 m, nav range: 74.147217 m, bearing: 244.670135 deg, approach rate: -0.587911 m/s, LOS rate: -0.067339 deg/s, cmd heading: 253.219592 deg, new cmd heading: 253.139274 deg. 2025-10-27T03:35:45.300Z,1761536145.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418114 target range: 75.484390 and range: 75.80 m. 2025-10-27T03:35:45.476Z,1761536145.476 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:45.476Z,1761536145.476 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:45.476Z,1761536145.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:45.681Z,1761536145.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317142,0.945997,0.067162],[-0.935851,-0.300695,-0.183755],[-0.153636,-0.121130,0.980675]] 2025-10-27T03:35:45.728Z,1761536145.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703325 2025-10-27T03:35:45.747Z,1761536145.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.48 m. 2025-10-27T03:35:45.750Z,1761536145.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.484390 m, nav range: 73.880310 m, bearing: 244.645674 deg, approach rate: -0.591865 m/s, LOS rate: -0.054439 deg/s, cmd heading: 253.139269 deg, new cmd heading: 253.065620 deg. 2025-10-27T03:35:45.763Z,1761536145.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416828 target range: 75.484390 and range: 75.80 m. 2025-10-27T03:35:45.980Z,1761536145.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955169 2025-10-27T03:35:46.109Z,1761536146.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318353,0.945594,0.067109],[-0.935364,-0.301824,-0.184381],[-0.154094,-0.121469,0.980561]] 2025-10-27T03:35:46.143Z,1761536146.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.48 m. 2025-10-27T03:35:46.146Z,1761536146.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.484390 m, nav range: 73.655685 m, bearing: 244.625181 deg, approach rate: -0.573439 m/s, LOS rate: -0.052474 deg/s, cmd heading: 253.065612 deg, new cmd heading: 253.003947 deg. 2025-10-27T03:35:46.146Z,1761536146.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415752 target range: 75.484390 and range: 75.80 m. 2025-10-27T03:35:46.233Z,1761536146.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207877 2025-10-27T03:35:46.484Z,1761536146.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459271 2025-10-27T03:35:46.497Z,1761536146.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318370,0.945662,0.066057],[-0.935283,-0.301985,-0.184531],[-0.154556,-0.120531,0.980604]] 2025-10-27T03:35:46.538Z,1761536146.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.48 m. 2025-10-27T03:35:46.557Z,1761536146.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.484390 m, nav range: 73.423637 m, bearing: 244.605321 deg, approach rate: -0.581197 m/s, LOS rate: -0.049900 deg/s, cmd heading: 253.003949 deg, new cmd heading: 252.944180 deg. 2025-10-27T03:35:46.558Z,1761536146.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414709 target range: 75.484390 and range: 75.80 m. 2025-10-27T03:35:46.736Z,1761536146.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711106 2025-10-27T03:35:46.914Z,1761536146.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317537,0.945870,0.067089],[-0.935425,-0.300864,-0.185636],[-0.155402,-0.121703,0.980326]] 2025-10-27T03:35:46.932Z,1761536146.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.48 m. 2025-10-27T03:35:46.935Z,1761536146.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.484390 m, nav range: 73.201263 m, bearing: 244.586012 deg, approach rate: -0.564306 m/s, LOS rate: -0.049147 deg/s, cmd heading: 252.944171 deg, new cmd heading: 252.886069 deg. 2025-10-27T03:35:46.936Z,1761536146.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413694 target range: 75.484390 and range: 75.80 m. 2025-10-27T03:35:46.989Z,1761536146.989 [DAT](INFO): DAT read: Rx Time:03:35:47.8152 2025-10-27T03:35:46.990Z,1761536146.990 [DAT](INFO): Rx dataTimestamp_ set to:1761536146.989273 2025-10-27T03:35:46.991Z,1761536146.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965617 2025-10-27T03:35:47.240Z,1761536147.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215192 2025-10-27T03:35:47.314Z,1761536147.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316884,0.946140,0.066360],[-0.935595,-0.300332,-0.185641],[-0.155713,-0.120913,0.980374]] 2025-10-27T03:35:47.421Z,1761536147.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:47.437Z,1761536147.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.48 m. 2025-10-27T03:35:47.446Z,1761536147.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.484390 m, nav range: 72.948563 m, bearing: 244.563796 deg, approach rate: -0.501726 m/s, LOS rate: -0.044262 deg/s, cmd heading: 252.886060 deg, new cmd heading: 252.819181 deg. 2025-10-27T03:35:47.451Z,1761536147.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412527 target range: 75.484390 and range: 75.80 m. 2025-10-27T03:35:47.498Z,1761536147.498 [DAT](INFO): DAT read: 03:35:47.8152 LVL= 32752, 32753, 30498, 32755, AGC= 66, IDX= 408, 0.23, 0.161,-1.332, 0.728, 0.171, PHS= 0.092,-1.458, 0.513, RAW= 161.7, 9.5, CAL= 161.6, 10.2, ROT= 348.4, -10.2 2025-10-27T03:35:47.499Z,1761536147.499 [DAT](INFO): got valid direction response: 03:35:47.8152 LVL= 32752, 32753, 30498, 32755, AGC= 66, IDX= 408, 0.23, 0.161,-1.332, 0.728, 0.171, PHS= 0.092,-1.458, 0.513, RAW= 161.7, 9.5, CAL= 161.6, 10.2, ROT= 348.4, -10.2 2025-10-27T03:35:47.501Z,1761536147.500 [DAT](INFO): DAT read: Bearing 44.2, -21.6 (Local) 2025-10-27T03:35:47.501Z,1761536147.501 [DAT](INFO): Local bearing/azimuth received: Bearing 44.2, -21.6 (Local) 2025-10-27T03:35:47.504Z,1761536147.504 [DAT](INFO): DAT read: Range 11 to 50 : 73.5 m (Round-trip 98.0 ms) speed 0.4 m/s 2025-10-27T03:35:47.505Z,1761536147.505 [DAT](INFO): DAT read: user:389> 2025-10-27T03:35:47.506Z,1761536147.506 [DAT](INFO): DAT read: Tx time:03:35:48.9130 2025-10-27T03:35:47.508Z,1761536147.508 [DAT](INFO): Ping request sent. 2025-10-27T03:35:47.508Z,1761536147.508 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:47.509Z,1761536147.509 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:47.510Z,1761536147.510 [DAT](INFO): direction in FSK: [0.964094,-0.197900,0.177085] 2025-10-27T03:35:47.510Z,1761536147.510 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:47.511Z,1761536147.511 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:47.532Z,1761536147.532 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:47.532Z,1761536147.532 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:47.771Z,1761536147.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315287,0.946635,0.066909],[-0.936060,-0.298613,-0.186069],[-0.156159,-0.121296,0.980256]] 2025-10-27T03:35:47.845Z,1761536147.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.528157 s, deltaX: -2.300003 m, approachRate: -0.651899 m/s, rangeRepo size: 4 2025-10-27T03:35:47.851Z,1761536147.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.190819 m, bearing: 241.315387 deg, lat: 36.779354 deg, lon: -121.859610 deg, deltaT: 3.528157 s, deltaX: -2.293571 m, approachRate: -0.650076 m/s, posRepo size: 4 2025-10-27T03:35:47.852Z,1761536147.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m. 2025-10-27T03:35:47.859Z,1761536147.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.190819 m, nav range: 72.557426 m, bearing: 244.470755 deg, approach rate: 0.000000 m/s, LOS rate: -0.044262 deg/s, cmd heading: 252.819179 deg, new cmd heading: 252.764957 deg. 2025-10-27T03:35:47.860Z,1761536147.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411581 target range: 73.190819 and range: 73.50 m. 2025-10-27T03:35:48.187Z,1761536148.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313683,0.947043,0.068647],[-0.936628,-0.296736,-0.186213],[-0.155982,-0.122709,0.980108]] 2025-10-27T03:35:48.216Z,1761536148.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m. 2025-10-27T03:35:48.219Z,1761536148.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.190819 m, nav range: 72.339523 m, bearing: 244.455452 deg, approach rate: -0.585938 m/s, LOS rate: -0.041273 deg/s, cmd heading: 252.764947 deg, new cmd heading: 252.718900 deg. 2025-10-27T03:35:48.220Z,1761536148.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410777 target range: 73.190819 and range: 73.50 m. 2025-10-27T03:35:48.653Z,1761536148.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m. 2025-10-27T03:35:48.656Z,1761536148.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.190819 m, nav range: 72.103233 m, bearing: 244.446724 deg, approach rate: -0.540819 m/s, LOS rate: -0.020042 deg/s, cmd heading: 252.718912 deg, new cmd heading: 252.692643 deg. 2025-10-27T03:35:48.657Z,1761536148.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410318 target range: 73.190819 and range: 73.50 m. 2025-10-27T03:35:48.997Z,1761536148.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311202,0.947792,0.069590],[-0.937687,-0.294322,-0.184709],[-0.154584,-0.122735,0.980326]] 2025-10-27T03:35:49.016Z,1761536149.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m. 2025-10-27T03:35:49.019Z,1761536149.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.190819 m, nav range: 71.906754 m, bearing: 244.438995 deg, approach rate: -0.540918 m/s, LOS rate: -0.021338 deg/s, cmd heading: 252.692629 deg, new cmd heading: 252.669377 deg. 2025-10-27T03:35:49.020Z,1761536149.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409913 target range: 73.190819 and range: 73.50 m. 2025-10-27T03:35:49.403Z,1761536149.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310058,0.948114,0.070316],[-0.938174,-0.293155,-0.184091],[-0.153926,-0.123047,0.980391]] 2025-10-27T03:35:49.484Z,1761536149.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:49.486Z,1761536149.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m. 2025-10-27T03:35:49.493Z,1761536149.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.190819 m, nav range: 71.661545 m, bearing: 244.429037 deg, approach rate: -0.521882 m/s, LOS rate: -0.021267 deg/s, cmd heading: 252.669379 deg, new cmd heading: 252.639403 deg. 2025-10-27T03:35:49.494Z,1761536149.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409389 target range: 73.190819 and range: 73.50 m. 2025-10-27T03:35:49.512Z,1761536149.512 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:49.512Z,1761536149.512 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:49.512Z,1761536149.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:49.764Z,1761536149.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256632 2025-10-27T03:35:49.804Z,1761536149.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309084,0.948272,0.072437],[-0.938643,-0.291915,-0.183669],[-0.153022,-0.124761,0.980316]] 2025-10-27T03:35:49.860Z,1761536149.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m. 2025-10-27T03:35:49.879Z,1761536149.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.190819 m, nav range: 71.454666 m, bearing: 244.427885 deg, approach rate: -0.553120 m/s, LOS rate: -0.003090 deg/s, cmd heading: 252.639408 deg, new cmd heading: 252.635942 deg. 2025-10-27T03:35:49.880Z,1761536149.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409329 target range: 73.190819 and range: 73.50 m. 2025-10-27T03:35:50.020Z,1761536150.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511860 2025-10-27T03:35:50.206Z,1761536150.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307823,0.948372,0.076388],[-0.939187,-0.290032,-0.183875],[-0.152227,-0.128344,0.979977]] 2025-10-27T03:35:50.224Z,1761536150.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m. 2025-10-27T03:35:50.227Z,1761536150.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.190819 m, nav range: 71.262360 m, bearing: 244.426551 deg, approach rate: -0.527646 m/s, LOS rate: -0.003668 deg/s, cmd heading: 252.635939 deg, new cmd heading: 252.631928 deg. 2025-10-27T03:35:50.228Z,1761536150.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409259 target range: 73.190819 and range: 73.50 m. 2025-10-27T03:35:50.268Z,1761536150.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760254 2025-10-27T03:35:50.520Z,1761536150.520 [DAT](INFO): DAT read: Rx Time:03:35:51.4126 2025-10-27T03:35:50.520Z,1761536150.520 [DAT](INFO): Rx dataTimestamp_ set to:1761536150.520055 2025-10-27T03:35:50.521Z,1761536150.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013067 2025-10-27T03:35:50.527Z,1761536150.527 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:35:50.662Z,1761536150.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m. 2025-10-27T03:35:50.665Z,1761536150.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.190819 m, nav range: 71.041473 m, bearing: 244.433565 deg, approach rate: -0.504642 m/s, LOS rate: 0.016072 deg/s, cmd heading: 252.631922 deg, new cmd heading: 252.653027 deg. 2025-10-27T03:35:50.666Z,1761536150.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409627 target range: 73.190819 and range: 73.50 m. 2025-10-27T03:35:50.772Z,1761536150.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264150 2025-10-27T03:35:51.016Z,1761536151.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305122,0.948605,0.083964],[-0.940195,-0.286045,-0.184966],[-0.151442,-0.135380,0.979151]] 2025-10-27T03:35:51.030Z,1761536151.030 [DAT](INFO): DAT read: 03:35:51.4126 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.01, 0.951,-0.598, 1.530, 0.972, PHS= 0.081,-1.525, 0.514, RAW= 161.6, 10.0, CAL= 161.6, 10.9, ROT= 348.4, -10.9 2025-10-27T03:35:51.031Z,1761536151.031 [DAT](INFO): got valid direction response: 03:35:51.4126 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.01, 0.951,-0.598, 1.530, 0.972, PHS= 0.081,-1.525, 0.514, RAW= 161.6, 10.0, CAL= 161.6, 10.9, ROT= 348.4, -10.9 2025-10-27T03:35:51.032Z,1761536151.032 [DAT](INFO): DAT read: Bearing 45.9, -21.5 (Local) 2025-10-27T03:35:51.032Z,1761536151.032 [DAT](INFO): Local bearing/azimuth received: Bearing 45.9, -21.5 (Local) 2025-10-27T03:35:51.034Z,1761536151.034 [DAT](INFO): DAT read: Range 11 to 50 : 71.6 m (Round-trip 95.5 ms) speed 0.4 m/s 2025-10-27T03:35:51.034Z,1761536151.034 [DAT](INFO): DAT read: user:390> 2025-10-27T03:35:51.035Z,1761536151.035 [DAT](INFO): DAT read: Tx time:03:35:52.5130 2025-10-27T03:35:51.035Z,1761536151.035 [DAT](INFO): Ping request sent. 2025-10-27T03:35:51.036Z,1761536151.036 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:51.036Z,1761536151.036 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:51.037Z,1761536151.037 [DAT](INFO): direction in FSK: [0.961902,-0.197450,0.189095] 2025-10-27T03:35:51.037Z,1761536151.037 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:51.037Z,1761536151.037 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:51.053Z,1761536151.053 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:51.053Z,1761536151.053 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:51.081Z,1761536151.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.531876 s, deltaX: -1.900002 m, approachRate: -0.537958 m/s, rangeRepo size: 4 2025-10-27T03:35:51.086Z,1761536151.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.299271 m, bearing: 242.228617 deg, lat: 36.779338 deg, lon: -121.859607 deg, deltaT: 3.531876 s, deltaX: -1.891548 m, approachRate: -0.535565 m/s, posRepo size: 4 2025-10-27T03:35:51.092Z,1761536151.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-10-27T03:35:51.107Z,1761536151.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.299271 m, nav range: 71.413635 m, bearing: 243.083140 deg, approach rate: 0.000000 m/s, LOS rate: 0.016072 deg/s, cmd heading: 252.653014 deg, new cmd heading: 252.673166 deg. 2025-10-27T03:35:51.108Z,1761536151.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409979 target range: 71.299271 and range: 71.60 m. 2025-10-27T03:35:51.430Z,1761536151.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303823,0.949191,0.082023],[-0.940551,-0.285105,-0.184605],[-0.151840,-0.133234,0.979384]] 2025-10-27T03:35:51.515Z,1761536151.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-10-27T03:35:51.518Z,1761536151.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.299271 m, nav range: 71.208557 m, bearing: 243.084982 deg, approach rate: -0.476089 m/s, LOS rate: 0.004289 deg/s, cmd heading: 252.673177 deg, new cmd heading: 252.678719 deg. 2025-10-27T03:35:51.523Z,1761536151.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410076 target range: 71.299271 and range: 71.60 m. 2025-10-27T03:35:51.531Z,1761536151.531 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:35:51.894Z,1761536151.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:51.897Z,1761536151.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-10-27T03:35:51.899Z,1761536151.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.299271 m, nav range: 70.992813 m, bearing: 243.089243 deg, approach rate: -0.559450 m/s, LOS rate: 0.011083 deg/s, cmd heading: 252.678723 deg, new cmd heading: 252.691545 deg. 2025-10-27T03:35:51.900Z,1761536151.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410299 target range: 71.299271 and range: 71.60 m. 2025-10-27T03:35:52.032Z,1761536152.032 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:52.032Z,1761536152.032 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:52.032Z,1761536152.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:52.242Z,1761536152.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301062,0.950226,0.080198],[-0.941004,-0.282404,-0.186440],[-0.154512,-0.131596,0.979188]] 2025-10-27T03:35:52.268Z,1761536152.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-10-27T03:35:52.271Z,1761536152.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.299271 m, nav range: 70.809860 m, bearing: 243.092488 deg, approach rate: -0.492601 m/s, LOS rate: 0.008761 deg/s, cmd heading: 252.691536 deg, new cmd heading: 252.701298 deg. 2025-10-27T03:35:52.272Z,1761536152.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410470 target range: 71.299271 and range: 71.60 m. 2025-10-27T03:35:52.284Z,1761536152.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248340 2025-10-27T03:35:52.536Z,1761536152.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500403 2025-10-27T03:35:52.646Z,1761536152.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300813,0.950318,0.080051],[-0.940838,-0.281983,-0.187909],[-0.156000,-0.131841,0.978919]] 2025-10-27T03:35:52.710Z,1761536152.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-10-27T03:35:52.723Z,1761536152.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.299271 m, nav range: 70.582695 m, bearing: 243.091640 deg, approach rate: -0.514336 m/s, LOS rate: -0.001928 deg/s, cmd heading: 252.701290 deg, new cmd heading: 252.698736 deg. 2025-10-27T03:35:52.725Z,1761536152.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410425 target range: 71.299271 and range: 71.60 m. 2025-10-27T03:35:52.789Z,1761536152.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752648 2025-10-27T03:35:53.040Z,1761536153.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004332 2025-10-27T03:35:53.058Z,1761536153.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299992,0.950712,0.078438],[-0.940829,-0.281280,-0.189006],[-0.157628,-0.130497,0.978838]] 2025-10-27T03:35:53.086Z,1761536153.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-10-27T03:35:53.107Z,1761536153.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.299271 m, nav range: 70.377388 m, bearing: 243.090754 deg, approach rate: -0.546164 m/s, LOS rate: -0.002364 deg/s, cmd heading: 252.698749 deg, new cmd heading: 252.696083 deg. 2025-10-27T03:35:53.108Z,1761536153.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410378 target range: 71.299271 and range: 71.60 m. 2025-10-27T03:35:53.292Z,1761536153.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256278 2025-10-27T03:35:53.458Z,1761536153.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299627,0.950974,0.076626],[-0.940671,-0.281062,-0.190110],[-0.159253,-0.129042,0.978768]] 2025-10-27T03:35:53.537Z,1761536153.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-10-27T03:35:53.544Z,1761536153.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508323 2025-10-27T03:35:53.545Z,1761536153.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.299271 m, nav range: 70.162338 m, bearing: 243.089786 deg, approach rate: -0.476457 m/s, LOS rate: -0.002149 deg/s, cmd heading: 252.696072 deg, new cmd heading: 252.693161 deg. 2025-10-27T03:35:53.546Z,1761536153.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410327 target range: 71.299271 and range: 71.60 m. 2025-10-27T03:35:53.796Z,1761536153.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760343 2025-10-27T03:35:53.871Z,1761536153.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299340,0.951254,0.074240],[-0.940506,-0.281057,-0.190931],[-0.160758,-0.126976,0.978792]] 2025-10-27T03:35:53.921Z,1761536153.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:53.923Z,1761536153.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-10-27T03:35:53.926Z,1761536153.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.299271 m, nav range: 69.919487 m, bearing: 243.082487 deg, approach rate: -0.628671 m/s, LOS rate: -0.018962 deg/s, cmd heading: 252.693148 deg, new cmd heading: 252.671174 deg. 2025-10-27T03:35:53.927Z,1761536153.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409944 target range: 71.299271 and range: 71.60 m. 2025-10-27T03:35:54.048Z,1761536154.048 [DAT](INFO): DAT read: Rx Time:03:35:55.0103 2025-10-27T03:35:54.049Z,1761536154.049 [DAT](INFO): Rx dataTimestamp_ set to:1761536154.048274 2025-10-27T03:35:54.049Z,1761536154.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013457 2025-10-27T03:35:54.266Z,1761536154.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299507,0.951313,0.072797],[-0.940221,-0.281327,-0.191937],[-0.162112,-0.125932,0.978704]] 2025-10-27T03:35:54.300Z,1761536154.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264325 2025-10-27T03:35:54.307Z,1761536154.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.30 m. 2025-10-27T03:35:54.310Z,1761536154.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.299271 m, nav range: 69.715454 m, bearing: 243.076368 deg, approach rate: -0.537260 m/s, LOS rate: -0.016160 deg/s, cmd heading: 252.671182 deg, new cmd heading: 252.652771 deg. 2025-10-27T03:35:54.315Z,1761536154.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409623 target range: 71.299271 and range: 71.60 m. 2025-10-27T03:35:54.580Z,1761536154.580 [DAT](INFO): DAT read: 03:35:55.0103 LVL= 32752, 32753, 26930, 32755, AGC= 69, IDX= 422, 0.11, 3.133, 1.608,-2.517, 3.107, PHS= 0.128,-1.454, 0.615, RAW= 163.0, 7.6, CAL= 162.6, 7.7, ROT= 347.4, -7.7 2025-10-27T03:35:54.582Z,1761536154.582 [DAT](INFO): got valid direction response: 03:35:55.0103 LVL= 32752, 32753, 26930, 32755, AGC= 69, IDX= 422, 0.11, 3.133, 1.608,-2.517, 3.107, PHS= 0.128,-1.454, 0.615, RAW= 163.0, 7.6, CAL= 162.6, 7.7, ROT= 347.4, -7.7 2025-10-27T03:35:54.611Z,1761536154.611 [DAT](INFO): DAT read: Bearing 42.1, -22.3 (Local) 2025-10-27T03:35:54.612Z,1761536154.612 [DAT](INFO): Local bearing/azimuth received: Bearing 42.1, -22.3 (Local) 2025-10-27T03:35:54.613Z,1761536154.613 [DAT](INFO): DAT read: Range 11 to 50 : 69.8 m (Round-trip 93.1 ms) speed 0.1 m/s 2025-10-27T03:35:54.614Z,1761536154.614 [DAT](INFO): DAT read: user:391> 2025-10-27T03:35:54.614Z,1761536154.614 [DAT](INFO): DAT read: Tx time:03:35:56.1130 2025-10-27T03:35:54.623Z,1761536154.623 [DAT](INFO): Ping request sent. 2025-10-27T03:35:54.623Z,1761536154.623 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:54.623Z,1761536154.623 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:54.624Z,1761536154.624 [DAT](INFO): direction in FSK: [0.967117,-0.216176,0.133986] 2025-10-27T03:35:54.625Z,1761536154.625 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:54.625Z,1761536154.625 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:54.633Z,1761536154.633 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:54.633Z,1761536154.633 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:54.792Z,1761536154.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.800003 m, deltaT: 3.530198 s, deltaX: -1.799995 m, approachRate: -0.509885 m/s, rangeRepo size: 4 2025-10-27T03:35:54.794Z,1761536154.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.508919 m, bearing: 240.951061 deg, lat: 36.779330 deg, lon: -121.859599 deg, deltaT: 3.530198 s, deltaX: -1.790352 m, approachRate: -0.507153 m/s, posRepo size: 4 2025-10-27T03:35:54.799Z,1761536154.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.51 m. 2025-10-27T03:35:54.802Z,1761536154.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.508919 m, nav range: 69.195007 m, bearing: 242.149387 deg, approach rate: 0.000000 m/s, LOS rate: -0.016160 deg/s, cmd heading: 252.652768 deg, new cmd heading: 252.629064 deg. 2025-10-27T03:35:54.808Z,1761536154.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409209 target range: 69.508919 and range: 69.80 m. 2025-10-27T03:35:55.288Z,1761536155.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300822,0.950962,0.071961],[-0.939437,-0.282491,-0.194055],[-0.164211,-0.125979,0.978348]] 2025-10-27T03:35:55.308Z,1761536155.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.51 m. 2025-10-27T03:35:55.311Z,1761536155.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.508919 m, nav range: 68.888702 m, bearing: 242.123975 deg, approach rate: -0.594726 m/s, LOS rate: -0.049559 deg/s, cmd heading: 252.629054 deg, new cmd heading: 252.552480 deg. 2025-10-27T03:35:55.312Z,1761536155.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407872 target range: 69.508919 and range: 69.80 m. 2025-10-27T03:35:55.883Z,1761536155.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.51 m. 2025-10-27T03:35:55.886Z,1761536155.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.508919 m, nav range: 68.572418 m, bearing: 242.086593 deg, approach rate: -0.550816 m/s, LOS rate: -0.065403 deg/s, cmd heading: 252.552474 deg, new cmd heading: 252.439809 deg. 2025-10-27T03:35:55.887Z,1761536155.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405906 target range: 69.508919 and range: 69.80 m. 2025-10-27T03:35:56.322Z,1761536156.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301903,0.950530,0.073126],[-0.939216,-0.283400,-0.193798],[-0.163487,-0.127189,0.978312]] 2025-10-27T03:35:56.339Z,1761536156.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:56.341Z,1761536156.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.51 m. 2025-10-27T03:35:56.344Z,1761536156.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.508919 m, nav range: 68.268219 m, bearing: 242.050604 deg, approach rate: -0.661662 m/s, LOS rate: -0.078628 deg/s, cmd heading: 252.439803 deg, new cmd heading: 252.331356 deg. 2025-10-27T03:35:56.345Z,1761536156.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404013 target range: 69.508919 and range: 69.80 m. 2025-10-27T03:35:56.569Z,1761536156.569 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:56.570Z,1761536156.570 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:56.570Z,1761536156.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:56.727Z,1761536156.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302724,0.950334,0.072268],[-0.939112,-0.284496,-0.192695],[-0.162565,-0.126201,0.978594]] 2025-10-27T03:35:56.781Z,1761536156.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.51 m. 2025-10-27T03:35:56.784Z,1761536156.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.508919 m, nav range: 67.994293 m, bearing: 242.006374 deg, approach rate: -0.622837 m/s, LOS rate: -0.100975 deg/s, cmd heading: 252.331367 deg, new cmd heading: 252.198140 deg. 2025-10-27T03:35:56.784Z,1761536156.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401688 target range: 69.508919 and range: 69.80 m. 2025-10-27T03:35:56.821Z,1761536156.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205773 2025-10-27T03:35:57.072Z,1761536157.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457249 2025-10-27T03:35:57.126Z,1761536157.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303535,0.950176,0.070935],[-0.938999,-0.285668,-0.191504],[-0.161699,-0.124737,0.978925]] 2025-10-27T03:35:57.158Z,1761536157.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.51 m. 2025-10-27T03:35:57.161Z,1761536157.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.508919 m, nav range: 67.761780 m, bearing: 241.968697 deg, approach rate: -0.616276 m/s, LOS rate: -0.100204 deg/s, cmd heading: 252.198151 deg, new cmd heading: 252.084734 deg. 2025-10-27T03:35:57.162Z,1761536157.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399709 target range: 69.508919 and range: 69.80 m. 2025-10-27T03:35:57.324Z,1761536157.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709020 2025-10-27T03:35:57.545Z,1761536157.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305250,0.949835,0.068083],[-0.938644,-0.288059,-0.189657],[-0.160531,-0.121798,0.979487]] 2025-10-27T03:35:57.579Z,1761536157.579 [DAT](INFO): DAT read: Rx Time:03:35:58.6077 2025-10-27T03:35:57.581Z,1761536157.581 [DAT](INFO): Rx dataTimestamp_ set to:1761536157.579696 2025-10-27T03:35:57.583Z,1761536157.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967074 2025-10-27T03:35:57.619Z,1761536157.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.51 m. 2025-10-27T03:35:57.622Z,1761536157.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.508919 m, nav range: 67.479584 m, bearing: 241.923020 deg, approach rate: -0.617209 m/s, LOS rate: -0.100320 deg/s, cmd heading: 252.084742 deg, new cmd heading: 251.947139 deg. 2025-10-27T03:35:57.632Z,1761536157.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397307 target range: 69.508919 and range: 69.80 m. 2025-10-27T03:35:57.828Z,1761536157.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213211 2025-10-27T03:35:57.933Z,1761536157.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307507,0.949450,0.063112],[-0.938093,-0.291379,-0.187295],[-0.159438,-0.116800,0.980274]] 2025-10-27T03:35:57.977Z,1761536157.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.51 m. 2025-10-27T03:35:57.979Z,1761536157.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.508919 m, nav range: 67.250748 m, bearing: 241.881920 deg, approach rate: -0.633148 m/s, LOS rate: -0.114103 deg/s, cmd heading: 251.947128 deg, new cmd heading: 251.823408 deg. 2025-10-27T03:35:57.980Z,1761536157.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395148 target range: 69.508919 and range: 69.80 m. 2025-10-27T03:35:58.082Z,1761536158.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466597 2025-10-27T03:35:58.338Z,1761536158.338 [DAT](INFO): DAT read: 03:35:58.6077 LVL= 32752, 32753, 28002, 32755, AGC= 68, IDX= 411, 0.11, 3.094, 1.605,-2.558,-3.129, PHS= 0.042,-1.505, 0.527, RAW= 163.2, 10.2, CAL= 163.2, 11.2, ROT= 346.8, -11.2 2025-10-27T03:35:58.339Z,1761536158.339 [DAT](INFO): got valid direction response: 03:35:58.6077 LVL= 32752, 32753, 28002, 32755, AGC= 68, IDX= 411, 0.11, 3.094, 1.605,-2.558,-3.129, PHS= 0.042,-1.505, 0.527, RAW= 163.2, 10.2, CAL= 163.2, 11.2, ROT= 346.8, -11.2 2025-10-27T03:35:58.340Z,1761536158.340 [DAT](INFO): DAT read: Bearing 46.1, -23.4 (Local) 2025-10-27T03:35:58.340Z,1761536158.340 [DAT](INFO): Local bearing/azimuth received: Bearing 46.1, -23.4 (Local) 2025-10-27T03:35:58.342Z,1761536158.342 [DAT](INFO): DAT read: Range 11 to 50 : 67.8 m (Round-trip 90.5 ms) speed 0.6 m/s 2025-10-27T03:35:58.342Z,1761536158.342 [DAT](INFO): DAT read: user:392> 2025-10-27T03:35:58.343Z,1761536158.343 [DAT](INFO): DAT read: Tx time:03:35:59.7130 2025-10-27T03:35:58.343Z,1761536158.343 [DAT](INFO): Ping request sent. 2025-10-27T03:35:58.344Z,1761536158.344 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:35:58.344Z,1761536158.344 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:35:58.345Z,1761536158.345 [DAT](INFO): direction in FSK: [0.955037,-0.224002,0.194234] 2025-10-27T03:35:58.345Z,1761536158.345 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:58.345Z,1761536158.345 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:58.354Z,1761536158.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309647,0.948861,0.061493],[-0.937444,-0.293819,-0.186733],[-0.159116,-0.115468,0.980484]] 2025-10-27T03:35:58.357Z,1761536158.357 [DAT](INFO): publishing transmit ping time 2025-10-27T03:35:58.357Z,1761536158.357 [DAT](INFO): publishing direction and range info 2025-10-27T03:35:58.453Z,1761536158.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 3.777795 s, deltaX: -2.000000 m, approachRate: -0.529409 m/s, rangeRepo size: 4 2025-10-27T03:35:58.459Z,1761536158.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.516541 m, bearing: 240.174645 deg, lat: 36.779319 deg, lon: -121.859595 deg, deltaT: 3.777795 s, deltaX: -1.992378 m, approachRate: -0.527392 m/s, posRepo size: 4 2025-10-27T03:35:58.460Z,1761536158.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.52 m. 2025-10-27T03:35:58.467Z,1761536158.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.516541 m, nav range: 67.225578 m, bearing: 240.781104 deg, approach rate: 0.000000 m/s, LOS rate: -0.114103 deg/s, cmd heading: 251.823419 deg, new cmd heading: 251.660525 deg. 2025-10-27T03:35:58.468Z,1761536158.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.392305 target range: 67.516541 and range: 67.80 m. 2025-10-27T03:35:58.881Z,1761536158.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315993,0.946812,0.060791],[-0.935717,-0.300420,-0.184882],[-0.156786,-0.115305,0.980879]] 2025-10-27T03:35:58.933Z,1761536158.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:35:58.935Z,1761536158.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.52 m. 2025-10-27T03:35:58.937Z,1761536158.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.516541 m, nav range: 66.901482 m, bearing: 240.712962 deg, approach rate: -0.672065 m/s, LOS rate: -0.141989 deg/s, cmd heading: 251.660533 deg, new cmd heading: 251.455115 deg. 2025-10-27T03:35:58.938Z,1761536158.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388720 target range: 67.516541 and range: 67.80 m. 2025-10-27T03:35:59.088Z,1761536159.088 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:35:59.088Z,1761536159.088 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:35:59.089Z,1761536159.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:35:59.340Z,1761536159.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996337 2025-10-27T03:35:59.400Z,1761536159.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319219,0.945658,0.061885],[-0.934747,-0.303439,-0.184859],[-0.156035,-0.116858,0.980815]] 2025-10-27T03:35:59.418Z,1761536159.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.52 m. 2025-10-27T03:35:59.421Z,1761536159.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.516541 m, nav range: 66.596420 m, bearing: 240.649157 deg, approach rate: -0.631543 m/s, LOS rate: -0.132695 deg/s, cmd heading: 251.455108 deg, new cmd heading: 251.262818 deg. 2025-10-27T03:35:59.421Z,1761536159.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385364 target range: 67.516541 and range: 67.80 m. 2025-10-27T03:35:59.595Z,1761536159.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250752 2025-10-27T03:35:59.801Z,1761536159.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321833,0.944483,0.066150],[-0.933908,-0.305188,-0.186213],[-0.155687,-0.121708,0.980280]] 2025-10-27T03:35:59.844Z,1761536159.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500370 2025-10-27T03:35:59.855Z,1761536159.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.52 m. 2025-10-27T03:35:59.873Z,1761536159.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.516541 m, nav range: 66.333954 m, bearing: 240.603019 deg, approach rate: -0.600849 m/s, LOS rate: -0.106038 deg/s, cmd heading: 251.262825 deg, new cmd heading: 251.123865 deg. 2025-10-27T03:35:59.874Z,1761536159.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382938 target range: 67.516541 and range: 67.80 m. 2025-10-27T03:36:00.097Z,1761536160.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752624 2025-10-27T03:36:00.315Z,1761536160.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324548,0.943269,0.070083],[-0.933007,-0.307077,-0.187623],[-0.155458,-0.126281,0.979738]] 2025-10-27T03:36:00.333Z,1761536160.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.52 m. 2025-10-27T03:36:00.336Z,1761536160.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.516541 m, nav range: 66.038673 m, bearing: 240.551414 deg, approach rate: -0.616546 m/s, LOS rate: -0.108233 deg/s, cmd heading: 251.123871 deg, new cmd heading: 250.968365 deg. 2025-10-27T03:36:00.337Z,1761536160.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380224 target range: 67.516541 and range: 67.80 m. 2025-10-27T03:36:00.348Z,1761536160.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004215 2025-10-27T03:36:00.605Z,1761536160.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260281 2025-10-27T03:36:00.731Z,1761536160.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326791,0.942174,0.074267],[-0.932295,-0.308477,-0.188861],[-0.155031,-0.130957,0.979191]] 2025-10-27T03:36:00.785Z,1761536160.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.52 m. 2025-10-27T03:36:00.792Z,1761536160.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.516541 m, nav range: 65.773689 m, bearing: 240.512268 deg, approach rate: -0.587161 m/s, LOS rate: -0.087091 deg/s, cmd heading: 250.968362 deg, new cmd heading: 250.850450 deg. 2025-10-27T03:36:00.793Z,1761536160.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378166 target range: 67.516541 and range: 67.80 m. 2025-10-27T03:36:00.853Z,1761536160.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509308 2025-10-27T03:36:01.104Z,1761536161.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760243 2025-10-27T03:36:01.122Z,1761536161.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328275,0.941373,0.077791],[-0.931804,-0.309234,-0.190043],[-0.154846,-0.134873,0.978689]] 2025-10-27T03:36:01.149Z,1761536161.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:01.151Z,1761536161.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.52 m. 2025-10-27T03:36:01.158Z,1761536161.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.516541 m, nav range: 65.541229 m, bearing: 240.477958 deg, approach rate: -0.635267 m/s, LOS rate: -0.094096 deg/s, cmd heading: 250.850445 deg, new cmd heading: 250.747149 deg. 2025-10-27T03:36:01.159Z,1761536161.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376363 target range: 67.516541 and range: 67.80 m. 2025-10-27T03:36:01.356Z,1761536161.356 [DAT](INFO): DAT read: Rx Time:03:36:02.2043 2025-10-27T03:36:01.356Z,1761536161.356 [DAT](INFO): Rx dataTimestamp_ set to:1761536161.356180 2025-10-27T03:36:01.357Z,1761536161.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013398 2025-10-27T03:36:01.525Z,1761536161.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329505,0.940761,0.079971],[-0.931433,-0.310041,-0.190542],[-0.154461,-0.137272,0.978416]] 2025-10-27T03:36:01.568Z,1761536161.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.52 m. 2025-10-27T03:36:01.581Z,1761536161.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.516541 m, nav range: 65.299301 m, bearing: 240.442246 deg, approach rate: -0.579999 m/s, LOS rate: -0.085934 deg/s, cmd heading: 250.747145 deg, new cmd heading: 250.639612 deg. 2025-10-27T03:36:01.589Z,1761536161.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374486 target range: 67.516541 and range: 67.80 m. 2025-10-27T03:36:01.611Z,1761536161.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266657 2025-10-27T03:36:01.866Z,1761536161.866 [DAT](INFO): DAT read: 03:36:02.2043 LVL= 32752, 32753, 29042, 32755, AGC= 67, IDX= 409, 0.27, 1.733, 0.197, 2.395, 1.759, PHS= 0.076,-1.517, 0.591, RAW= 163.6, 9.0, CAL= 163.3, 9.5, ROT= 346.7, -9.5 2025-10-27T03:36:01.867Z,1761536161.867 [DAT](INFO): got valid direction response: 03:36:02.2043 LVL= 32752, 32753, 29042, 32755, AGC= 67, IDX= 409, 0.27, 1.733, 0.197, 2.395, 1.759, PHS= 0.076,-1.517, 0.591, RAW= 163.6, 9.0, CAL= 163.3, 9.5, ROT= 346.7, -9.5 2025-10-27T03:36:01.868Z,1761536161.868 [DAT](INFO): DAT read: Bearing 42.9, -23.7 (Local) 2025-10-27T03:36:01.868Z,1761536161.868 [DAT](INFO): Local bearing/azimuth received: Bearing 42.9, -23.7 (Local) 2025-10-27T03:36:01.870Z,1761536161.870 [DAT](INFO): DAT read: Range 11 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.6 m/s 2025-10-27T03:36:01.870Z,1761536161.870 [DAT](INFO): DAT read: user:393> 2025-10-27T03:36:01.871Z,1761536161.871 [DAT](INFO): DAT read: Tx time:03:36:03.3130 2025-10-27T03:36:01.872Z,1761536161.872 [DAT](INFO): Ping request sent. 2025-10-27T03:36:01.872Z,1761536161.872 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:01.872Z,1761536161.872 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:01.873Z,1761536161.873 [DAT](INFO): direction in FSK: [0.959832,-0.226894,0.165048] 2025-10-27T03:36:01.873Z,1761536161.873 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:01.873Z,1761536161.873 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:01.877Z,1761536161.877 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:01.877Z,1761536161.877 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:02.100Z,1761536162.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.527979 s, deltaX: -2.400002 m, approachRate: -0.680277 m/s, rangeRepo size: 4 2025-10-27T03:36:02.102Z,1761536162.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.126236 m, bearing: 238.866533 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 3.527979 s, deltaX: -2.390305 m, approachRate: -0.677528 m/s, posRepo size: 4 2025-10-27T03:36:02.107Z,1761536162.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.13 m. 2025-10-27T03:36:02.110Z,1761536162.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.126236 m, nav range: 65.087914 m, bearing: 240.226581 deg, approach rate: 0.000000 m/s, LOS rate: -0.085934 deg/s, cmd heading: 250.639611 deg, new cmd heading: 250.502540 deg. 2025-10-27T03:36:02.110Z,1761536162.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372094 target range: 65.126236 and range: 65.40 m. 2025-10-27T03:36:02.358Z,1761536162.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330137,0.940472,0.080763],[-0.931229,-0.310509,-0.190779],[-0.154345,-0.138192,0.978305]] 2025-10-27T03:36:02.394Z,1761536162.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.13 m. 2025-10-27T03:36:02.397Z,1761536162.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.126236 m, nav range: 64.912247 m, bearing: 240.210375 deg, approach rate: -0.597132 m/s, LOS rate: -0.055239 deg/s, cmd heading: 250.502543 deg, new cmd heading: 250.453792 deg. 2025-10-27T03:36:02.397Z,1761536162.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371243 target range: 65.126236 and range: 65.40 m. 2025-10-27T03:36:02.761Z,1761536162.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329897,0.940403,0.082523],[-0.931347,-0.309950,-0.191111],[-0.154144,-0.139905,0.978093]] 2025-10-27T03:36:02.812Z,1761536162.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.13 m. 2025-10-27T03:36:02.815Z,1761536162.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.126236 m, nav range: 64.677132 m, bearing: 240.203645 deg, approach rate: -0.561496 m/s, LOS rate: -0.016131 deg/s, cmd heading: 250.453802 deg, new cmd heading: 250.433539 deg. 2025-10-27T03:36:02.816Z,1761536162.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370890 target range: 65.126236 and range: 65.40 m. 2025-10-27T03:36:03.167Z,1761536163.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329285,0.940601,0.082714],[-0.931612,-0.309363,-0.190771],[-0.153851,-0.139875,0.978144]] 2025-10-27T03:36:03.246Z,1761536163.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:03.248Z,1761536163.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.13 m. 2025-10-27T03:36:03.251Z,1761536163.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.126236 m, nav range: 64.441689 m, bearing: 240.196716 deg, approach rate: -0.540053 m/s, LOS rate: -0.015951 deg/s, cmd heading: 250.433530 deg, new cmd heading: 250.412668 deg. 2025-10-27T03:36:03.252Z,1761536163.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370525 target range: 65.126236 and range: 65.40 m. 2025-10-27T03:36:03.372Z,1761536163.372 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:03.372Z,1761536163.372 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:03.372Z,1761536163.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:03.590Z,1761536163.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327915,0.940922,0.084484],[-0.932170,-0.307746,-0.190660],[-0.153397,-0.141274,0.978014]] 2025-10-27T03:36:03.627Z,1761536163.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754468 2025-10-27T03:36:03.672Z,1761536163.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.13 m. 2025-10-27T03:36:03.688Z,1761536163.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.126236 m, nav range: 64.246811 m, bearing: 240.190651 deg, approach rate: -0.466040 m/s, LOS rate: -0.014549 deg/s, cmd heading: 250.412657 deg, new cmd heading: 250.394407 deg. 2025-10-27T03:36:03.690Z,1761536163.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370207 target range: 65.126236 and range: 65.40 m. 2025-10-27T03:36:03.876Z,1761536163.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004210 2025-10-27T03:36:04.040Z,1761536164.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324845,0.941803,0.086498],[-0.933493,-0.304598,-0.189239],[-0.151879,-0.142219,0.978114]] 2025-10-27T03:36:04.105Z,1761536164.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.13 m. 2025-10-27T03:36:04.108Z,1761536164.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.126236 m, nav range: 64.002289 m, bearing: 240.196041 deg, approach rate: -0.557094 m/s, LOS rate: 0.012327 deg/s, cmd heading: 250.394407 deg, new cmd heading: 250.410638 deg. 2025-10-27T03:36:04.109Z,1761536164.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370490 target range: 65.126236 and range: 65.40 m. 2025-10-27T03:36:04.153Z,1761536164.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281266 2025-10-27T03:36:04.404Z,1761536164.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532385 2025-10-27T03:36:04.439Z,1761536164.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323394,0.942314,0.086373],[-0.934154,-0.303366,-0.187951],[-0.150906,-0.141467,0.978373]] 2025-10-27T03:36:04.477Z,1761536164.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.13 m. 2025-10-27T03:36:04.488Z,1761536164.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.126236 m, nav range: 63.823116 m, bearing: 240.199777 deg, approach rate: -0.481609 m/s, LOS rate: 0.010071 deg/s, cmd heading: 250.410636 deg, new cmd heading: 250.421876 deg. 2025-10-27T03:36:04.489Z,1761536164.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370686 target range: 65.126236 and range: 65.40 m. 2025-10-27T03:36:04.660Z,1761536164.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787745 2025-10-27T03:36:04.843Z,1761536164.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321959,0.942805,0.086376],[-0.934852,-0.302165,-0.186409],[-0.149647,-0.140765,0.978668]] 2025-10-27T03:36:04.894Z,1761536164.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.13 m. 2025-10-27T03:36:04.897Z,1761536164.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.126236 m, nav range: 63.602406 m, bearing: 240.203226 deg, approach rate: -0.529393 m/s, LOS rate: 0.008302 deg/s, cmd heading: 250.421864 deg, new cmd heading: 250.432248 deg. 2025-10-27T03:36:04.898Z,1761536164.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370867 target range: 65.126236 and range: 65.40 m. 2025-10-27T03:36:04.908Z,1761536164.908 [DAT](INFO): DAT read: Rx Time:03:36:05.8019 2025-10-27T03:36:04.908Z,1761536164.908 [DAT](INFO): Rx dataTimestamp_ set to:1761536164.908209 2025-10-27T03:36:04.909Z,1761536164.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037262 2025-10-27T03:36:05.161Z,1761536165.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288784 2025-10-27T03:36:05.255Z,1761536165.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319947,0.943526,0.085985],[-0.935727,-0.300465,-0.184758],[-0.148489,-0.139571,0.979015]] 2025-10-27T03:36:05.272Z,1761536165.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:05.274Z,1761536165.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.13 m. 2025-10-27T03:36:05.276Z,1761536165.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.126236 m, nav range: 63.405510 m, bearing: 240.205949 deg, approach rate: -0.519079 m/s, LOS rate: 0.007201 deg/s, cmd heading: 250.432246 deg, new cmd heading: 250.440441 deg. 2025-10-27T03:36:05.277Z,1761536165.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371010 target range: 65.126236 and range: 65.40 m. 2025-10-27T03:36:05.421Z,1761536165.421 [DAT](INFO): DAT read: 03:36:05.8019 LVL= 32752, 32753, 30402, 32755, AGC= 67, IDX= 416, 0.20, 1.607, 0.050, 2.222, 1.609, PHS= 0.100,-1.514, 0.569, RAW= 162.4, 9.0, CAL= 162.2, 9.5, ROT= 347.8, -9.5 2025-10-27T03:36:05.422Z,1761536165.422 [DAT](INFO): got valid direction response: 03:36:05.8019 LVL= 32752, 32753, 30402, 32755, AGC= 67, IDX= 416, 0.20, 1.607, 0.050, 2.222, 1.609, PHS= 0.100,-1.514, 0.569, RAW= 162.4, 9.0, CAL= 162.2, 9.5, ROT= 347.8, -9.5 2025-10-27T03:36:05.423Z,1761536165.423 [DAT](INFO): DAT read: Bearing 42.2, -22.0 (Local) 2025-10-27T03:36:05.423Z,1761536165.423 [DAT](INFO): Local bearing/azimuth received: Bearing 42.2, -22.0 (Local) 2025-10-27T03:36:05.425Z,1761536165.425 [DAT](INFO): DAT read: Range 11 to 50 : 63.5 m (Round-trip 84.7 ms) speed 0.4 m/s 2025-10-27T03:36:05.425Z,1761536165.425 [DAT](INFO): DAT read: user:394> 2025-10-27T03:36:05.426Z,1761536165.426 [DAT](INFO): DAT read: Tx time:03:36:06.9146 2025-10-27T03:36:05.426Z,1761536165.426 [DAT](INFO): Ping request sent. 2025-10-27T03:36:05.426Z,1761536165.426 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:05.431Z,1761536165.431 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:05.432Z,1761536165.432 [DAT](INFO): direction in FSK: [0.964011,-0.208427,0.165048] 2025-10-27T03:36:05.432Z,1761536165.432 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:05.433Z,1761536165.433 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:05.444Z,1761536165.444 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:05.444Z,1761536165.444 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:05.734Z,1761536165.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.500000 m, deltaT: 3.552830 s, deltaX: -1.900002 m, approachRate: -0.534785 m/s, rangeRepo size: 4 2025-10-27T03:36:05.736Z,1761536165.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.233837 m, bearing: 240.563934 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 3.552830 s, deltaX: -1.892399 m, approachRate: -0.532645 m/s, posRepo size: 4 2025-10-27T03:36:05.737Z,1761536165.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.23 m. 2025-10-27T03:36:05.740Z,1761536165.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.233837 m, nav range: 63.172283 m, bearing: 240.209196 deg, approach rate: 0.000000 m/s, LOS rate: 0.007201 deg/s, cmd heading: 250.440443 deg, new cmd heading: 250.450376 deg. 2025-10-27T03:36:05.741Z,1761536165.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371184 target range: 63.233837 and range: 63.50 m. 2025-10-27T03:36:06.072Z,1761536166.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316230,0.944909,0.084527],[-0.937466,-0.297588,-0.180552],[-0.145451,-0.136337,0.979927]] 2025-10-27T03:36:06.119Z,1761536166.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.23 m. 2025-10-27T03:36:06.122Z,1761536166.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.233837 m, nav range: 62.969357 m, bearing: 240.204169 deg, approach rate: -0.526205 m/s, LOS rate: -0.013079 deg/s, cmd heading: 250.450387 deg, new cmd heading: 250.435256 deg. 2025-10-27T03:36:06.123Z,1761536166.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370920 target range: 63.233837 and range: 63.50 m. 2025-10-27T03:36:06.464Z,1761536166.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314884,0.945404,0.084016],[-0.938192,-0.296634,-0.178337],[-0.143678,-0.134979,0.980376]] 2025-10-27T03:36:06.483Z,1761536166.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.23 m. 2025-10-27T03:36:06.485Z,1761536166.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.233837 m, nav range: 62.783493 m, bearing: 240.199285 deg, approach rate: -0.511553 m/s, LOS rate: -0.013481 deg/s, cmd heading: 250.435252 deg, new cmd heading: 250.420558 deg. 2025-10-27T03:36:06.486Z,1761536166.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370663 target range: 63.233837 and range: 63.50 m. 2025-10-27T03:36:06.866Z,1761536166.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313899,0.945893,0.082183],[-0.938826,-0.296304,-0.175526],[-0.141678,-0.132253,0.981039]] 2025-10-27T03:36:06.923Z,1761536166.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.23 m. 2025-10-27T03:36:06.926Z,1761536166.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.233837 m, nav range: 62.542789 m, bearing: 240.175102 deg, approach rate: -0.547023 m/s, LOS rate: -0.055170 deg/s, cmd heading: 250.420553 deg, new cmd heading: 250.347724 deg. 2025-10-27T03:36:06.928Z,1761536166.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369392 target range: 63.233837 and range: 63.50 m. 2025-10-27T03:36:07.277Z,1761536167.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313612,0.946246,0.079158],[-0.939183,-0.296823,-0.172718],[-0.139938,-0.128511,0.981785]] 2025-10-27T03:36:07.295Z,1761536167.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:07.297Z,1761536167.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.23 m. 2025-10-27T03:36:07.300Z,1761536167.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.233837 m, nav range: 62.338802 m, bearing: 240.154382 deg, approach rate: -0.544810 m/s, LOS rate: -0.055519 deg/s, cmd heading: 250.347716 deg, new cmd heading: 250.285354 deg. 2025-10-27T03:36:07.301Z,1761536167.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368303 target range: 63.233837 and range: 63.50 m. 2025-10-27T03:36:07.428Z,1761536167.428 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:07.428Z,1761536167.428 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:07.428Z,1761536167.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:07.684Z,1761536167.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256608 2025-10-27T03:36:07.690Z,1761536167.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314325,0.946166,0.077258],[-0.939247,-0.298139,-0.170082],[-0.137893,-0.126025,0.982397]] 2025-10-27T03:36:07.790Z,1761536167.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.23 m. 2025-10-27T03:36:07.793Z,1761536167.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.233837 m, nav range: 62.037880 m, bearing: 240.106969 deg, approach rate: -0.610557 m/s, LOS rate: -0.096667 deg/s, cmd heading: 250.285343 deg, new cmd heading: 250.142412 deg. 2025-10-27T03:36:07.794Z,1761536167.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365808 target range: 63.233837 and range: 63.50 m. 2025-10-27T03:36:07.932Z,1761536167.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505366 2025-10-27T03:36:08.107Z,1761536168.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316155,0.945770,0.074602],[-0.938935,-0.300671,-0.167325],[-0.135821,-0.122947,0.983075]] 2025-10-27T03:36:08.141Z,1761536168.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.23 m. 2025-10-27T03:36:08.144Z,1761536168.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.233837 m, nav range: 61.833469 m, bearing: 240.074840 deg, approach rate: -0.581320 m/s, LOS rate: -0.091674 deg/s, cmd heading: 250.142400 deg, new cmd heading: 250.045694 deg. 2025-10-27T03:36:08.145Z,1761536168.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364120 target range: 63.233837 and range: 63.50 m. 2025-10-27T03:36:08.184Z,1761536168.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757467 2025-10-27T03:36:08.440Z,1761536168.440 [DAT](INFO): DAT read: Rx Time:03:36:09.4011 2025-10-27T03:36:08.440Z,1761536168.440 [DAT](INFO): Rx dataTimestamp_ set to:1761536168.439803 2025-10-27T03:36:08.441Z,1761536168.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014140 2025-10-27T03:36:08.512Z,1761536168.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318898,0.945030,0.072264],[-0.938310,-0.304034,-0.164734],[-0.133708,-0.120340,0.983687]] 2025-10-27T03:36:08.530Z,1761536168.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.23 m. 2025-10-27T03:36:08.533Z,1761536168.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.233837 m, nav range: 61.587128 m, bearing: 240.036482 deg, approach rate: -0.634453 m/s, LOS rate: -0.099186 deg/s, cmd heading: 250.045685 deg, new cmd heading: 249.930151 deg. 2025-10-27T03:36:08.533Z,1761536168.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362104 target range: 63.233837 and range: 63.50 m. 2025-10-27T03:36:08.692Z,1761536168.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264283 2025-10-27T03:36:08.962Z,1761536168.962 [DAT](INFO): DAT read: 03:36:09.4011 LVL= 32752, 32753, 28610, 32755, AGC= 68, IDX= 424,-0.19,-2.141, 2.643,-1.541,-2.118, PHS= 0.080,-1.477, 0.533, RAW= 162.4, 9.5, CAL= 162.3, 10.2, ROT= 347.7, -10.2 2025-10-27T03:36:08.976Z,1761536168.976 [DAT](INFO): got valid direction response: 03:36:09.4011 LVL= 32752, 32753, 28610, 32755, AGC= 68, IDX= 424,-0.19,-2.141, 2.643,-1.541,-2.118, PHS= 0.080,-1.477, 0.533, RAW= 162.4, 9.5, CAL= 162.3, 10.2, ROT= 347.7, -10.2 2025-10-27T03:36:08.977Z,1761536168.977 [DAT](INFO): DAT read: Bearing 43.5, -21.1 (Local) 2025-10-27T03:36:08.977Z,1761536168.977 [DAT](INFO): Local bearing/azimuth received: Bearing 43.5, -21.1 (Local) 2025-10-27T03:36:09.003Z,1761536169.003 [DAT](INFO): DAT read: Range 11 to 50 : 61.8 m (Round-trip 82.4 ms) speed 0.5 m/s 2025-10-27T03:36:09.004Z,1761536169.004 [DAT](INFO): DAT read: user:395> 2025-10-27T03:36:09.005Z,1761536169.005 [DAT](INFO): DAT read: Tx time:03:36:10.5146 2025-10-27T03:36:09.005Z,1761536169.005 [DAT](INFO): Ping request sent. 2025-10-27T03:36:09.005Z,1761536169.005 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:09.005Z,1761536169.005 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:09.006Z,1761536169.006 [DAT](INFO): direction in FSK: [0.961604,-0.209663,0.177085] 2025-10-27T03:36:09.006Z,1761536169.006 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:09.031Z,1761536169.031 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:09.034Z,1761536169.034 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:09.034Z,1761536169.034 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:09.056Z,1761536169.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321908,0.943940,0.073158],[-0.937573,-0.307083,-0.163270],[-0.131652,-0.121149,0.983865]] 2025-10-27T03:36:09.186Z,1761536169.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.529675 s, deltaX: -1.700001 m, approachRate: -0.481631 m/s, rangeRepo size: 4 2025-10-27T03:36:09.193Z,1761536169.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.543118 m, bearing: 240.275708 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 3.529675 s, deltaX: -1.690720 m, approachRate: -0.479001 m/s, posRepo size: 4 2025-10-27T03:36:09.194Z,1761536169.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.54 m. 2025-10-27T03:36:09.201Z,1761536169.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.543118 m, nav range: 61.195419 m, bearing: 239.959330 deg, approach rate: 0.000000 m/s, LOS rate: -0.099186 deg/s, cmd heading: 249.930146 deg, new cmd heading: 249.735083 deg. 2025-10-27T03:36:09.202Z,1761536169.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358699 target range: 61.543118 and range: 61.80 m. 2025-10-27T03:36:09.644Z,1761536169.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325615,0.942386,0.076703],[-0.936581,-0.310362,-0.162761],[-0.129578,-0.124836,0.983680]] 2025-10-27T03:36:09.661Z,1761536169.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:09.663Z,1761536169.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.54 m. 2025-10-27T03:36:09.666Z,1761536169.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.543118 m, nav range: 60.892227 m, bearing: 239.900090 deg, approach rate: -0.635021 m/s, LOS rate: -0.124692 deg/s, cmd heading: 249.735075 deg, new cmd heading: 249.556472 deg. 2025-10-27T03:36:09.666Z,1761536169.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355582 target range: 61.543118 and range: 61.80 m. 2025-10-27T03:36:09.696Z,1761536169.696 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:09.696Z,1761536169.696 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:09.696Z,1761536169.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:09.948Z,1761536169.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.942911 2025-10-27T03:36:10.048Z,1761536170.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333761,0.938791,0.085298],[-0.934339,-0.317464,-0.161946],[-0.124955,-0.133749,0.983106]] 2025-10-27T03:36:10.103Z,1761536170.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.54 m. 2025-10-27T03:36:10.106Z,1761536170.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.543118 m, nav range: 60.618736 m, bearing: 239.835785 deg, approach rate: -0.621673 m/s, LOS rate: -0.146833 deg/s, cmd heading: 249.556480 deg, new cmd heading: 249.362693 deg. 2025-10-27T03:36:10.106Z,1761536170.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352200 target range: 61.543118 and range: 61.80 m. 2025-10-27T03:36:10.200Z,1761536170.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195031 2025-10-27T03:36:10.452Z,1761536170.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447365 2025-10-27T03:36:10.483Z,1761536170.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.54 m. 2025-10-27T03:36:10.486Z,1761536170.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.543118 m, nav range: 60.382351 m, bearing: 239.779719 deg, approach rate: -0.621347 m/s, LOS rate: -0.147947 deg/s, cmd heading: 249.362693 deg, new cmd heading: 249.193839 deg. 2025-10-27T03:36:10.511Z,1761536170.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349253 target range: 61.543118 and range: 61.80 m. 2025-10-27T03:36:10.705Z,1761536170.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699760 2025-10-27T03:36:10.879Z,1761536170.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341602,0.934906,0.096226],[-0.932096,-0.323885,-0.162161],[-0.120439,-0.145086,0.982061]] 2025-10-27T03:36:10.940Z,1761536170.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.54 m. 2025-10-27T03:36:10.942Z,1761536170.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.543118 m, nav range: 60.101505 m, bearing: 239.717570 deg, approach rate: -0.615975 m/s, LOS rate: -0.136948 deg/s, cmd heading: 249.193851 deg, new cmd heading: 249.006533 deg. 2025-10-27T03:36:10.952Z,1761536170.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345984 target range: 61.543118 and range: 61.80 m. 2025-10-27T03:36:10.956Z,1761536170.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.951063 2025-10-27T03:36:11.208Z,1761536171.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203398 2025-10-27T03:36:11.291Z,1761536171.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344910,0.933261,0.100311],[-0.931167,-0.326750,-0.161751],[-0.118179,-0.149196,0.981720]] 2025-10-27T03:36:11.309Z,1761536171.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.54 m. 2025-10-27T03:36:11.312Z,1761536171.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.543118 m, nav range: 59.863949 m, bearing: 239.665351 deg, approach rate: -0.641524 m/s, LOS rate: -0.141577 deg/s, cmd heading: 249.006540 deg, new cmd heading: 248.849262 deg. 2025-10-27T03:36:11.313Z,1761536171.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343239 target range: 61.543118 and range: 61.80 m. 2025-10-27T03:36:11.460Z,1761536171.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454932 2025-10-27T03:36:11.685Z,1761536171.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347661,0.931956,0.102911],[-0.930426,-0.329338,-0.160763],[-0.115931,-0.151642,0.981613]] 2025-10-27T03:36:11.713Z,1761536171.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707412 2025-10-27T03:36:11.729Z,1761536171.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:11.731Z,1761536171.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.54 m. 2025-10-27T03:36:11.733Z,1761536171.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.543118 m, nav range: 59.603146 m, bearing: 239.608279 deg, approach rate: -0.619067 m/s, LOS rate: -0.136064 deg/s, cmd heading: 248.849254 deg, new cmd heading: 248.677291 deg. 2025-10-27T03:36:11.734Z,1761536171.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340238 target range: 61.543118 and range: 61.80 m. 2025-10-27T03:36:11.964Z,1761536171.964 [DAT](INFO): DAT read: Rx Time:03:36:12.9981 2025-10-27T03:36:11.964Z,1761536171.964 [DAT](INFO): Rx dataTimestamp_ set to:1761536171.964086 2025-10-27T03:36:11.965Z,1761536171.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959986 2025-10-27T03:36:12.098Z,1761536172.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349937,0.930894,0.104785],[-0.929824,-0.331562,-0.159666],[-0.113889,-0.153304,0.981594]] 2025-10-27T03:36:12.135Z,1761536172.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.54 m. 2025-10-27T03:36:12.138Z,1761536172.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.543118 m, nav range: 59.355278 m, bearing: 239.560400 deg, approach rate: -0.613418 m/s, LOS rate: -0.118987 deg/s, cmd heading: 248.677298 deg, new cmd heading: 248.533059 deg. 2025-10-27T03:36:12.138Z,1761536172.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337720 target range: 61.543118 and range: 61.80 m. 2025-10-27T03:36:12.217Z,1761536172.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211817 2025-10-27T03:36:12.468Z,1761536172.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.462924 2025-10-27T03:36:12.515Z,1761536172.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352884,0.929636,0.106068],[-0.929023,-0.334635,-0.157909],[-0.111303,-0.154263,0.981741]] 2025-10-27T03:36:12.580Z,1761536172.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.54 m. 2025-10-27T03:36:12.582Z,1761536172.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.543118 m, nav range: 59.086136 m, bearing: 239.508767 deg, approach rate: -0.604970 m/s, LOS rate: -0.116588 deg/s, cmd heading: 248.533071 deg, new cmd heading: 248.377467 deg. 2025-10-27T03:36:12.592Z,1761536172.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335005 target range: 61.543118 and range: 61.80 m. 2025-10-27T03:36:12.732Z,1761536172.732 [DAT](INFO): DAT read: 03:36:12.9981 LVL= 32752, 32753, 28114, 32755, AGC= 69, IDX= 409,-0.39,-1.743, 3.056,-1.169,-1.689, PHS= 0.048,-1.493, 0.476, RAW= 161.9, 10.8, CAL= 162.0, 12.0, ROT= 348.0, -12.0 2025-10-27T03:36:12.733Z,1761536172.733 [DAT](INFO): got valid direction response: 03:36:12.9981 LVL= 32752, 32753, 28114, 32755, AGC= 69, IDX= 409,-0.39,-1.743, 3.056,-1.169,-1.689, PHS= 0.048,-1.493, 0.476, RAW= 161.9, 10.8, CAL= 162.0, 12.0, ROT= 348.0, -12.0 2025-10-27T03:36:12.741Z,1761536172.741 [DAT](INFO): DAT read: Bearing 43.3, -20.4 (Local) 2025-10-27T03:36:12.742Z,1761536172.742 [DAT](INFO): Local bearing/azimuth received: Bearing 43.3, -20.4 (Local) 2025-10-27T03:36:12.758Z,1761536172.758 [DAT](INFO): DAT read: Range 11 to 50 : 59.4 m (Round-trip 79.3 ms) speed 0.6 m/s 2025-10-27T03:36:12.765Z,1761536172.765 [DAT](INFO): DAT read: user:396> 2025-10-27T03:36:12.782Z,1761536172.782 [DAT](INFO): DAT read: Tx time:03:36:14.1130 2025-10-27T03:36:12.788Z,1761536172.788 [DAT](INFO): Ping request sent. 2025-10-27T03:36:12.788Z,1761536172.788 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:12.789Z,1761536172.789 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:12.798Z,1761536172.798 [DAT](INFO): direction in FSK: [0.956773,-0.203368,0.207912] 2025-10-27T03:36:12.803Z,1761536172.803 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:12.803Z,1761536172.803 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:12.807Z,1761536172.807 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:12.817Z,1761536172.817 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:12.902Z,1761536172.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355032,0.928639,0.107621],[-0.928477,-0.336842,-0.156422],[-0.109008,-0.155459,0.981809]] 2025-10-27T03:36:12.995Z,1761536172.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.778861 s, deltaX: -2.399998 m, approachRate: -0.635111 m/s, rangeRepo size: 4 2025-10-27T03:36:12.997Z,1761536172.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.153168 m, bearing: 239.296505 deg, lat: 36.779317 deg, lon: -121.859592 deg, deltaT: 3.778861 s, deltaX: -2.389950 m, approachRate: -0.632452 m/s, posRepo size: 4 2025-10-27T03:36:12.998Z,1761536172.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.15 m. 2025-10-27T03:36:12.998Z,1761536172.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T03:36:13.005Z,1761536173.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.153168 m, nav range: 58.730152 m, bearing: 239.348952 deg, approach rate: 0.000000 m/s, LOS rate: -0.116588 deg/s, cmd heading: 248.377480 deg, new cmd heading: 248.233839 deg. 2025-10-27T03:36:13.006Z,1761536173.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332498 target range: 59.153168 and range: 59.40 m. 2025-10-27T03:36:13.043Z,1761536173.043 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T03:36:13.308Z,1761536173.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357035,0.927682,0.109229],[-0.927966,-0.338892,-0.155018],[-0.106790,-0.156707,0.981855]] 2025-10-27T03:36:13.326Z,1761536173.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.15 m. 2025-10-27T03:36:13.326Z,1761536173.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T03:36:13.329Z,1761536173.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.153168 m, nav range: 58.531425 m, bearing: 239.318629 deg, approach rate: -0.592109 m/s, LOS rate: -0.090654 deg/s, cmd heading: 248.233827 deg, new cmd heading: 248.142550 deg. 2025-10-27T03:36:13.330Z,1761536173.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330904 target range: 59.153168 and range: 59.40 m. 2025-10-27T03:36:13.715Z,1761536173.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359297,0.926578,0.111168],[-0.927352,-0.341153,-0.153731],[-0.104518,-0.158327,0.981839]] 2025-10-27T03:36:13.736Z,1761536173.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:13.738Z,1761536173.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.15 m. 2025-10-27T03:36:13.739Z,1761536173.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T03:36:13.742Z,1761536173.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.153168 m, nav range: 58.296829 m, bearing: 239.283090 deg, approach rate: -0.568950 m/s, LOS rate: -0.086537 deg/s, cmd heading: 248.142548 deg, new cmd heading: 248.035502 deg. 2025-10-27T03:36:13.743Z,1761536173.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329036 target range: 59.153168 and range: 59.40 m. 2025-10-27T03:36:13.980Z,1761536173.980 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:13.980Z,1761536173.980 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:13.980Z,1761536173.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:14.162Z,1761536174.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.15 m. 2025-10-27T03:36:14.162Z,1761536174.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T03:36:14.165Z,1761536174.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.153168 m, nav range: 58.054363 m, bearing: 239.258862 deg, approach rate: -0.572460 m/s, LOS rate: -0.057442 deg/s, cmd heading: 248.035506 deg, new cmd heading: 247.962517 deg. 2025-10-27T03:36:14.166Z,1761536174.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327762 target range: 59.153168 and range: 59.40 m. 2025-10-27T03:36:14.233Z,1761536174.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.445734 2025-10-27T03:36:14.484Z,1761536174.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.696370 2025-10-27T03:36:14.510Z,1761536174.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361786,0.924839,0.117404],[-0.926849,-0.343272,-0.152038],[-0.100309,-0.163821,0.981377]] 2025-10-27T03:36:14.545Z,1761536174.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.15 m. 2025-10-27T03:36:14.546Z,1761536174.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T03:36:14.556Z,1761536174.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.153168 m, nav range: 57.844757 m, bearing: 239.238204 deg, approach rate: -0.547696 m/s, LOS rate: -0.054174 deg/s, cmd heading: 247.962505 deg, new cmd heading: 247.900307 deg. 2025-10-27T03:36:14.557Z,1761536174.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326676 target range: 59.153168 and range: 59.40 m. 2025-10-27T03:36:14.736Z,1761536174.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948675 2025-10-27T03:36:14.917Z,1761536174.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362815,0.924310,0.118394],[-0.926647,-0.344439,-0.150622],[-0.098441,-0.164357,0.981476]] 2025-10-27T03:36:14.972Z,1761536174.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.15 m. 2025-10-27T03:36:14.972Z,1761536174.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T03:36:14.976Z,1761536174.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.153168 m, nav range: 57.600174 m, bearing: 239.224257 deg, approach rate: -0.572322 m/s, LOS rate: -0.032775 deg/s, cmd heading: 247.900295 deg, new cmd heading: 247.858276 deg. 2025-10-27T03:36:14.977Z,1761536174.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325943 target range: 59.153168 and range: 59.40 m. 2025-10-27T03:36:14.988Z,1761536174.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200443 2025-10-27T03:36:15.242Z,1761536175.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453290 2025-10-27T03:36:15.318Z,1761536175.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363550,0.923840,0.119795],[-0.926546,-0.345243,-0.149396],[-0.096659,-0.165309,0.981494]] 2025-10-27T03:36:15.352Z,1761536175.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.15 m. 2025-10-27T03:36:15.353Z,1761536175.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T03:36:15.356Z,1761536175.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.153168 m, nav range: 57.399200 m, bearing: 239.212839 deg, approach rate: -0.528167 m/s, LOS rate: -0.030111 deg/s, cmd heading: 247.858276 deg, new cmd heading: 247.823903 deg. 2025-10-27T03:36:15.357Z,1761536175.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325343 target range: 59.153168 and range: 59.40 m. 2025-10-27T03:36:15.492Z,1761536175.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704324 2025-10-27T03:36:15.727Z,1761536175.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363868,0.923791,0.119208],[-0.926575,-0.345909,-0.147664],[-0.095176,-0.164186,0.981827]] 2025-10-27T03:36:15.744Z,1761536175.744 [DAT](INFO): DAT read: Rx Time:03:36:16.5938 2025-10-27T03:36:15.745Z,1761536175.745 [DAT](INFO): Rx dataTimestamp_ set to:1761536175.744242 2025-10-27T03:36:15.745Z,1761536175.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957505 2025-10-27T03:36:15.747Z,1761536175.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:15.749Z,1761536175.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.15 m. 2025-10-27T03:36:15.749Z,1761536175.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T03:36:15.752Z,1761536175.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.153168 m, nav range: 57.173565 m, bearing: 239.200006 deg, approach rate: -0.569078 m/s, LOS rate: -0.032493 deg/s, cmd heading: 247.823906 deg, new cmd heading: 247.785256 deg. 2025-10-27T03:36:15.753Z,1761536175.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324668 target range: 59.153168 and range: 59.40 m. 2025-10-27T03:36:15.996Z,1761536175.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208347 2025-10-27T03:36:16.183Z,1761536176.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364100,0.923673,0.119410],[-0.926634,-0.346364,-0.146222],[-0.093702,-0.163889,0.982018]] 2025-10-27T03:36:16.202Z,1761536176.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.15 m. 2025-10-27T03:36:16.202Z,1761536176.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T03:36:16.206Z,1761536176.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.153168 m, nav range: 56.922195 m, bearing: 239.185644 deg, approach rate: -0.555250 m/s, LOS rate: -0.031864 deg/s, cmd heading: 247.785248 deg, new cmd heading: 247.741972 deg. 2025-10-27T03:36:16.207Z,1761536176.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323913 target range: 59.153168 and range: 59.40 m. 2025-10-27T03:36:16.258Z,1761536176.258 [DAT](INFO): DAT read: 03:36:16.5938 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.07,-1.029,-2.572,-0.438,-1.044, PHS= 0.118,-1.483, 0.562, RAW= 161.9, 8.7, CAL= 161.6, 9.0, ROT= 348.4, -9.0 2025-10-27T03:36:16.260Z,1761536176.260 [DAT](INFO): got valid direction response: 03:36:16.5938 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 413,-0.07,-1.029,-2.572,-0.438,-1.044, PHS= 0.118,-1.483, 0.562, RAW= 161.9, 8.7, CAL= 161.6, 9.0, ROT= 348.4, -9.0 2025-10-27T03:36:16.261Z,1761536176.261 [DAT](INFO): DAT read: Bearing 38.0, -18.5 (Local) 2025-10-27T03:36:16.262Z,1761536176.262 [DAT](INFO): Local bearing/azimuth received: Bearing 38.0, -18.5 (Local) 2025-10-27T03:36:16.269Z,1761536176.269 [DAT](INFO): DAT read: Range 11 to 50 : 57.4 m (Round-trip 76.6 ms) speed 0.4 m/s 2025-10-27T03:36:16.270Z,1761536176.270 [DAT](INFO): DAT read: user:397> 2025-10-27T03:36:16.271Z,1761536176.271 [DAT](INFO): DAT read: Tx time:03:36:17.7130 2025-10-27T03:36:16.272Z,1761536176.272 [DAT](INFO): Ping request sent. 2025-10-27T03:36:16.272Z,1761536176.272 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:16.272Z,1761536176.272 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:16.274Z,1761536176.274 [DAT](INFO): direction in FSK: [0.967515,-0.198602,0.156434] 2025-10-27T03:36:16.274Z,1761536176.274 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:16.274Z,1761536176.274 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:16.313Z,1761536176.313 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:16.313Z,1761536176.313 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:16.586Z,1761536176.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364748,0.923583,0.118128],[-0.926551,-0.347495,-0.144053],[-0.091996,-0.161995,0.982494]] 2025-10-27T03:36:16.616Z,1761536176.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.400002 m, deltaT: 3.528091 s, deltaX: -2.000000 m, approachRate: -0.566879 m/s, rangeRepo size: 4 2025-10-27T03:36:16.618Z,1761536176.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.161125 m, bearing: 238.648186 deg, lat: 36.779317 deg, lon: -121.859591 deg, deltaT: 3.528091 s, deltaX: -1.992043 m, approachRate: -0.564623 m/s, posRepo size: 4 2025-10-27T03:36:16.620Z,1761536176.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.16 m. 2025-10-27T03:36:16.620Z,1761536176.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T03:36:16.623Z,1761536176.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.161125 m, nav range: 56.610016 m, bearing: 239.120738 deg, approach rate: 0.000000 m/s, LOS rate: -0.031864 deg/s, cmd heading: 247.741971 deg, new cmd heading: 247.702400 deg. 2025-10-27T03:36:16.624Z,1761536176.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323223 target range: 57.161125 and range: 57.40 m. 2025-10-27T03:36:17.089Z,1761536177.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.16 m. 2025-10-27T03:36:17.090Z,1761536177.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T03:36:17.093Z,1761536177.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.161125 m, nav range: 56.354916 m, bearing: 239.105855 deg, approach rate: -0.555456 m/s, LOS rate: -0.032553 deg/s, cmd heading: 247.702411 deg, new cmd heading: 247.657559 deg. 2025-10-27T03:36:17.094Z,1761536177.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322440 target range: 57.161125 and range: 57.40 m. 2025-10-27T03:36:17.397Z,1761536177.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365207,0.923951,0.113747],[-0.926703,-0.349201,-0.138852],[-0.088572,-0.156119,0.983759]] 2025-10-27T03:36:17.415Z,1761536177.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.16 m. 2025-10-27T03:36:17.415Z,1761536177.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T03:36:17.418Z,1761536177.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.161125 m, nav range: 56.167282 m, bearing: 239.094969 deg, approach rate: -0.552198 m/s, LOS rate: -0.032142 deg/s, cmd heading: 247.657550 deg, new cmd heading: 247.624786 deg. 2025-10-27T03:36:17.419Z,1761536177.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321868 target range: 57.161125 and range: 57.40 m. 2025-10-27T03:36:17.894Z,1761536177.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:17.901Z,1761536177.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.16 m. 2025-10-27T03:36:17.901Z,1761536177.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T03:36:17.908Z,1761536177.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.161125 m, nav range: 55.925392 m, bearing: 239.080829 deg, approach rate: -0.497753 m/s, LOS rate: -0.029224 deg/s, cmd heading: 247.624793 deg, new cmd heading: 247.582187 deg. 2025-10-27T03:36:17.909Z,1761536177.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321125 target range: 57.161125 and range: 57.40 m. 2025-10-27T03:36:18.012Z,1761536178.012 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:18.012Z,1761536178.012 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:18.013Z,1761536178.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:18.264Z,1761536178.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992268 2025-10-27T03:36:18.286Z,1761536178.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.16 m. 2025-10-27T03:36:18.286Z,1761536178.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T03:36:18.290Z,1761536178.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.161125 m, nav range: 55.664368 m, bearing: 239.059759 deg, approach rate: -0.678037 m/s, LOS rate: -0.054987 deg/s, cmd heading: 247.582200 deg, new cmd heading: 247.518694 deg. 2025-10-27T03:36:18.291Z,1761536178.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320016 target range: 57.161125 and range: 57.40 m. 2025-10-27T03:36:18.517Z,1761536178.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244875 2025-10-27T03:36:18.629Z,1761536178.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366581,0.923886,0.109791],[-0.926665,-0.352019,-0.131813],[-0.083132,-0.150060,0.985176]] 2025-10-27T03:36:18.660Z,1761536178.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.16 m. 2025-10-27T03:36:18.661Z,1761536178.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T03:36:18.664Z,1761536178.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.161125 m, nav range: 55.437698 m, bearing: 239.041590 deg, approach rate: -0.604944 m/s, LOS rate: -0.048689 deg/s, cmd heading: 247.518706 deg, new cmd heading: 247.463976 deg. 2025-10-27T03:36:18.665Z,1761536178.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319061 target range: 57.161125 and range: 57.40 m. 2025-10-27T03:36:18.768Z,1761536178.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496163 2025-10-27T03:36:19.021Z,1761536179.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749262 2025-10-27T03:36:19.093Z,1761536179.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366756,0.923927,0.108850],[-0.926748,-0.352600,-0.129657],[-0.081413,-0.148429,0.985566]] 2025-10-27T03:36:19.140Z,1761536179.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.16 m. 2025-10-27T03:36:19.141Z,1761536179.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T03:36:19.141Z,1761536179.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.40 m. 2025-10-27T03:36:19.141Z,1761536179.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T03:36:19.144Z,1761536179.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.161125 m, nav range: 55.151848 m, bearing: 239.006051 deg, approach rate: -0.595385 m/s, LOS rate: -0.074405 deg/s, cmd heading: 247.463983 deg, new cmd heading: 247.356815 deg. 2025-10-27T03:36:19.145Z,1761536179.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317191 target range: 57.161125 and range: 57.40 m. 2025-10-27T03:36:19.272Z,1761536179.272 [DAT](INFO): DAT read: Rx Time:03:36:20.1911 2025-10-27T03:36:19.273Z,1761536179.273 [DAT](INFO): Rx dataTimestamp_ set to:1761536179.272802 2025-10-27T03:36:19.274Z,1761536179.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002271 2025-10-27T03:36:19.496Z,1761536179.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366779,0.924083,0.107444],[-0.926890,-0.353096,-0.127273],[-0.079673,-0.146270,0.986031]] 2025-10-27T03:36:19.514Z,1761536179.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.16 m. 2025-10-27T03:36:19.517Z,1761536179.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.161125 m, nav range: 54.929081 m, bearing: 238.978087 deg, approach rate: -0.596043 m/s, LOS rate: -0.075126 deg/s, cmd heading: 247.356803 deg, new cmd heading: 247.272570 deg. 2025-10-27T03:36:19.518Z,1761536179.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315721 target range: 57.161125 and range: 57.40 m. 2025-10-27T03:36:19.524Z,1761536179.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252275 2025-10-27T03:36:19.782Z,1761536179.782 [DAT](INFO): DAT read: 03:36:20.1911 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.49,-1.141,-2.684,-0.607,-1.160, PHS= 0.121,-1.479, 0.510, RAW= 160.6, 9.3, CAL= 160.4, 9.9, ROT= 349.6, -9.9 2025-10-27T03:36:19.783Z,1761536179.783 [DAT](INFO): got valid direction response: 03:36:20.1911 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.49,-1.141,-2.684,-0.607,-1.160, PHS= 0.121,-1.479, 0.510, RAW= 160.6, 9.3, CAL= 160.4, 9.9, ROT= 349.6, -9.9 2025-10-27T03:36:19.784Z,1761536179.784 [DAT](INFO): DAT read: Bearing 38.8, -16.5 (Local) 2025-10-27T03:36:19.784Z,1761536179.784 [DAT](INFO): Local bearing/azimuth received: Bearing 38.8, -16.5 (Local) 2025-10-27T03:36:19.785Z,1761536179.785 [DAT](INFO): DAT read: Range 11 to 50 : 55.4 m (Round-trip 73.9 ms) speed 0.5 m/s 2025-10-27T03:36:19.786Z,1761536179.786 [DAT](INFO): DAT read: user:398> 2025-10-27T03:36:19.787Z,1761536179.787 [DAT](INFO): DAT read: Tx time:03:36:21.3130 2025-10-27T03:36:19.787Z,1761536179.787 [DAT](INFO): Ping request sent. 2025-10-27T03:36:19.787Z,1761536179.787 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:19.788Z,1761536179.788 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:19.789Z,1761536179.789 [DAT](INFO): direction in FSK: [0.968925,-0.177831,0.171929] 2025-10-27T03:36:19.789Z,1761536179.789 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:19.789Z,1761536179.789 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:19.792Z,1761536179.792 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:19.793Z,1761536179.793 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:20.002Z,1761536180.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367143,0.923939,0.107440],[-0.926932,-0.353795,-0.125006],[-0.077486,-0.145485,0.986321]] 2025-10-27T03:36:20.091Z,1761536180.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.400002 m, deltaT: 3.526496 s, deltaX: -2.000000 m, approachRate: -0.567135 m/s, rangeRepo size: 4 2025-10-27T03:36:20.093Z,1761536180.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.169228 m, bearing: 239.652704 deg, lat: 36.779319 deg, lon: -121.859596 deg, deltaT: 3.526496 s, deltaX: -1.991898 m, approachRate: -0.564838 m/s, posRepo size: 4 2025-10-27T03:36:20.094Z,1761536180.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T03:36:20.101Z,1761536180.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.169228 m, nav range: 54.854362 m, bearing: 239.392144 deg, approach rate: 0.000000 m/s, LOS rate: -0.075126 deg/s, cmd heading: 247.272574 deg, new cmd heading: 247.144484 deg. 2025-10-27T03:36:20.102Z,1761536180.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313485 target range: 55.169228 and range: 55.40 m. 2025-10-27T03:36:20.403Z,1761536180.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367643,0.923822,0.106729],[-0.926942,-0.354776,-0.122117],[-0.074949,-0.143827,0.986760]] 2025-10-27T03:36:20.430Z,1761536180.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:20.432Z,1761536180.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T03:36:20.435Z,1761536180.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.169228 m, nav range: 54.638000 m, bearing: 239.358539 deg, approach rate: -0.618778 m/s, LOS rate: -0.096489 deg/s, cmd heading: 247.144494 deg, new cmd heading: 247.043279 deg. 2025-10-27T03:36:20.436Z,1761536180.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311718 target range: 55.169228 and range: 55.40 m. 2025-10-27T03:36:20.534Z,1761536180.534 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:20.534Z,1761536180.534 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:20.534Z,1761536180.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:20.784Z,1761536180.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996454 2025-10-27T03:36:20.810Z,1761536180.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368101,0.923562,0.107399],[-0.926998,-0.355601,-0.119262],[-0.071955,-0.143459,0.987037]] 2025-10-27T03:36:20.828Z,1761536180.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T03:36:20.831Z,1761536180.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.169228 m, nav range: 54.394936 m, bearing: 239.320570 deg, approach rate: -0.613703 m/s, LOS rate: -0.096294 deg/s, cmd heading: 247.043270 deg, new cmd heading: 246.928855 deg. 2025-10-27T03:36:20.832Z,1761536180.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309721 target range: 55.169228 and range: 55.40 m. 2025-10-27T03:36:21.037Z,1761536181.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249559 2025-10-27T03:36:21.213Z,1761536181.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367967,0.923605,0.107495],[-0.927283,-0.355930,-0.116014],[-0.068890,-0.142367,0.987414]] 2025-10-27T03:36:21.240Z,1761536181.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T03:36:21.243Z,1761536181.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.169228 m, nav range: 54.142380 m, bearing: 239.280689 deg, approach rate: -0.612427 m/s, LOS rate: -0.097157 deg/s, cmd heading: 246.928851 deg, new cmd heading: 246.808652 deg. 2025-10-27T03:36:21.244Z,1761536181.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307623 target range: 55.169228 and range: 55.40 m. 2025-10-27T03:36:21.288Z,1761536181.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500693 2025-10-27T03:36:21.542Z,1761536181.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754272 2025-10-27T03:36:21.613Z,1761536181.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368144,0.923482,0.107938],[-0.927449,-0.356547,-0.112749],[-0.065637,-0.141614,0.987743]] 2025-10-27T03:36:21.663Z,1761536181.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T03:36:21.666Z,1761536181.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.169228 m, nav range: 53.897976 m, bearing: 239.241765 deg, approach rate: -0.583709 m/s, LOS rate: -0.093385 deg/s, cmd heading: 246.808640 deg, new cmd heading: 246.691336 deg. 2025-10-27T03:36:21.667Z,1761536181.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305576 target range: 55.169228 and range: 55.40 m. 2025-10-27T03:36:21.671Z,1761536181.671 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:36:21.792Z,1761536181.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004480 2025-10-27T03:36:22.019Z,1761536182.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367950,0.923328,0.109897],[-0.927755,-0.356630,-0.109934],[-0.062312,-0.142407,0.987845]] 2025-10-27T03:36:22.045Z,1761536182.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257924 2025-10-27T03:36:22.088Z,1761536182.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T03:36:22.091Z,1761536182.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.169228 m, nav range: 53.623005 m, bearing: 239.190713 deg, approach rate: -0.640910 m/s, LOS rate: -0.119604 deg/s, cmd heading: 246.691324 deg, new cmd heading: 246.537383 deg. 2025-10-27T03:36:22.092Z,1761536182.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302889 target range: 55.169228 and range: 55.40 m. 2025-10-27T03:36:22.297Z,1761536182.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508930 2025-10-27T03:36:22.422Z,1761536182.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367915,0.923334,0.109965],[-0.927976,-0.357072,-0.106583],[-0.059146,-0.141258,0.988204]] 2025-10-27T03:36:22.446Z,1761536182.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:22.454Z,1761536182.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T03:36:22.457Z,1761536182.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.169228 m, nav range: 53.402653 m, bearing: 239.149395 deg, approach rate: -0.604614 m/s, LOS rate: -0.113837 deg/s, cmd heading: 246.537372 deg, new cmd heading: 246.412908 deg. 2025-10-27T03:36:22.458Z,1761536182.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300716 target range: 55.169228 and range: 55.40 m. 2025-10-27T03:36:22.550Z,1761536182.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761668 2025-10-27T03:36:22.676Z,1761536182.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:36:22.800Z,1761536182.800 [DAT](INFO): DAT read: Rx Time:03:36:23.7882 2025-10-27T03:36:22.800Z,1761536182.800 [DAT](INFO): Rx dataTimestamp_ set to:1761536182.800163 2025-10-27T03:36:22.801Z,1761536182.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013663 2025-10-27T03:36:22.839Z,1761536182.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367798,0.923202,0.111457],[-0.928199,-0.357217,-0.104129],[-0.056318,-0.141753,0.988299]] 2025-10-27T03:36:22.927Z,1761536182.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T03:36:22.963Z,1761536182.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.169228 m, nav range: 53.133060 m, bearing: 239.098310 deg, approach rate: -0.570532 m/s, LOS rate: -0.108658 deg/s, cmd heading: 246.412899 deg, new cmd heading: 246.258867 deg. 2025-10-27T03:36:22.964Z,1761536182.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298028 target range: 55.169228 and range: 55.40 m. 2025-10-27T03:36:23.054Z,1761536183.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267085 2025-10-27T03:36:23.288Z,1761536183.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367524,0.923010,0.113923],[-0.928611,-0.357480,-0.099444],[-0.051063,-0.142338,0.988500]] 2025-10-27T03:36:23.308Z,1761536183.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520383 2025-10-27T03:36:23.406Z,1761536183.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T03:36:23.413Z,1761536183.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.169228 m, nav range: 52.846806 m, bearing: 239.046390 deg, approach rate: -0.595123 m/s, LOS rate: -0.108528 deg/s, cmd heading: 246.258864 deg, new cmd heading: 246.102259 deg. 2025-10-27T03:36:23.414Z,1761536183.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295295 target range: 55.169228 and range: 55.40 m. 2025-10-27T03:36:23.562Z,1761536183.562 [DAT](INFO): DAT read: 03:36:23.7882 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.17,-1.343,-2.894,-0.855,-1.318, PHS= 0.077,-1.531, 0.419, RAW= 159.4, 11.5, CAL= 159.6, 12.8, ROT= 350.4, -12.8 2025-10-27T03:36:23.563Z,1761536183.563 [DAT](INFO): got valid direction response: 03:36:23.7882 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.17,-1.343,-2.894,-0.855,-1.318, PHS= 0.077,-1.531, 0.419, RAW= 159.4, 11.5, CAL= 159.6, 12.8, ROT= 350.4, -12.8 2025-10-27T03:36:23.564Z,1761536183.564 [DAT](INFO): DAT read: Bearing 42.5, -14.8 (Local) 2025-10-27T03:36:23.564Z,1761536183.564 [DAT](INFO): Local bearing/azimuth received: Bearing 42.5, -14.8 (Local) 2025-10-27T03:36:23.566Z,1761536183.566 [DAT](INFO): DAT read: Range 11 to 50 : 53.2 m (Round-trip 71.0 ms) speed 0.4 m/s 2025-10-27T03:36:23.566Z,1761536183.566 [DAT](INFO): DAT read: user:399> 2025-10-27T03:36:23.567Z,1761536183.567 [DAT](INFO): DAT read: Tx time:03:36:24.9130 2025-10-27T03:36:23.567Z,1761536183.567 [DAT](INFO): Ping request sent. 2025-10-27T03:36:23.568Z,1761536183.568 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:23.568Z,1761536183.568 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:23.569Z,1761536183.569 [DAT](INFO): direction in FSK: [0.961493,-0.162625,0.221548] 2025-10-27T03:36:23.569Z,1761536183.569 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:23.569Z,1761536183.569 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:23.573Z,1761536183.573 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:23.573Z,1761536183.573 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:23.740Z,1761536183.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367775,0.922772,0.115039],[-0.928663,-0.358041,-0.096911],[-0.048238,-0.142474,0.988622]] 2025-10-27T03:36:23.784Z,1761536183.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.200001 m, deltaT: 3.780072 s, deltaX: -2.200001 m, approachRate: -0.582000 m/s, rangeRepo size: 4 2025-10-27T03:36:23.786Z,1761536183.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.978268 m, bearing: 240.814945 deg, lat: 36.779319 deg, lon: -121.859597 deg, deltaT: 3.780072 s, deltaX: -2.190960 m, approachRate: -0.579608 m/s, posRepo size: 4 2025-10-27T03:36:23.787Z,1761536183.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m. 2025-10-27T03:36:23.793Z,1761536183.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.978268 m, nav range: 52.686665 m, bearing: 239.038163 deg, approach rate: 0.000000 m/s, LOS rate: -0.108528 deg/s, cmd heading: 246.102262 deg, new cmd heading: 245.980886 deg. 2025-10-27T03:36:23.794Z,1761536183.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293176 target range: 52.978268 and range: 53.20 m. 2025-10-27T03:36:24.126Z,1761536184.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367815,0.922477,0.117252],[-0.928778,-0.358250,-0.095015],[-0.045644,-0.143850,0.988546]] 2025-10-27T03:36:24.170Z,1761536184.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m. 2025-10-27T03:36:24.173Z,1761536184.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.978268 m, nav range: 52.465389 m, bearing: 239.005813 deg, approach rate: -0.566442 m/s, LOS rate: -0.083162 deg/s, cmd heading: 245.980875 deg, new cmd heading: 245.883416 deg. 2025-10-27T03:36:24.174Z,1761536184.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291475 target range: 52.978268 and range: 53.20 m. 2025-10-27T03:36:24.541Z,1761536184.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367545,0.922014,0.121658],[-0.929006,-0.357930,-0.093989],[-0.043114,-0.147566,0.988112]] 2025-10-27T03:36:24.578Z,1761536184.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:24.585Z,1761536184.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m. 2025-10-27T03:36:24.592Z,1761536184.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.978268 m, nav range: 52.250660 m, bearing: 238.974023 deg, approach rate: -0.517401 m/s, LOS rate: -0.076913 deg/s, cmd heading: 245.883422 deg, new cmd heading: 245.787662 deg. 2025-10-27T03:36:24.593Z,1761536184.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289804 target range: 52.978268 and range: 53.20 m. 2025-10-27T03:36:24.817Z,1761536184.817 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:24.817Z,1761536184.817 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:24.817Z,1761536184.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:24.985Z,1761536184.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367425,0.921513,0.125752],[-0.929164,-0.357793,-0.092939],[-0.040652,-0.150992,0.987699]] 2025-10-27T03:36:25.063Z,1761536185.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m. 2025-10-27T03:36:25.066Z,1761536185.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.978268 m, nav range: 51.997257 m, bearing: 238.944171 deg, approach rate: -0.548665 m/s, LOS rate: -0.064951 deg/s, cmd heading: 245.787663 deg, new cmd heading: 245.697670 deg. 2025-10-27T03:36:25.068Z,1761536185.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500604 2025-10-27T03:36:25.071Z,1761536185.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288233 target range: 52.978268 and range: 53.20 m. 2025-10-27T03:36:25.320Z,1761536185.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752247 2025-10-27T03:36:25.344Z,1761536185.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367023,0.921228,0.128971],[-0.929441,-0.357533,-0.091160],[-0.037867,-0.153329,0.987449]] 2025-10-27T03:36:25.362Z,1761536185.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m. 2025-10-27T03:36:25.366Z,1761536185.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.978268 m, nav range: 51.824589 m, bearing: 238.923543 deg, approach rate: -0.546596 m/s, LOS rate: -0.065518 deg/s, cmd heading: 245.697669 deg, new cmd heading: 245.635578 deg. 2025-10-27T03:36:25.367Z,1761536185.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287149 target range: 52.978268 and range: 53.20 m. 2025-10-27T03:36:25.575Z,1761536185.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007549 2025-10-27T03:36:25.741Z,1761536185.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367130,0.920966,0.130529],[-0.929507,-0.357942,-0.088850],[-0.035106,-0.153947,0.987455]] 2025-10-27T03:36:25.776Z,1761536185.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m. 2025-10-27T03:36:25.778Z,1761536185.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.978268 m, nav range: 51.612717 m, bearing: 238.898051 deg, approach rate: -0.533938 m/s, LOS rate: -0.064506 deg/s, cmd heading: 245.635568 deg, new cmd heading: 245.558779 deg. 2025-10-27T03:36:25.780Z,1761536185.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285809 target range: 52.978268 and range: 53.20 m. 2025-10-27T03:36:25.824Z,1761536185.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256453 2025-10-27T03:36:26.076Z,1761536186.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508399 2025-10-27T03:36:26.147Z,1761536186.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367036,0.920595,0.133378],[-0.929640,-0.358019,-0.087130],[-0.032460,-0.155973,0.987228]] 2025-10-27T03:36:26.184Z,1761536186.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m. 2025-10-27T03:36:26.186Z,1761536186.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.978268 m, nav range: 51.391266 m, bearing: 238.879842 deg, approach rate: -0.521682 m/s, LOS rate: -0.043081 deg/s, cmd heading: 245.558770 deg, new cmd heading: 245.503907 deg. 2025-10-27T03:36:26.188Z,1761536186.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284852 target range: 52.978268 and range: 53.20 m. 2025-10-27T03:36:26.328Z,1761536186.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760244 2025-10-27T03:36:26.580Z,1761536186.580 [DAT](INFO): DAT read: Rx Time:03:36:27.3856 2025-10-27T03:36:26.581Z,1761536186.581 [DAT](INFO): Rx dataTimestamp_ set to:1761536186.580260 2025-10-27T03:36:26.581Z,1761536186.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013476 2025-10-27T03:36:26.610Z,1761536186.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:26.613Z,1761536186.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.98 m. 2025-10-27T03:36:26.616Z,1761536186.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.978268 m, nav range: 51.166996 m, bearing: 238.861240 deg, approach rate: -0.522707 m/s, LOS rate: -0.043545 deg/s, cmd heading: 245.503910 deg, new cmd heading: 245.447860 deg. 2025-10-27T03:36:26.617Z,1761536186.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283873 target range: 52.978268 and range: 53.20 m. 2025-10-27T03:36:26.833Z,1761536186.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264915 2025-10-27T03:36:27.023Z,1761536187.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366972,0.919734,0.139355],[-0.929827,-0.358255,-0.084110],[-0.027434,-0.160442,0.986664]] 2025-10-27T03:36:27.089Z,1761536187.089 [DAT](INFO): DAT read: 03:36:27.3856 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.23, 2.244, 0.689, 2.652, 2.301, PHS= 0.045,-1.567, 0.307, RAW= 157.4, 13.7, CAL= 157.9, 15.7, ROT= 352.1, -15.7 2025-10-27T03:36:27.091Z,1761536187.091 [DAT](INFO): got valid direction response: 03:36:27.3856 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.23, 2.244, 0.689, 2.652, 2.301, PHS= 0.045,-1.567, 0.307, RAW= 157.4, 13.7, CAL= 157.9, 15.7, ROT= 352.1, -15.7 2025-10-27T03:36:27.092Z,1761536187.092 [DAT](INFO): DAT read: Bearing 45.7, -12.2 (Local) 2025-10-27T03:36:27.092Z,1761536187.092 [DAT](INFO): Local bearing/azimuth received: Bearing 45.7, -12.2 (Local) 2025-10-27T03:36:27.093Z,1761536187.093 [DAT](INFO): DAT read: Range 11 to 50 : 51.3 m (Round-trip 68.4 ms) speed 0.4 m/s 2025-10-27T03:36:27.094Z,1761536187.094 [DAT](INFO): DAT read: user:400> 2025-10-27T03:36:27.095Z,1761536187.095 [DAT](INFO): DAT read: Tx time:03:36:28.5130 2025-10-27T03:36:27.095Z,1761536187.095 [DAT](INFO): Ping request sent. 2025-10-27T03:36:27.095Z,1761536187.095 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:27.096Z,1761536187.096 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:27.097Z,1761536187.097 [DAT](INFO): direction in FSK: [0.953555,-0.132317,0.270600] 2025-10-27T03:36:27.097Z,1761536187.097 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:27.097Z,1761536187.097 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:27.101Z,1761536187.101 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:27.101Z,1761536187.101 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:27.117Z,1761536187.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.527810 s, deltaX: -1.900002 m, approachRate: -0.538578 m/s, rangeRepo size: 4 2025-10-27T03:36:27.123Z,1761536187.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.086670 m, bearing: 243.280107 deg, lat: 36.779322 deg, lon: -121.859597 deg, deltaT: 3.527810 s, deltaX: -1.891598 m, approachRate: -0.536196 m/s, posRepo size: 4 2025-10-27T03:36:27.132Z,1761536187.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.09 m. 2025-10-27T03:36:27.134Z,1761536187.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.086670 m, nav range: 50.785252 m, bearing: 239.089258 deg, approach rate: 0.000000 m/s, LOS rate: -0.043545 deg/s, cmd heading: 245.447848 deg, new cmd heading: 245.382070 deg. 2025-10-27T03:36:27.144Z,1761536187.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282725 target range: 51.086670 and range: 51.30 m. 2025-10-27T03:36:27.471Z,1761536187.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367496,0.919187,0.141571],[-0.929693,-0.359016,-0.082334],[-0.024854,-0.161875,0.986498]] 2025-10-27T03:36:27.510Z,1761536187.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.09 m. 2025-10-27T03:36:27.523Z,1761536187.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.086670 m, nav range: 50.551151 m, bearing: 239.069805 deg, approach rate: -0.595178 m/s, LOS rate: -0.049686 deg/s, cmd heading: 245.382059 deg, new cmd heading: 245.323430 deg. 2025-10-27T03:36:27.525Z,1761536187.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.281702 target range: 51.086670 and range: 51.30 m. 2025-10-27T03:36:27.874Z,1761536187.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367885,0.918738,0.143463],[-0.929601,-0.359653,-0.080572],[-0.022428,-0.163005,0.986370]] 2025-10-27T03:36:27.911Z,1761536187.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.09 m. 2025-10-27T03:36:27.914Z,1761536187.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.086670 m, nav range: 50.338707 m, bearing: 239.052082 deg, approach rate: -0.551172 m/s, LOS rate: -0.046174 deg/s, cmd heading: 245.323429 deg, new cmd heading: 245.270037 deg. 2025-10-27T03:36:27.919Z,1761536187.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280770 target range: 51.086670 and range: 51.30 m. 2025-10-27T03:36:28.279Z,1761536188.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368492,0.918511,0.143355],[-0.929411,-0.360646,-0.078291],[-0.020211,-0.162086,0.986570]] 2025-10-27T03:36:28.316Z,1761536188.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.09 m. 2025-10-27T03:36:28.318Z,1761536188.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.086670 m, nav range: 50.110645 m, bearing: 239.032285 deg, approach rate: -0.542095 m/s, LOS rate: -0.047272 deg/s, cmd heading: 245.270044 deg, new cmd heading: 245.210381 deg. 2025-10-27T03:36:28.320Z,1761536188.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279728 target range: 51.086670 and range: 51.30 m. 2025-10-27T03:36:28.684Z,1761536188.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369138,0.918207,0.143645],[-0.929196,-0.361604,-0.076400],[-0.018208,-0.161677,0.986676]] 2025-10-27T03:36:28.711Z,1761536188.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:28.714Z,1761536188.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.09 m. 2025-10-27T03:36:28.719Z,1761536188.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.086670 m, nav range: 49.900215 m, bearing: 239.014025 deg, approach rate: -0.528493 m/s, LOS rate: -0.046052 deg/s, cmd heading: 245.210376 deg, new cmd heading: 245.155366 deg. 2025-10-27T03:36:28.720Z,1761536188.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.278769 target range: 51.086670 and range: 51.30 m. 2025-10-27T03:36:28.848Z,1761536188.848 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:28.848Z,1761536188.848 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:28.849Z,1761536188.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:29.087Z,1761536189.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369422,0.918035,0.144012],[-0.929115,-0.362146,-0.074805],[-0.016520,-0.161439,0.986745]] 2025-10-27T03:36:29.100Z,1761536189.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004477 2025-10-27T03:36:29.125Z,1761536189.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.09 m. 2025-10-27T03:36:29.128Z,1761536189.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.086670 m, nav range: 49.674217 m, bearing: 238.993327 deg, approach rate: -0.549214 m/s, LOS rate: -0.050529 deg/s, cmd heading: 245.155379 deg, new cmd heading: 245.093002 deg. 2025-10-27T03:36:29.129Z,1761536189.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277680 target range: 51.086670 and range: 51.30 m. 2025-10-27T03:36:29.352Z,1761536189.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257026 2025-10-27T03:36:29.533Z,1761536189.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.09 m. 2025-10-27T03:36:29.538Z,1761536189.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.086670 m, nav range: 49.459148 m, bearing: 238.973454 deg, approach rate: -0.530680 m/s, LOS rate: -0.049250 deg/s, cmd heading: 245.093006 deg, new cmd heading: 245.033126 deg. 2025-10-27T03:36:29.540Z,1761536189.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276635 target range: 51.086670 and range: 51.30 m. 2025-10-27T03:36:29.605Z,1761536189.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509844 2025-10-27T03:36:29.856Z,1761536189.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760438 2025-10-27T03:36:29.894Z,1761536189.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371661,0.916735,0.146510],[-0.928284,-0.364846,-0.071943],[-0.012499,-0.162742,0.986589]] 2025-10-27T03:36:29.915Z,1761536189.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.09 m. 2025-10-27T03:36:29.918Z,1761536189.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.086670 m, nav range: 49.249821 m, bearing: 238.954520 deg, approach rate: -0.544554 m/s, LOS rate: -0.049464 deg/s, cmd heading: 245.033118 deg, new cmd heading: 244.976076 deg. 2025-10-27T03:36:29.919Z,1761536189.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275639 target range: 51.086670 and range: 51.30 m. 2025-10-27T03:36:30.108Z,1761536190.108 [DAT](INFO): DAT read: Rx Time:03:36:30.9831 2025-10-27T03:36:30.108Z,1761536190.108 [DAT](INFO): Rx dataTimestamp_ set to:1761536190.108102 2025-10-27T03:36:30.109Z,1761536190.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013478 2025-10-27T03:36:30.349Z,1761536190.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.09 m. 2025-10-27T03:36:30.352Z,1761536190.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.086670 m, nav range: 49.009399 m, bearing: 238.923922 deg, approach rate: -0.554017 m/s, LOS rate: -0.070854 deg/s, cmd heading: 244.976073 deg, new cmd heading: 244.883829 deg. 2025-10-27T03:36:30.353Z,1761536190.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274029 target range: 51.086670 and range: 51.30 m. 2025-10-27T03:36:30.376Z,1761536190.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280542 2025-10-27T03:36:30.636Z,1761536190.636 [DAT](INFO): DAT read: 03:36:30.9831 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.25,-1.396,-3.011,-0.906,-1.381, PHS= 0.088,-1.584, 0.432, RAW= 159.2, 11.4, CAL= 159.4, 12.7, ROT= 350.6, -12.7 2025-10-27T03:36:30.637Z,1761536190.637 [DAT](INFO): got valid direction response: 03:36:30.9831 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.25,-1.396,-3.011,-0.906,-1.381, PHS= 0.088,-1.584, 0.432, RAW= 159.2, 11.4, CAL= 159.4, 12.7, ROT= 350.6, -12.7 2025-10-27T03:36:30.638Z,1761536190.638 [DAT](INFO): DAT read: Bearing 41.9, -12.2 (Local) 2025-10-27T03:36:30.638Z,1761536190.638 [DAT](INFO): Local bearing/azimuth received: Bearing 41.9, -12.2 (Local) 2025-10-27T03:36:30.640Z,1761536190.640 [DAT](INFO): DAT read: Range 11 to 50 : 49.4 m (Round-trip 65.9 ms) speed 0.4 m/s 2025-10-27T03:36:30.640Z,1761536190.640 [DAT](INFO): DAT read: user:401> 2025-10-27T03:36:30.641Z,1761536190.641 [DAT](INFO): DAT read: Tx time:03:36:32.1130 2025-10-27T03:36:30.641Z,1761536190.641 [DAT](INFO): Ping request sent. 2025-10-27T03:36:30.642Z,1761536190.642 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:30.642Z,1761536190.642 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:30.664Z,1761536190.664 [DAT](INFO): direction in FSK: [0.962435,-0.159330,0.219846] 2025-10-27T03:36:30.664Z,1761536190.664 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:30.664Z,1761536190.664 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:30.682Z,1761536190.682 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:30.682Z,1761536190.682 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:30.743Z,1761536190.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373626,0.915901,0.146727],[-0.927531,-0.367297,-0.069127],[-0.009421,-0.161922,0.986759]] 2025-10-27T03:36:30.810Z,1761536190.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.400002 m, deltaT: 3.544790 s, deltaX: -1.899998 m, approachRate: -0.535997 m/s, rangeRepo size: 4 2025-10-27T03:36:30.816Z,1761536190.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.194736 m, bearing: 240.873547 deg, lat: 36.779335 deg, lon: -121.859597 deg, deltaT: 3.544790 s, deltaX: -1.891933 m, approachRate: -0.533722 m/s, posRepo size: 4 2025-10-27T03:36:30.817Z,1761536190.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.19 m. 2025-10-27T03:36:30.832Z,1761536190.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.194736 m, nav range: 48.028660 m, bearing: 240.457346 deg, approach rate: 0.000000 m/s, LOS rate: -0.070854 deg/s, cmd heading: 244.883838 deg, new cmd heading: 244.786044 deg. 2025-10-27T03:36:30.833Z,1761536190.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272323 target range: 49.194736 and range: 49.40 m. 2025-10-27T03:36:31.140Z,1761536191.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374526,0.915671,0.145865],[-0.927182,-0.368500,-0.067388],[-0.007954,-0.160482,0.987007]] 2025-10-27T03:36:31.184Z,1761536191.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:31.186Z,1761536191.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.19 m. 2025-10-27T03:36:31.189Z,1761536191.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.194736 m, nav range: 47.806808 m, bearing: 240.429783 deg, approach rate: -0.588052 m/s, LOS rate: -0.073399 deg/s, cmd heading: 244.786057 deg, new cmd heading: 244.702985 deg. 2025-10-27T03:36:31.190Z,1761536191.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270873 target range: 49.194736 and range: 49.40 m. 2025-10-27T03:36:31.384Z,1761536191.384 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:31.384Z,1761536191.384 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:31.385Z,1761536191.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:31.548Z,1761536191.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375787,0.915142,0.145941],[-0.926685,-0.370027,-0.065838],[-0.006249,-0.159982,0.987100]] 2025-10-27T03:36:31.573Z,1761536191.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.19 m. 2025-10-27T03:36:31.576Z,1761536191.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.194736 m, nav range: 47.590813 m, bearing: 240.403056 deg, approach rate: -0.559055 m/s, LOS rate: -0.069491 deg/s, cmd heading: 244.702974 deg, new cmd heading: 244.622429 deg. 2025-10-27T03:36:31.577Z,1761536191.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269467 target range: 49.194736 and range: 49.40 m. 2025-10-27T03:36:31.636Z,1761536191.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994496 2025-10-27T03:36:31.888Z,1761536191.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246368 2025-10-27T03:36:31.952Z,1761536191.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377420,0.914122,0.148104],[-0.926032,-0.371798,-0.065050],[-0.004399,-0.161700,0.986830]] 2025-10-27T03:36:31.970Z,1761536191.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.19 m. 2025-10-27T03:36:31.973Z,1761536191.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.194736 m, nav range: 47.368866 m, bearing: 240.375813 deg, approach rate: -0.558365 m/s, LOS rate: -0.068859 deg/s, cmd heading: 244.622433 deg, new cmd heading: 244.540320 deg. 2025-10-27T03:36:31.974Z,1761536191.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268034 target range: 49.194736 and range: 49.40 m. 2025-10-27T03:36:32.140Z,1761536192.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498467 2025-10-27T03:36:32.350Z,1761536192.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378578,0.913439,0.149359],[-0.925565,-0.373142,-0.063983],[-0.002713,-0.162464,0.986711]] 2025-10-27T03:36:32.392Z,1761536192.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750876 2025-10-27T03:36:32.397Z,1761536192.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.19 m. 2025-10-27T03:36:32.400Z,1761536192.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.194736 m, nav range: 47.124474 m, bearing: 240.343488 deg, approach rate: -0.572586 m/s, LOS rate: -0.076126 deg/s, cmd heading: 244.540307 deg, new cmd heading: 244.442830 deg. 2025-10-27T03:36:32.401Z,1761536192.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266332 target range: 49.194736 and range: 49.40 m. 2025-10-27T03:36:32.645Z,1761536192.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003508 2025-10-27T03:36:32.754Z,1761536192.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379729,0.912626,0.151393],[-0.925097,-0.374401,-0.063396],[-0.001175,-0.164126,0.986439]] 2025-10-27T03:36:32.773Z,1761536192.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.19 m. 2025-10-27T03:36:32.776Z,1761536192.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.194736 m, nav range: 46.906952 m, bearing: 240.314769 deg, approach rate: -0.579305 m/s, LOS rate: -0.076839 deg/s, cmd heading: 244.442826 deg, new cmd heading: 244.356270 deg. 2025-10-27T03:36:32.777Z,1761536192.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264822 target range: 49.194736 and range: 49.40 m. 2025-10-27T03:36:32.896Z,1761536192.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254642 2025-10-27T03:36:33.148Z,1761536193.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506404 2025-10-27T03:36:33.159Z,1761536193.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381393,0.911646,0.153106],[-0.924413,-0.376191,-0.062779],[0.000365,-0.165477,0.986214]] 2025-10-27T03:36:33.205Z,1761536193.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:33.207Z,1761536193.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.19 m. 2025-10-27T03:36:33.210Z,1761536193.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.194736 m, nav range: 46.653488 m, bearing: 240.277114 deg, approach rate: -0.583940 m/s, LOS rate: -0.087223 deg/s, cmd heading: 244.356274 deg, new cmd heading: 244.242695 deg. 2025-10-27T03:36:33.210Z,1761536193.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262839 target range: 49.194736 and range: 49.40 m. 2025-10-27T03:36:33.400Z,1761536193.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758455 2025-10-27T03:36:33.566Z,1761536193.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383013,0.910818,0.153984],[-0.923740,-0.378037,-0.061575],[0.002128,-0.165825,0.986153]] 2025-10-27T03:36:33.605Z,1761536193.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.19 m. 2025-10-27T03:36:33.608Z,1761536193.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.194736 m, nav range: 46.420128 m, bearing: 240.242592 deg, approach rate: -0.585644 m/s, LOS rate: -0.087072 deg/s, cmd heading: 244.242702 deg, new cmd heading: 244.138615 deg. 2025-10-27T03:36:33.609Z,1761536193.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261023 target range: 49.194736 and range: 49.40 m. 2025-10-27T03:36:33.653Z,1761536193.653 [DAT](INFO): DAT read: Rx Time:03:36:34.5804 2025-10-27T03:36:33.653Z,1761536193.653 [DAT](INFO): Rx dataTimestamp_ set to:1761536193.652950 2025-10-27T03:36:33.654Z,1761536193.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012563 2025-10-27T03:36:33.904Z,1761536193.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262272 2025-10-27T03:36:33.966Z,1761536193.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384521,0.910090,0.154533],[-0.923109,-0.379772,-0.060364],[0.003751,-0.165862,0.986142]] 2025-10-27T03:36:34.040Z,1761536194.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.19 m. 2025-10-27T03:36:34.043Z,1761536194.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.194736 m, nav range: 46.183254 m, bearing: 240.207679 deg, approach rate: -0.544864 m/s, LOS rate: -0.080720 deg/s, cmd heading: 244.138610 deg, new cmd heading: 244.033333 deg. 2025-10-27T03:36:34.048Z,1761536194.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259185 target range: 49.194736 and range: 49.40 m. 2025-10-27T03:36:34.162Z,1761536194.162 [DAT](INFO): DAT read: 03:36:34.5804 LVL= 32752, 32753, 31730, 32755, AGC= 68, IDX= 421,-0.12,-0.596,-2.127,-0.171,-0.625, PHS= 0.131,-1.457, 0.410, RAW= 157.9, 10.5, CAL= 157.9, 11.5, ROT= 352.1, -11.5 2025-10-27T03:36:34.163Z,1761536194.163 [DAT](INFO): got valid direction response: 03:36:34.5804 LVL= 32752, 32753, 31730, 32755, AGC= 68, IDX= 421,-0.12,-0.596,-2.127,-0.171,-0.625, PHS= 0.131,-1.457, 0.410, RAW= 157.9, 10.5, CAL= 157.9, 11.5, ROT= 352.1, -11.5 2025-10-27T03:36:34.164Z,1761536194.164 [DAT](INFO): DAT read: Bearing 39.8, -9.8 (Local) 2025-10-27T03:36:34.165Z,1761536194.165 [DAT](INFO): Local bearing/azimuth received: Bearing 39.8, -9.8 (Local) 2025-10-27T03:36:34.168Z,1761536194.168 [DAT](INFO): DAT read: Range 11 to 50 : 47.4 m (Round-trip 63.2 ms) speed 0.6 m/s 2025-10-27T03:36:34.169Z,1761536194.169 [DAT](INFO): DAT read: user:402> 2025-10-27T03:36:34.170Z,1761536194.170 [DAT](INFO): DAT read: Tx time:03:36:35.6630 2025-10-27T03:36:34.170Z,1761536194.170 [DAT](INFO): Ping request sent. 2025-10-27T03:36:34.171Z,1761536194.171 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:34.171Z,1761536194.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:34.173Z,1761536194.173 [DAT](INFO): direction in FSK: [0.970625,-0.134685,0.199368] 2025-10-27T03:36:34.173Z,1761536194.173 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:34.174Z,1761536194.174 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:34.189Z,1761536194.189 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:34.189Z,1761536194.189 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:34.374Z,1761536194.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386257,0.909306,0.154817],[-0.922376,-0.381734,-0.059175],[0.005291,-0.165656,0.986169]] 2025-10-27T03:36:34.425Z,1761536194.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 3.527515 s, deltaX: -2.000000 m, approachRate: -0.566971 m/s, rangeRepo size: 4 2025-10-27T03:36:34.428Z,1761536194.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.202709 m, bearing: 241.400400 deg, lat: 36.779339 deg, lon: -121.859599 deg, deltaT: 3.527515 s, deltaX: -1.992027 m, approachRate: -0.564711 m/s, posRepo size: 4 2025-10-27T03:36:34.428Z,1761536194.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m. 2025-10-27T03:36:34.432Z,1761536194.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.202709 m, nav range: 45.872601 m, bearing: 240.694358 deg, approach rate: 0.000000 m/s, LOS rate: -0.080720 deg/s, cmd heading: 244.033343 deg, new cmd heading: 243.940137 deg. 2025-10-27T03:36:34.433Z,1761536194.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257558 target range: 47.202709 and range: 47.40 m. 2025-10-27T03:36:34.816Z,1761536194.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m. 2025-10-27T03:36:34.818Z,1761536194.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.202709 m, nav range: 45.638783 m, bearing: 240.659497 deg, approach rate: -0.598205 m/s, LOS rate: -0.089647 deg/s, cmd heading: 243.940124 deg, new cmd heading: 243.835005 deg. 2025-10-27T03:36:34.820Z,1761536194.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255723 target range: 47.202709 and range: 47.40 m. 2025-10-27T03:36:35.182Z,1761536195.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390126,0.907843,0.153695],[-0.920720,-0.386226,-0.055722],[0.008774,-0.163249,0.986546]] 2025-10-27T03:36:35.223Z,1761536195.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:35.225Z,1761536195.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m. 2025-10-27T03:36:35.228Z,1761536195.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.202709 m, nav range: 45.399925 m, bearing: 240.630586 deg, approach rate: -0.583478 m/s, LOS rate: -0.070995 deg/s, cmd heading: 243.834994 deg, new cmd heading: 243.747805 deg. 2025-10-27T03:36:35.229Z,1761536195.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254202 target range: 47.202709 and range: 47.40 m. 2025-10-27T03:36:35.416Z,1761536195.416 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:35.416Z,1761536195.416 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:35.416Z,1761536195.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:35.588Z,1761536195.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392043,0.907097,0.153225],[-0.919893,-0.388343,-0.054641],[0.009939,-0.162372,0.986680]] 2025-10-27T03:36:35.606Z,1761536195.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m. 2025-10-27T03:36:35.609Z,1761536195.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.202709 m, nav range: 45.177044 m, bearing: 240.603930 deg, approach rate: -0.585159 m/s, LOS rate: -0.070329 deg/s, cmd heading: 243.747813 deg, new cmd heading: 243.667451 deg. 2025-10-27T03:36:35.610Z,1761536195.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252800 target range: 47.202709 and range: 47.40 m. 2025-10-27T03:36:35.674Z,1761536195.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502959 2025-10-27T03:36:35.924Z,1761536195.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753272 2025-10-27T03:36:35.994Z,1761536195.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393949,0.906050,0.154524],[-0.919066,-0.390328,-0.054413],[0.011014,-0.163454,0.986490]] 2025-10-27T03:36:36.050Z,1761536196.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m. 2025-10-27T03:36:36.057Z,1761536196.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.202709 m, nav range: 44.921879 m, bearing: 240.573765 deg, approach rate: -0.573922 m/s, LOS rate: -0.068233 deg/s, cmd heading: 243.667463 deg, new cmd heading: 243.576455 deg. 2025-10-27T03:36:36.058Z,1761536196.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251211 target range: 47.202709 and range: 47.40 m. 2025-10-27T03:36:36.176Z,1761536196.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005486 2025-10-27T03:36:36.394Z,1761536196.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395243,0.905195,0.156223],[-0.918499,-0.391668,-0.054374],[0.011969,-0.164982,0.986224]] 2025-10-27T03:36:36.428Z,1761536196.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257433 2025-10-27T03:36:36.457Z,1761536196.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m. 2025-10-27T03:36:36.460Z,1761536196.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.202709 m, nav range: 44.699722 m, bearing: 240.548956 deg, approach rate: -0.560122 m/s, LOS rate: -0.062861 deg/s, cmd heading: 243.576458 deg, new cmd heading: 243.501661 deg. 2025-10-27T03:36:36.461Z,1761536196.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249906 target range: 47.202709 and range: 47.40 m. 2025-10-27T03:36:36.680Z,1761536196.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509282 2025-10-27T03:36:36.797Z,1761536196.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397126,0.904338,0.156410],[-0.917669,-0.393729,-0.053491],[0.013209,-0.164775,0.986243]] 2025-10-27T03:36:36.821Z,1761536196.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m. 2025-10-27T03:36:36.825Z,1761536196.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.202709 m, nav range: 44.476479 m, bearing: 240.524373 deg, approach rate: -0.596310 m/s, LOS rate: -0.065993 deg/s, cmd heading: 243.501653 deg, new cmd heading: 243.427535 deg. 2025-10-27T03:36:36.826Z,1761536196.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248612 target range: 47.202709 and range: 47.40 m. 2025-10-27T03:36:36.932Z,1761536196.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761389 2025-10-27T03:36:37.184Z,1761536197.184 [DAT](INFO): DAT read: Rx Time:03:36:38.1277 2025-10-27T03:36:37.184Z,1761536197.184 [DAT](INFO): Rx dataTimestamp_ set to:1761536197.184168 2025-10-27T03:36:37.185Z,1761536197.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014443 2025-10-27T03:36:37.202Z,1761536197.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398664,0.903848,0.155326],[-0.916991,-0.395432,-0.052537],[0.013936,-0.163377,0.986465]] 2025-10-27T03:36:37.261Z,1761536197.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:37.272Z,1761536197.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m. 2025-10-27T03:36:37.274Z,1761536197.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.202709 m, nav range: 44.232605 m, bearing: 240.509304 deg, approach rate: -0.541780 m/s, LOS rate: -0.033662 deg/s, cmd heading: 243.427532 deg, new cmd heading: 243.382074 deg. 2025-10-27T03:36:37.280Z,1761536197.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247818 target range: 47.202709 and range: 47.40 m. 2025-10-27T03:36:37.436Z,1761536197.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265364 2025-10-27T03:36:37.606Z,1761536197.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400332,0.902913,0.156472],[-0.916254,-0.397124,-0.052642],[0.014608,-0.164443,0.986278]] 2025-10-27T03:36:37.646Z,1761536197.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m. 2025-10-27T03:36:37.657Z,1761536197.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.202709 m, nav range: 44.020336 m, bearing: 240.496542 deg, approach rate: -0.569035 m/s, LOS rate: -0.034375 deg/s, cmd heading: 243.382070 deg, new cmd heading: 243.343601 deg. 2025-10-27T03:36:37.661Z,1761536197.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247147 target range: 47.202709 and range: 47.40 m. 2025-10-27T03:36:37.699Z,1761536197.699 [DAT](INFO): DAT read: 03:36:38.1277 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.12,-0.778,-2.333,-0.383,-0.779, PHS= 0.103,-1.509, 0.352, RAW= 157.1, 12.0, CAL= 157.3, 13.4, ROT= 352.7, -13.4 2025-10-27T03:36:37.700Z,1761536197.700 [DAT](INFO): got valid direction response: 03:36:38.1277 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.12,-0.778,-2.333,-0.383,-0.779, PHS= 0.103,-1.509, 0.352, RAW= 157.1, 12.0, CAL= 157.3, 13.4, ROT= 352.7, -13.4 2025-10-27T03:36:37.702Z,1761536197.702 [DAT](INFO): DAT read: Bearing 41.4, -8.9 (Local) 2025-10-27T03:36:37.702Z,1761536197.702 [DAT](INFO): Local bearing/azimuth received: Bearing 41.4, -8.9 (Local) 2025-10-27T03:36:37.708Z,1761536197.708 [DAT](INFO): DAT read: Range 11 to 50 : 45.3 m (Round-trip 60.5 ms) speed 0.7 m/s 2025-10-27T03:36:37.710Z,1761536197.710 [DAT](INFO): DAT read: user:403> 2025-10-27T03:36:37.715Z,1761536197.715 [DAT](INFO): DAT read: Tx time:03:36:39.2146 2025-10-27T03:36:37.716Z,1761536197.716 [DAT](INFO): Ping request sent. 2025-10-27T03:36:37.716Z,1761536197.716 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:37.716Z,1761536197.716 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:37.718Z,1761536197.718 [DAT](INFO): direction in FSK: [0.964891,-0.123605,0.231748] 2025-10-27T03:36:37.718Z,1761536197.718 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:37.719Z,1761536197.719 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:37.730Z,1761536197.730 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:37.730Z,1761536197.730 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:38.208Z,1761536198.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.533569 s, deltaX: -2.100002 m, approachRate: -0.594301 m/s, rangeRepo size: 4 2025-10-27T03:36:38.210Z,1761536198.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.111275 m, bearing: 241.415042 deg, lat: 36.779343 deg, lon: -121.859601 deg, deltaT: 3.533569 s, deltaX: -2.091434 m, approachRate: -0.591876 m/s, posRepo size: 4 2025-10-27T03:36:38.215Z,1761536198.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.11 m. 2025-10-27T03:36:38.218Z,1761536198.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.111275 m, nav range: 43.663933 m, bearing: 241.078463 deg, approach rate: 0.000000 m/s, LOS rate: -0.034375 deg/s, cmd heading: 243.343603 deg, new cmd heading: 243.285541 deg. 2025-10-27T03:36:38.223Z,1761536198.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246134 target range: 45.111275 and range: 45.30 m. 2025-10-27T03:36:38.625Z,1761536198.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406081,0.899886,0.159072],[-0.913681,-0.403029,-0.052483],[0.016882,-0.166654,0.985871]] 2025-10-27T03:36:38.669Z,1761536198.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.11 m. 2025-10-27T03:36:38.672Z,1761536198.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.111275 m, nav range: 43.370499 m, bearing: 241.076517 deg, approach rate: -0.636103 m/s, LOS rate: -0.004247 deg/s, cmd heading: 243.285546 deg, new cmd heading: 243.279668 deg. 2025-10-27T03:36:38.673Z,1761536198.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246031 target range: 45.111275 and range: 45.30 m. 2025-10-27T03:36:39.051Z,1761536199.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407484,0.899291,0.158847],[-0.913050,-0.404483,-0.052279],[0.017237,-0.166338,0.985918]] 2025-10-27T03:36:39.081Z,1761536199.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.11 m. 2025-10-27T03:36:39.088Z,1761536199.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.111275 m, nav range: 43.147224 m, bearing: 241.075480 deg, approach rate: -0.542049 m/s, LOS rate: -0.002529 deg/s, cmd heading: 243.279672 deg, new cmd heading: 243.276547 deg. 2025-10-27T03:36:39.092Z,1761536199.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.245977 target range: 45.111275 and range: 45.30 m. 2025-10-27T03:36:39.467Z,1761536199.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408776,0.898524,0.159864],[-0.912455,-0.405854,-0.052045],[0.018118,-0.167143,0.985766]] 2025-10-27T03:36:39.530Z,1761536199.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:39.545Z,1761536199.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.11 m. 2025-10-27T03:36:39.554Z,1761536199.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.111275 m, nav range: 42.919739 m, bearing: 241.083503 deg, approach rate: -0.496451 m/s, LOS rate: 0.017602 deg/s, cmd heading: 243.276558 deg, new cmd heading: 243.300755 deg. 2025-10-27T03:36:39.554Z,1761536199.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246399 target range: 45.111275 and range: 45.30 m. 2025-10-27T03:36:39.704Z,1761536199.704 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:39.704Z,1761536199.704 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:39.705Z,1761536199.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:39.957Z,1761536199.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240801 2025-10-27T03:36:39.998Z,1761536199.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410470,0.897771,0.159752],[-0.911667,-0.407766,-0.050898],[0.019447,-0.166533,0.985844]] 2025-10-27T03:36:40.057Z,1761536200.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.11 m. 2025-10-27T03:36:40.064Z,1761536200.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.111275 m, nav range: 42.647884 m, bearing: 241.093909 deg, approach rate: -0.524495 m/s, LOS rate: 0.020204 deg/s, cmd heading: 243.300764 deg, new cmd heading: 243.332179 deg. 2025-10-27T03:36:40.065Z,1761536200.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246948 target range: 45.111275 and range: 45.30 m. 2025-10-27T03:36:40.211Z,1761536200.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494672 2025-10-27T03:36:40.390Z,1761536200.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411566,0.897078,0.160824],[-0.911142,-0.409038,-0.050093],[0.020846,-0.167150,0.985711]] 2025-10-27T03:36:40.435Z,1761536200.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.11 m. 2025-10-27T03:36:40.438Z,1761536200.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.111275 m, nav range: 42.447136 m, bearing: 241.109847 deg, approach rate: -0.530939 m/s, LOS rate: 0.042354 deg/s, cmd heading: 243.332183 deg, new cmd heading: 243.380224 deg. 2025-10-27T03:36:40.439Z,1761536200.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247786 target range: 45.111275 and range: 45.30 m. 2025-10-27T03:36:40.460Z,1761536200.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744050 2025-10-27T03:36:40.713Z,1761536200.713 [DAT](INFO): DAT read: Rx Time:03:36:41.6764 2025-10-27T03:36:40.714Z,1761536200.714 [DAT](INFO): Rx dataTimestamp_ set to:1761536200.713817 2025-10-27T03:36:40.715Z,1761536200.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999027 2025-10-27T03:36:40.796Z,1761536200.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412922,0.896135,0.162595],[-0.910487,-0.410586,-0.049318],[0.022564,-0.168406,0.985460]] 2025-10-27T03:36:40.816Z,1761536200.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.11 m. 2025-10-27T03:36:40.818Z,1761536200.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.111275 m, nav range: 42.260189 m, bearing: 241.125190 deg, approach rate: -0.491850 m/s, LOS rate: 0.040544 deg/s, cmd heading: 243.380213 deg, new cmd heading: 243.426444 deg. 2025-10-27T03:36:40.819Z,1761536200.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248593 target range: 45.111275 and range: 45.30 m. 2025-10-27T03:36:40.964Z,1761536200.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248214 2025-10-27T03:36:41.240Z,1761536201.240 [DAT](INFO): DAT read: 03:36:41.6764 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.50, 0.357,-1.179, 0.774, 0.394, PHS= 0.065,-1.528, 0.336, RAW= 157.7, 12.9, CAL= 158.1, 14.5, ROT= 351.9, -14.5 2025-10-27T03:36:41.241Z,1761536201.241 [DAT](INFO): got valid direction response: 03:36:41.6764 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.50, 0.357,-1.179, 0.774, 0.394, PHS= 0.065,-1.528, 0.336, RAW= 157.7, 12.9, CAL= 158.1, 14.5, ROT= 351.9, -14.5 2025-10-27T03:36:41.242Z,1761536201.242 [DAT](INFO): DAT read: Bearing 41.4, -9.3 (Local) 2025-10-27T03:36:41.242Z,1761536201.242 [DAT](INFO): Local bearing/azimuth received: Bearing 41.4, -9.3 (Local) 2025-10-27T03:36:41.248Z,1761536201.248 [DAT](INFO): DAT read: Range 11 to 50 : 43.2 m (Round-trip 57.7 ms) speed 0.4 m/s 2025-10-27T03:36:41.248Z,1761536201.248 [DAT](INFO): DAT read: user:404> 2025-10-27T03:36:41.249Z,1761536201.249 [DAT](INFO): DAT read: Tx time:03:36:42.7630 2025-10-27T03:36:41.249Z,1761536201.249 [DAT](INFO): Ping request sent. 2025-10-27T03:36:41.250Z,1761536201.250 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:41.250Z,1761536201.250 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:41.291Z,1761536201.291 [DAT](INFO): direction in FSK: [0.958489,-0.136413,0.250380] 2025-10-27T03:36:41.291Z,1761536201.291 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:41.292Z,1761536201.292 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:41.296Z,1761536201.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414166,0.895255,0.164274],[-0.909872,-0.412071,-0.048271],[0.024477,-0.169460,0.985233]] 2025-10-27T03:36:41.313Z,1761536201.313 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:41.313Z,1761536201.313 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:41.401Z,1761536201.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.528727 s, deltaX: -2.099998 m, approachRate: -0.595115 m/s, rangeRepo size: 4 2025-10-27T03:36:41.405Z,1761536201.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.019970 m, bearing: 240.003428 deg, lat: 36.779343 deg, lon: -121.859601 deg, deltaT: 3.528727 s, deltaX: -2.091305 m, approachRate: -0.592651 m/s, posRepo size: 4 2025-10-27T03:36:41.406Z,1761536201.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.02 m. 2025-10-27T03:36:41.421Z,1761536201.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.019970 m, nav range: 41.975231 m, bearing: 241.145236 deg, approach rate: 0.000000 m/s, LOS rate: 0.040544 deg/s, cmd heading: 243.426439 deg, new cmd heading: 243.497633 deg. 2025-10-27T03:36:41.422Z,1761536201.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249835 target range: 43.019970 and range: 43.20 m. 2025-10-27T03:36:41.762Z,1761536201.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417209,0.893328,0.167036],[-0.908352,-0.415732,-0.045426],[0.028862,-0.170680,0.984904]] 2025-10-27T03:36:41.811Z,1761536201.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:41.813Z,1761536201.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.02 m. 2025-10-27T03:36:41.820Z,1761536201.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.019970 m, nav range: 41.771046 m, bearing: 241.160717 deg, approach rate: -0.494939 m/s, LOS rate: 0.037709 deg/s, cmd heading: 243.497637 deg, new cmd heading: 243.544307 deg. 2025-10-27T03:36:41.821Z,1761536201.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250650 target range: 43.019970 and range: 43.20 m. 2025-10-27T03:36:41.972Z,1761536201.972 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:41.972Z,1761536201.972 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:41.972Z,1761536201.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:42.154Z,1761536202.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418670,0.892271,0.169017],[-0.907602,-0.417507,-0.044114],[0.031204,-0.171869,0.984625]] 2025-10-27T03:36:42.184Z,1761536202.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.02 m. 2025-10-27T03:36:42.192Z,1761536202.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.019970 m, nav range: 41.575241 m, bearing: 241.176139 deg, approach rate: -0.528171 m/s, LOS rate: 0.041795 deg/s, cmd heading: 243.544301 deg, new cmd heading: 243.590784 deg. 2025-10-27T03:36:42.196Z,1761536202.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251461 target range: 43.019970 and range: 43.20 m. 2025-10-27T03:36:42.227Z,1761536202.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976518 2025-10-27T03:36:42.476Z,1761536202.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226427 2025-10-27T03:36:42.617Z,1761536202.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.02 m. 2025-10-27T03:36:42.620Z,1761536202.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.019970 m, nav range: 41.361622 m, bearing: 241.198761 deg, approach rate: -0.493953 m/s, LOS rate: 0.052581 deg/s, cmd heading: 243.590774 deg, new cmd heading: 243.658992 deg. 2025-10-27T03:36:42.621Z,1761536202.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252652 target range: 43.019970 and range: 43.20 m. 2025-10-27T03:36:42.728Z,1761536202.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478445 2025-10-27T03:36:42.980Z,1761536202.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730440 2025-10-27T03:36:43.009Z,1761536203.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.02 m. 2025-10-27T03:36:43.014Z,1761536203.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.019970 m, nav range: 41.172615 m, bearing: 241.218974 deg, approach rate: -0.482541 m/s, LOS rate: 0.051841 deg/s, cmd heading: 243.658994 deg, new cmd heading: 243.719910 deg. 2025-10-27T03:36:43.016Z,1761536203.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253715 target range: 43.019970 and range: 43.20 m. 2025-10-27T03:36:43.235Z,1761536203.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985001 2025-10-27T03:36:43.375Z,1761536203.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420980,0.891335,0.168219],[-0.906314,-0.420904,-0.037887],[0.037034,-0.168409,0.985021]] 2025-10-27T03:36:43.429Z,1761536203.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.02 m. 2025-10-27T03:36:43.436Z,1761536203.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.019970 m, nav range: 40.967934 m, bearing: 241.238130 deg, approach rate: -0.486096 m/s, LOS rate: 0.045720 deg/s, cmd heading: 243.719919 deg, new cmd heading: 243.777673 deg. 2025-10-27T03:36:43.437Z,1761536203.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254723 target range: 43.019970 and range: 43.20 m. 2025-10-27T03:36:43.484Z,1761536203.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234532 2025-10-27T03:36:43.736Z,1761536203.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486275 2025-10-27T03:36:43.777Z,1761536203.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421728,0.891272,0.166674],[-0.905878,-0.422088,-0.035032],[0.039128,-0.165760,0.985390]] 2025-10-27T03:36:43.794Z,1761536203.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.02 m. 2025-10-27T03:36:43.797Z,1761536203.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.019970 m, nav range: 40.779472 m, bearing: 241.256194 deg, approach rate: -0.516208 m/s, LOS rate: 0.049707 deg/s, cmd heading: 243.777675 deg, new cmd heading: 243.832117 deg. 2025-10-27T03:36:43.798Z,1761536203.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255673 target range: 43.019970 and range: 43.20 m. 2025-10-27T03:36:43.990Z,1761536203.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740460 2025-10-27T03:36:44.177Z,1761536204.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422238,0.891302,0.165212],[-0.905547,-0.423025,-0.032161],[0.041224,-0.163187,0.985734]] 2025-10-27T03:36:44.194Z,1761536204.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:44.212Z,1761536204.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.02 m. 2025-10-27T03:36:44.217Z,1761536204.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.019970 m, nav range: 40.581169 m, bearing: 241.275579 deg, approach rate: -0.474709 m/s, LOS rate: 0.046633 deg/s, cmd heading: 243.832125 deg, new cmd heading: 243.890566 deg. 2025-10-27T03:36:44.224Z,1761536204.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256693 target range: 43.019970 and range: 43.20 m. 2025-10-27T03:36:44.243Z,1761536204.243 [DAT](INFO): DAT read: Rx Time:03:36:45.2226 2025-10-27T03:36:44.244Z,1761536204.244 [DAT](INFO): Rx dataTimestamp_ set to:1761536204.243356 2025-10-27T03:36:44.246Z,1761536204.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995848 2025-10-27T03:36:44.493Z,1761536204.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243515 2025-10-27T03:36:44.587Z,1761536204.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422287,0.891196,0.165660],[-0.905421,-0.423453,-0.029991],[0.043421,-0.162657,0.985727]] 2025-10-27T03:36:44.632Z,1761536204.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.02 m. 2025-10-27T03:36:44.634Z,1761536204.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.019970 m, nav range: 40.362099 m, bearing: 241.291242 deg, approach rate: -0.522321 m/s, LOS rate: 0.037546 deg/s, cmd heading: 243.890564 deg, new cmd heading: 243.937807 deg. 2025-10-27T03:36:44.635Z,1761536204.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257518 target range: 43.019970 and range: 43.20 m. 2025-10-27T03:36:44.748Z,1761536204.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497483 2025-10-27T03:36:45.011Z,1761536205.011 [DAT](INFO): DAT read: 03:36:45.2226 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.06,-2.547, 2.193,-2.184,-2.537, PHS= 0.092,-1.508, 0.308, RAW= 156.3, 12.8, CAL= 156.6, 14.5, ROT= 353.4, -14.5 2025-10-27T03:36:45.013Z,1761536205.013 [DAT](INFO): got valid direction response: 03:36:45.2226 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.06,-2.547, 2.193,-2.184,-2.537, PHS= 0.092,-1.508, 0.308, RAW= 156.3, 12.8, CAL= 156.6, 14.5, ROT= 353.4, -14.5 2025-10-27T03:36:45.017Z,1761536205.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422564,0.891265,0.164580],[-0.905185,-0.424149,-0.027159],[0.045601,-0.160451,0.985990]] 2025-10-27T03:36:45.023Z,1761536205.023 [DAT](INFO): DAT read: Bearing 40.8, -6.8 (Local) 2025-10-27T03:36:45.024Z,1761536205.024 [DAT](INFO): Local bearing/azimuth received: Bearing 40.8, -6.8 (Local) 2025-10-27T03:36:45.025Z,1761536205.025 [DAT](INFO): DAT read: Range 11 to 50 : 41.5 m (Round-trip 55.4 ms) speed 0.4 m/s 2025-10-27T03:36:45.026Z,1761536205.026 [DAT](INFO): DAT read: user:405> 2025-10-27T03:36:45.026Z,1761536205.026 [DAT](INFO): DAT read: Tx time:03:36:46.3130 2025-10-27T03:36:45.027Z,1761536205.027 [DAT](INFO): Ping request sent. 2025-10-27T03:36:45.027Z,1761536205.027 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:45.027Z,1761536205.027 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:45.028Z,1761536205.028 [DAT](INFO): direction in FSK: [0.961731,-0.111276,0.250380] 2025-10-27T03:36:45.029Z,1761536205.029 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:45.029Z,1761536205.029 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:45.036Z,1761536205.036 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:45.037Z,1761536205.037 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:45.106Z,1761536205.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.500000 m, deltaT: 3.777641 s, deltaX: -1.700001 m, approachRate: -0.450016 m/s, rangeRepo size: 4 2025-10-27T03:36:45.124Z,1761536205.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.326569 m, bearing: 240.778499 deg, lat: 36.779343 deg, lon: -121.859597 deg, deltaT: 3.777641 s, deltaX: -1.693401 m, approachRate: -0.448270 m/s, posRepo size: 4 2025-10-27T03:36:45.125Z,1761536205.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m. 2025-10-27T03:36:45.132Z,1761536205.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.326569 m, nav range: 39.873463 m, bearing: 241.091770 deg, approach rate: 0.000000 m/s, LOS rate: 0.037546 deg/s, cmd heading: 243.937802 deg, new cmd heading: 243.991134 deg. 2025-10-27T03:36:45.133Z,1761536205.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258449 target range: 41.326569 and range: 41.50 m. 2025-10-27T03:36:45.485Z,1761536205.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m. 2025-10-27T03:36:45.492Z,1761536205.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.326569 m, nav range: 39.652805 m, bearing: 241.097613 deg, approach rate: -0.581721 m/s, LOS rate: 0.015491 deg/s, cmd heading: 243.991132 deg, new cmd heading: 244.008760 deg. 2025-10-27T03:36:45.494Z,1761536205.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258756 target range: 41.326569 and range: 41.50 m. 2025-10-27T03:36:45.838Z,1761536205.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423189,0.891020,0.164301],[-0.904662,-0.425542,-0.022376],[0.049980,-0.158106,0.986156]] 2025-10-27T03:36:45.856Z,1761536205.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m. 2025-10-27T03:36:45.859Z,1761536205.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.326569 m, nav range: 39.459373 m, bearing: 241.103023 deg, approach rate: -0.520007 m/s, LOS rate: 0.014615 deg/s, cmd heading: 244.008754 deg, new cmd heading: 244.025064 deg. 2025-10-27T03:36:45.860Z,1761536205.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259041 target range: 41.326569 and range: 41.50 m. 2025-10-27T03:36:46.262Z,1761536206.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423823,0.890745,0.164157],[-0.904230,-0.426584,-0.019836],[0.052358,-0.156842,0.986235]] 2025-10-27T03:36:46.326Z,1761536206.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:46.332Z,1761536206.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m. 2025-10-27T03:36:46.335Z,1761536206.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.326569 m, nav range: 39.216618 m, bearing: 241.110166 deg, approach rate: -0.510559 m/s, LOS rate: 0.015116 deg/s, cmd heading: 244.025064 deg, new cmd heading: 244.046626 deg. 2025-10-27T03:36:46.340Z,1761536206.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259417 target range: 41.326569 and range: 41.50 m. 2025-10-27T03:36:46.509Z,1761536206.509 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:46.509Z,1761536206.509 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:46.509Z,1761536206.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:36:46.712Z,1761536206.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424061,0.890612,0.164264],[-0.903969,-0.427253,-0.017175],[0.054886,-0.155773,0.986267]] 2025-10-27T03:36:46.753Z,1761536206.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m. 2025-10-27T03:36:46.760Z,1761536206.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733115 2025-10-27T03:36:46.780Z,1761536206.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.326569 m, nav range: 38.982944 m, bearing: 241.111969 deg, approach rate: -0.555265 m/s, LOS rate: 0.004311 deg/s, cmd heading: 244.046621 deg, new cmd heading: 244.052063 deg. 2025-10-27T03:36:46.781Z,1761536206.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259512 target range: 41.326569 and range: 41.50 m. 2025-10-27T03:36:47.013Z,1761536207.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986343 2025-10-27T03:36:47.107Z,1761536207.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424479,0.890186,0.165487],[-0.903608,-0.428100,-0.014942],[0.057544,-0.155878,0.986099]] 2025-10-27T03:36:47.138Z,1761536207.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m. 2025-10-27T03:36:47.144Z,1761536207.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.326569 m, nav range: 38.780029 m, bearing: 241.113716 deg, approach rate: -0.527206 m/s, LOS rate: 0.004561 deg/s, cmd heading: 244.052057 deg, new cmd heading: 244.057324 deg. 2025-10-27T03:36:47.145Z,1761536207.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259604 target range: 41.326569 and range: 41.50 m. 2025-10-27T03:36:47.267Z,1761536207.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239385 2025-10-27T03:36:47.516Z,1761536207.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488947 2025-10-27T03:36:47.518Z,1761536207.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424579,0.889920,0.166659],[-0.903386,-0.428644,-0.012600],[0.060225,-0.155907,0.985934]] 2025-10-27T03:36:47.580Z,1761536207.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m. 2025-10-27T03:36:47.582Z,1761536207.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.326569 m, nav range: 38.536308 m, bearing: 241.108239 deg, approach rate: -0.552074 m/s, LOS rate: -0.012484 deg/s, cmd heading: 244.057330 deg, new cmd heading: 244.040796 deg. 2025-10-27T03:36:47.592Z,1761536207.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259315 target range: 41.326569 and range: 41.50 m. 2025-10-27T03:36:47.768Z,1761536207.768 [DAT](INFO): DAT read: Rx Time:03:36:48.7702 2025-10-27T03:36:47.768Z,1761536207.768 [DAT](INFO): Rx dataTimestamp_ set to:1761536207.768136 2025-10-27T03:36:47.769Z,1761536207.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741889 2025-10-27T03:36:47.911Z,1761536207.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424401,0.889984,0.166770],[-0.903309,-0.428872,-0.010047],[0.062581,-0.154909,0.985945]] 2025-10-27T03:36:47.930Z,1761536207.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m. 2025-10-27T03:36:47.933Z,1761536207.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.326569 m, nav range: 38.340099 m, bearing: 241.103748 deg, approach rate: -0.559674 m/s, LOS rate: -0.012876 deg/s, cmd heading: 244.040801 deg, new cmd heading: 244.027259 deg. 2025-10-27T03:36:47.933Z,1761536207.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259079 target range: 41.326569 and range: 41.50 m. 2025-10-27T03:36:48.020Z,1761536208.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992973 2025-10-27T03:36:48.276Z,1761536208.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248277 2025-10-27T03:36:48.357Z,1761536208.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424332,0.890020,0.166750],[-0.903157,-0.429251,-0.007173],[0.065194,-0.153645,0.985973]] 2025-10-27T03:36:48.393Z,1761536208.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:48.395Z,1761536208.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.33 m. 2025-10-27T03:36:48.398Z,1761536208.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.326569 m, nav range: 38.077843 m, bearing: 241.089337 deg, approach rate: -0.563804 m/s, LOS rate: -0.031194 deg/s, cmd heading: 244.027250 deg, new cmd heading: 243.983720 deg. 2025-10-27T03:36:48.415Z,1761536208.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258319 target range: 41.326569 and range: 41.50 m. 2025-10-27T03:36:48.530Z,1761536208.530 [DAT](INFO): DAT read: 03:36:48.7702 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.42, 2.921, 1.350,-2.973, 2.880, PHS= 0.143,-1.485, 0.387, RAW= 156.9, 10.8, CAL= 156.9, 11.9, ROT= 353.1, -11.9 2025-10-27T03:36:48.531Z,1761536208.531 [DAT](INFO): got valid direction response: 03:36:48.7702 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.42, 2.921, 1.350,-2.973, 2.880, PHS= 0.143,-1.485, 0.387, RAW= 156.9, 10.8, CAL= 156.9, 11.9, ROT= 353.1, -11.9 2025-10-27T03:36:48.532Z,1761536208.532 [DAT](INFO): DAT read: Bearing 37.4, -5.3 (Local) 2025-10-27T03:36:48.532Z,1761536208.532 [DAT](INFO): Local bearing/azimuth received: Bearing 37.4, -5.3 (Local) 2025-10-27T03:36:48.534Z,1761536208.534 [DAT](INFO): DAT read: Range 11 to 50 : 39.7 m (Round-trip 53.0 ms) speed 0.5 m/s 2025-10-27T03:36:48.534Z,1761536208.534 [DAT](INFO): DAT read: user:406> 2025-10-27T03:36:48.535Z,1761536208.535 [DAT](INFO): DAT read: Tx time:03:36:49.8630 2025-10-27T03:36:48.535Z,1761536208.535 [DAT](INFO): Ping request sent. 2025-10-27T03:36:48.536Z,1761536208.536 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:48.536Z,1761536208.536 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:48.537Z,1761536208.537 [DAT](INFO): direction in FSK: [0.971422,-0.117555,0.206204] 2025-10-27T03:36:48.537Z,1761536208.537 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:48.537Z,1761536208.537 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:48.541Z,1761536208.541 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:48.541Z,1761536208.541 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:48.788Z,1761536208.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.700001 m, deltaT: 3.527997 s, deltaX: -1.799999 m, approachRate: -0.510204 m/s, rangeRepo size: 4 2025-10-27T03:36:48.790Z,1761536208.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.534264 m, bearing: 239.783086 deg, lat: 36.779343 deg, lon: -121.859593 deg, deltaT: 3.527997 s, deltaX: -1.792305 m, approachRate: -0.508023 m/s, posRepo size: 4 2025-10-27T03:36:48.790Z,1761536208.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.53 m. 2025-10-27T03:36:48.793Z,1761536208.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.534264 m, nav range: 37.521362 m, bearing: 240.786343 deg, approach rate: 0.000000 m/s, LOS rate: -0.031194 deg/s, cmd heading: 243.983728 deg, new cmd heading: 243.947039 deg. 2025-10-27T03:36:48.794Z,1761536208.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257679 target range: 39.534264 and range: 39.70 m. 2025-10-27T03:36:49.133Z,1761536209.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424232,0.890077,0.166704],[-0.902853,-0.429945,-0.002004],[0.069890,-0.151359,0.986005]] 2025-10-27T03:36:49.149Z,1761536209.149 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T03:36:49.150Z,1761536209.150 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T03:36:49.150Z,1761536209.150 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T03:36:49.168Z,1761536209.168 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.700001 m (mode 2.000000 count ). 2025-10-27T03:36:49.168Z,1761536209.168 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T03:36:49.168Z,1761536209.168 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T03:36:49.170Z,1761536209.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.53 m. 2025-10-27T03:36:49.177Z,1761536209.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.534264 m, nav range: 37.304832 m, bearing: 240.772378 deg, approach rate: -0.564706 m/s, LOS rate: -0.036632 deg/s, cmd heading: 243.947036 deg, new cmd heading: 243.904898 deg. 2025-10-27T03:36:49.178Z,1761536209.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256944 target range: 39.534264 and range: 39.70 m. 2025-10-27T03:36:49.539Z,1761536209.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424076,0.890300,0.165906],[-0.902765,-0.430134,0.000650],[0.071940,-0.149499,0.986141]] 2025-10-27T03:36:49.593Z,1761536209.593 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T03:36:49.594Z,1761536209.594 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T03:36:49.600Z,1761536209.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.53 m. 2025-10-27T03:36:49.603Z,1761536209.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.534264 m, nav range: 37.061089 m, bearing: 240.751680 deg, approach rate: -0.567316 m/s, LOS rate: -0.048491 deg/s, cmd heading: 243.904908 deg, new cmd heading: 243.842406 deg. 2025-10-27T03:36:49.608Z,1761536209.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255853 target range: 39.534264 and range: 39.70 m. 2025-10-27T03:36:49.942Z,1761536209.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424257,0.890244,0.165746],[-0.902510,-0.430660,0.002991],[0.074042,-0.148318,0.986164]] 2025-10-27T03:36:49.965Z,1761536209.965 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T03:36:49.965Z,1761536209.965 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T03:36:49.967Z,1761536209.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.53 m. 2025-10-27T03:36:49.970Z,1761536209.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.534264 m, nav range: 36.835327 m, bearing: 240.732366 deg, approach rate: -0.615410 m/s, LOS rate: -0.052973 deg/s, cmd heading: 243.842398 deg, new cmd heading: 243.784099 deg. 2025-10-27T03:36:49.971Z,1761536209.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254835 target range: 39.534264 and range: 39.70 m. 2025-10-27T03:36:50.376Z,1761536210.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424625,0.889915,0.166570],[-0.902165,-0.431364,0.004776],[0.076103,-0.148246,0.986018]] 2025-10-27T03:36:50.417Z,1761536210.417 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T03:36:50.417Z,1761536210.417 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T03:36:50.418Z,1761536210.418 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T03:36:50.418Z,1761536210.418 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T03:36:50.418Z,1761536210.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:50.421Z,1761536210.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.53 m. 2025-10-27T03:36:50.424Z,1761536210.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.534264 m, nav range: 36.578148 m, bearing: 240.702310 deg, approach rate: -0.566078 m/s, LOS rate: -0.066622 deg/s, cmd heading: 243.784095 deg, new cmd heading: 243.693293 deg. 2025-10-27T03:36:50.425Z,1761536210.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253250 target range: 39.534264 and range: 39.70 m. 2025-10-27T03:36:50.540Z,1761536210.540 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:36:50.540Z,1761536210.540 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:36:50.540Z,1761536210.540 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:36:50.750Z,1761536210.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424537,0.889907,0.166832],[-0.902070,-0.431542,0.006413],[0.077702,-0.147771,0.985965]] 2025-10-27T03:36:50.779Z,1761536210.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.53 m. 2025-10-27T03:36:50.782Z,1761536210.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.534264 m, nav range: 36.373543 m, bearing: 240.678083 deg, approach rate: -0.571408 m/s, LOS rate: -0.068040 deg/s, cmd heading: 243.693281 deg, new cmd heading: 243.620191 deg. 2025-10-27T03:36:50.783Z,1761536210.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251975 target range: 39.534264 and range: 39.70 m. 2025-10-27T03:36:50.792Z,1761536210.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256426 2025-10-27T03:36:51.044Z,1761536211.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508198 2025-10-27T03:36:51.189Z,1761536211.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.53 m. 2025-10-27T03:36:51.192Z,1761536211.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.534264 m, nav range: 36.140633 m, bearing: 240.650169 deg, approach rate: -0.568165 m/s, LOS rate: -0.068532 deg/s, cmd heading: 243.620198 deg, new cmd heading: 243.535918 deg. 2025-10-27T03:36:51.193Z,1761536211.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250504 target range: 39.534264 and range: 39.70 m. 2025-10-27T03:36:51.296Z,1761536211.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760811 2025-10-27T03:36:51.548Z,1761536211.548 [DAT](INFO): DAT read: Rx Time:03:36:52.3175 2025-10-27T03:36:51.549Z,1761536211.549 [DAT](INFO): Rx dataTimestamp_ set to:1761536211.548244 2025-10-27T03:36:51.549Z,1761536211.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013451 2025-10-27T03:36:51.560Z,1761536211.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425186,0.889289,0.168472],[-0.901470,-0.432744,0.009154],[0.081045,-0.147980,0.985664]] 2025-10-27T03:36:51.622Z,1761536211.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.53 m. 2025-10-27T03:36:51.629Z,1761536211.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.534264 m, nav range: 35.916481 m, bearing: 240.618835 deg, approach rate: -0.518237 m/s, LOS rate: -0.072895 deg/s, cmd heading: 243.535914 deg, new cmd heading: 243.441326 deg. 2025-10-27T03:36:51.629Z,1761536211.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248853 target range: 39.534264 and range: 39.70 m. 2025-10-27T03:36:51.800Z,1761536211.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264324 2025-10-27T03:36:51.961Z,1761536211.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425187,0.889485,0.167430],[-0.901374,-0.432906,0.010811],[0.082098,-0.146320,0.985825]] 2025-10-27T03:36:52.004Z,1761536212.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.53 m. 2025-10-27T03:36:52.012Z,1761536212.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.534264 m, nav range: 35.706146 m, bearing: 240.589105 deg, approach rate: -0.557641 m/s, LOS rate: -0.079284 deg/s, cmd heading: 243.441329 deg, new cmd heading: 243.351615 deg. 2025-10-27T03:36:52.013Z,1761536212.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247287 target range: 39.534264 and range: 39.70 m. 2025-10-27T03:36:52.058Z,1761536212.058 [DAT](INFO): DAT read: 03:36:52.3175 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416,-0.12,-2.352, 2.370,-1.975,-2.392, PHS= 0.142,-1.476, 0.374, RAW= 156.6, 11.0, CAL= 156.6, 12.1, ROT= 353.4, -12.1 2025-10-27T03:36:52.059Z,1761536212.059 [DAT](INFO): got valid direction response: 03:36:52.3175 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416,-0.12,-2.352, 2.370,-1.975,-2.392, PHS= 0.142,-1.476, 0.374, RAW= 156.6, 11.0, CAL= 156.6, 12.1, ROT= 353.4, -12.1 2025-10-27T03:36:52.060Z,1761536212.060 [DAT](INFO): DAT read: Bearing 37.5, -4.1 (Local) 2025-10-27T03:36:52.060Z,1761536212.060 [DAT](INFO): Local bearing/azimuth received: Bearing 37.5, -4.1 (Local) 2025-10-27T03:36:52.062Z,1761536212.062 [DAT](INFO): DAT read: Range 11 to 50 : 37.7 m (Round-trip 50.3 ms) speed 0.4 m/s 2025-10-27T03:36:52.063Z,1761536212.063 [DAT](INFO): DAT read: user:407> 2025-10-27T03:36:52.064Z,1761536212.064 [DAT](INFO): DAT read: Tx time:03:36:53.4130 2025-10-27T03:36:52.064Z,1761536212.064 [DAT](INFO): Ping request sent. 2025-10-27T03:36:52.064Z,1761536212.064 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:36:52.064Z,1761536212.064 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:36:52.065Z,1761536212.065 [DAT](INFO): direction in FSK: [0.971303,-0.112384,0.209619] 2025-10-27T03:36:52.066Z,1761536212.066 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:52.066Z,1761536212.066 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:52.069Z,1761536212.069 [DAT](INFO): publishing transmit ping time 2025-10-27T03:36:52.069Z,1761536212.069 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:52.073Z,1761536212.073 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.009168 2025-10-27T03:36:52.305Z,1761536212.305 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.241140 2025-10-27T03:36:52.415Z,1761536212.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425425,0.889239,0.168131],[-0.901133,-0.433377,0.011964],[0.083503,-0.146419,0.985692]] 2025-10-27T03:36:52.457Z,1761536212.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.700001 m, deltaT: 3.528105 s, deltaX: -2.000000 m, approachRate: -0.566877 m/s, rangeRepo size: 4 2025-10-27T03:36:52.459Z,1761536212.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.542370 m, bearing: 239.888710 deg, lat: 36.779340 deg, lon: -121.859593 deg, deltaT: 3.528105 s, deltaX: -1.991894 m, approachRate: -0.564579 m/s, posRepo size: 4 2025-10-27T03:36:52.460Z,1761536212.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.54 m. 2025-10-27T03:36:52.462Z,1761536212.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.542370 m, nav range: 35.596401 m, bearing: 240.131084 deg, approach rate: 0.000000 m/s, LOS rate: -0.079284 deg/s, cmd heading: 243.351608 deg, new cmd heading: 243.242819 deg. 2025-10-27T03:36:52.482Z,1761536212.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.245388 target range: 37.542370 and range: 37.70 m. 2025-10-27T03:36:52.557Z,1761536212.557 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492760 2025-10-27T03:36:52.795Z,1761536212.795 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:36:52.808Z,1761536212.808 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.744120 2025-10-27T03:36:52.819Z,1761536212.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425681,0.889023,0.168621],[-0.900870,-0.433884,0.013341],[0.085022,-0.146226,0.985591]] 2025-10-27T03:36:52.835Z,1761536212.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:52.837Z,1761536212.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.54 m. 2025-10-27T03:36:52.840Z,1761536212.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.542370 m, nav range: 35.383968 m, bearing: 240.103749 deg, approach rate: -0.557167 m/s, LOS rate: -0.072126 deg/s, cmd heading: 243.242817 deg, new cmd heading: 243.160317 deg. 2025-10-27T03:36:52.841Z,1761536212.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243948 target range: 37.542370 and range: 37.70 m. 2025-10-27T03:36:53.061Z,1761536213.061 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.996981 2025-10-27T03:36:53.206Z,1761536213.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426549,0.888637,0.168463],[-0.900326,-0.434964,0.014795],[0.086423,-0.145361,0.985597]] 2025-10-27T03:36:53.232Z,1761536213.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.54 m. 2025-10-27T03:36:53.235Z,1761536213.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.542370 m, nav range: 35.166550 m, bearing: 240.075801 deg, approach rate: -0.551067 m/s, LOS rate: -0.071273 deg/s, cmd heading: 243.160308 deg, new cmd heading: 243.075948 deg. 2025-10-27T03:36:53.236Z,1761536213.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242476 target range: 37.542370 and range: 37.70 m. 2025-10-27T03:36:53.313Z,1761536213.313 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.248336 2025-10-27T03:36:53.564Z,1761536213.564 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.499842 2025-10-27T03:36:53.610Z,1761536213.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426491,0.888447,0.169605],[-0.900277,-0.435055,0.015114],[0.087216,-0.146246,0.985396]] 2025-10-27T03:36:53.661Z,1761536213.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.54 m. 2025-10-27T03:36:53.664Z,1761536213.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.542370 m, nav range: 34.935463 m, bearing: 240.055866 deg, approach rate: -0.538703 m/s, LOS rate: -0.046780 deg/s, cmd heading: 243.075941 deg, new cmd heading: 243.015739 deg. 2025-10-27T03:36:53.665Z,1761536213.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241425 target range: 37.542370 and range: 37.70 m. 2025-10-27T03:36:53.799Z,1761536213.799 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:36:53.816Z,1761536213.816 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.751936 2025-10-27T03:36:54.020Z,1761536214.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427177,0.887770,0.171420],[-0.899826,-0.435973,0.015511],[0.088505,-0.147622,0.985076]] 2025-10-27T03:36:54.038Z,1761536214.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.54 m. 2025-10-27T03:36:54.041Z,1761536214.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.542370 m, nav range: 34.732334 m, bearing: 240.038378 deg, approach rate: -0.539023 m/s, LOS rate: -0.046677 deg/s, cmd heading: 243.015726 deg, new cmd heading: 242.962957 deg. 2025-10-27T03:36:54.042Z,1761536214.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240504 target range: 37.542370 and range: 37.70 m. 2025-10-27T03:36:54.068Z,1761536214.068 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.003967 2025-10-27T03:36:54.320Z,1761536214.320 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.255836 2025-10-27T03:36:54.461Z,1761536214.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427318,0.887522,0.172349],[-0.899687,-0.436248,0.015823],[0.089231,-0.148299,0.984909]] 2025-10-27T03:36:54.537Z,1761536214.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.54 m. 2025-10-27T03:36:54.547Z,1761536214.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.542370 m, nav range: 34.491070 m, bearing: 240.030296 deg, approach rate: -0.482827 m/s, LOS rate: -0.016288 deg/s, cmd heading: 242.962970 deg, new cmd heading: 242.938554 deg. 2025-10-27T03:36:54.548Z,1761536214.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240077 target range: 37.542370 and range: 37.70 m. 2025-10-27T03:36:54.578Z,1761536214.578 [DAT](INFO): DAT read: Rx Time:03:36:55.5898 2025-10-27T03:36:54.578Z,1761536214.578 [DAT](INFO): Rx dataTimestamp_ set to:1761536214.578048 2025-10-27T03:36:54.582Z,1761536214.582 [DAT](INFO): DAT read: Bearing 38.0, -4.4 (Local) 2025-10-27T03:36:54.582Z,1761536214.582 [DAT](INFO): Local bearing/azimuth received: Bearing 38.0, -4.4 (Local) 2025-10-27T03:36:54.585Z,1761536214.585 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed 0.4 2025-10-27T03:36:54.622Z,1761536214.622 [DAT](INFO): DAT read: 03:36:55.5898 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 164, 0.26,-0.787,-2.314,-0.398,-0.797, PHS= 0.111,-1.473, 0.355, RAW= 157.0, 11.7, CAL= 157.2, 13.0, ROT= 352.8, -13.0 2025-10-27T03:36:54.624Z,1761536214.624 [DAT](INFO): got valid direction response: 03:36:55.5898 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 164, 0.26,-0.787,-2.314,-0.398,-0.797, PHS= 0.111,-1.473, 0.355, RAW= 157.0, 11.7, CAL= 157.2, 13.0, ROT= 352.8, -13.0 2025-10-27T03:36:54.624Z,1761536214.624 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T03:36:54.625Z,1761536214.625 [DAT](INFO): direction in FSK: [0.966687,-0.122121,0.224951] 2025-10-27T03:36:54.625Z,1761536214.625 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:54.644Z,1761536214.644 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.580003 2025-10-27T03:36:54.828Z,1761536214.828 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.763694 2025-10-27T03:36:54.832Z,1761536214.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427260,0.887274,0.173765],[-0.899646,-0.436330,0.015890],[0.089917,-0.149538,0.984659]] 2025-10-27T03:36:54.867Z,1761536214.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 2.526446 s, deltaX: -2.000000 m, approachRate: -0.791626 m/s, rangeRepo size: 4 2025-10-27T03:36:54.869Z,1761536214.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.550640 m, bearing: 239.316782 deg, lat: 36.779340 deg, lon: -121.859590 deg, deltaT: 2.526446 s, deltaX: -1.991730 m, approachRate: -0.788352 m/s, posRepo size: 4 2025-10-27T03:36:54.870Z,1761536214.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m. 2025-10-27T03:36:54.873Z,1761536214.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.550640 m, nav range: 34.144814 m, bearing: 239.853883 deg, approach rate: 0.000000 m/s, LOS rate: -0.016288 deg/s, cmd heading: 242.938545 deg, new cmd heading: 242.922469 deg. 2025-10-27T03:36:54.874Z,1761536214.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.239797 target range: 35.550640 and range: 35.70 m. 2025-10-27T03:36:55.081Z,1761536215.081 [DAT](INFO): DAT read: Rx Time:03:36:56.0896 2025-10-27T03:36:55.081Z,1761536215.081 [DAT](INFO): Rx dataTimestamp_ set to:1761536215.081145 2025-10-27T03:36:55.083Z,1761536215.083 [DAT](INFO): DAT read: Bearing 38.6, -4.5 (Local) 2025-10-27T03:36:55.083Z,1761536215.083 [DAT](INFO): Local bearing/azimuth received: Bearing 38.6, -4.5 (Local) 2025-10-27T03:36:55.085Z,1761536215.085 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed 0.4 2025-10-27T03:36:55.094Z,1761536215.094 [DAT](INFO): DAT read: 03:36:56.0896 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.21, 2.214, 0.703, 2.601, 2.222, PHS= 0.094,-1.473, 0.336, RAW= 157.1, 12.2, CAL= 157.3, 13.7, ROT= 352.7, -13.7 2025-10-27T03:36:55.095Z,1761536215.095 [DAT](INFO): got valid direction response: 03:36:56.0896 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.21, 2.214, 0.703, 2.601, 2.222, PHS= 0.094,-1.473, 0.336, RAW= 157.1, 12.2, CAL= 157.3, 13.7, ROT= 352.7, -13.7 2025-10-27T03:36:55.096Z,1761536215.096 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T03:36:55.097Z,1761536215.097 [DAT](INFO): direction in FSK: [0.963674,-0.123449,0.236838] 2025-10-27T03:36:55.097Z,1761536215.097 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:55.101Z,1761536215.101 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.037173 2025-10-27T03:36:55.272Z,1761536215.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.503097 s, deltaX: -0.299999 m, approachRate: -0.596305 m/s, rangeRepo size: 4 2025-10-27T03:36:55.274Z,1761536215.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.252007 m, bearing: 239.322561 deg, lat: 36.779340 deg, lon: -121.859590 deg, deltaT: 0.503097 s, deltaX: -0.298634 m, approachRate: -0.593590 m/s, posRepo size: 4 2025-10-27T03:36:55.275Z,1761536215.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.25 m. 2025-10-27T03:36:55.277Z,1761536215.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.252007 m, nav range: 33.941956 m, bearing: 239.848765 deg, approach rate: 0.000000 m/s, LOS rate: -0.016288 deg/s, cmd heading: 242.922481 deg, new cmd heading: 242.902712 deg. 2025-10-27T03:36:55.278Z,1761536215.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.239452 target range: 35.252007 and range: 35.40 m. 2025-10-27T03:36:55.333Z,1761536215.333 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.268146 2025-10-27T03:36:55.584Z,1761536215.584 [DAT](INFO): DAT read: Rx Time:03:36:56.5895 2025-10-27T03:36:55.585Z,1761536215.585 [DAT](INFO): Rx dataTimestamp_ set to:1761536215.584655 2025-10-27T03:36:55.586Z,1761536215.586 [DAT](INFO): DAT read: Bearing 37.1, -3.6 (Local) 2025-10-27T03:36:55.587Z,1761536215.587 [DAT](INFO): Local bearing/azimuth received: Bearing 37.1, -3.6 (Local) 2025-10-27T03:36:55.589Z,1761536215.589 [DAT](INFO): DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed 0.4 2025-10-27T03:36:55.593Z,1761536215.593 [DAT](INFO): DAT read: 03:36:56.5895 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.36, 2.614, 1.081, 2.990, 2.581, PHS= 0.136,-1.455, 0.366, RAW= 156.7, 11.1, CAL= 156.7, 12.3, ROT= 353.3, -12.3 2025-10-27T03:36:55.594Z,1761536215.594 [DAT](INFO): got valid direction response: 03:36:56.5895 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.36, 2.614, 1.081, 2.990, 2.581, PHS= 0.136,-1.455, 0.366, RAW= 156.7, 11.1, CAL= 156.7, 12.3, ROT= 353.3, -12.3 2025-10-27T03:36:55.595Z,1761536215.595 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T03:36:55.596Z,1761536215.596 [DAT](INFO): direction in FSK: [0.970373,-0.113993,0.213030] 2025-10-27T03:36:55.596Z,1761536215.596 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:55.600Z,1761536215.600 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.535639 2025-10-27T03:36:55.766Z,1761536215.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.503510 s, deltaX: -0.100002 m, approachRate: -0.198610 m/s, rangeRepo size: 4 2025-10-27T03:36:55.772Z,1761536215.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.152420 m, bearing: 239.719025 deg, lat: 36.779340 deg, lon: -121.859587 deg, deltaT: 0.503510 s, deltaX: -0.099586 m, approachRate: -0.197785 m/s, posRepo size: 4 2025-10-27T03:36:55.773Z,1761536215.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.15 m. 2025-10-27T03:36:55.780Z,1761536215.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.152420 m, nav range: 33.425304 m, bearing: 239.568341 deg, approach rate: 0.000000 m/s, LOS rate: -0.016288 deg/s, cmd heading: 242.902700 deg, new cmd heading: 242.878566 deg. 2025-10-27T03:36:55.780Z,1761536215.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.239031 target range: 35.152420 and range: 35.30 m. 2025-10-27T03:36:55.837Z,1761536215.837 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.772721 2025-10-27T03:36:56.041Z,1761536216.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427680,0.886223,0.178041],[-0.899225,-0.437190,0.016105],[0.092110,-0.153211,0.983891]] 2025-10-27T03:36:56.090Z,1761536216.090 [DAT](INFO): DAT read: Rx Time:03:36:57.0893 2025-10-27T03:36:56.090Z,1761536216.090 [DAT](INFO): Rx dataTimestamp_ set to:1761536216.090138 2025-10-27T03:36:56.096Z,1761536216.096 [DAT](INFO): DAT read: Bearing 36.5, -3.7 (Local) 2025-10-27T03:36:56.096Z,1761536216.096 [DAT](INFO): Local bearing/azimuth received: Bearing 36.5, -3.7 (Local) 2025-10-27T03:36:56.098Z,1761536216.098 [DAT](INFO): DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.4 2025-10-27T03:36:56.103Z,1761536216.103 [DAT](INFO): DAT read: 03:36:57.0893 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.07,-1.467,-3.018,-1.079,-1.505, PHS= 0.140,-1.468, 0.382, RAW= 156.9, 10.9, CAL= 156.9, 11.9, ROT= 353.1, -11.9 2025-10-27T03:36:56.104Z,1761536216.104 [DAT](INFO): got valid direction response: 03:36:57.0893 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511, 0.07,-1.467,-3.018,-1.079,-1.505, PHS= 0.140,-1.468, 0.382, RAW= 156.9, 10.9, CAL= 156.9, 11.9, ROT= 353.1, -11.9 2025-10-27T03:36:56.104Z,1761536216.104 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T03:36:56.105Z,1761536216.105 [DAT](INFO): direction in FSK: [0.971422,-0.117555,0.206204] 2025-10-27T03:36:56.106Z,1761536216.106 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:56.122Z,1761536216.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.505483 s, deltaX: -0.299999 m, approachRate: -0.593490 m/s, rangeRepo size: 4 2025-10-27T03:36:56.125Z,1761536216.125 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.061298 2025-10-27T03:36:56.144Z,1761536216.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.853638 m, bearing: 239.468465 deg, lat: 36.779340 deg, lon: -121.859585 deg, deltaT: 0.505483 s, deltaX: -0.298782 m, approachRate: -0.591083 m/s, posRepo size: 4 2025-10-27T03:36:56.144Z,1761536216.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.85 m. 2025-10-27T03:36:56.151Z,1761536216.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.853638 m, nav range: 33.132431 m, bearing: 239.468586 deg, approach rate: 0.000000 m/s, LOS rate: -0.016288 deg/s, cmd heading: 242.878576 deg, new cmd heading: 242.861149 deg. 2025-10-27T03:36:56.152Z,1761536216.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238727 target range: 34.853638 and range: 35.00 m. 2025-10-27T03:36:56.340Z,1761536216.340 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.275967 2025-10-27T03:36:56.476Z,1761536216.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427472,0.885809,0.180585],[-0.899245,-0.437163,0.015733],[0.092881,-0.155665,0.983434]] 2025-10-27T03:36:56.531Z,1761536216.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:56.533Z,1761536216.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.85 m. 2025-10-27T03:36:56.536Z,1761536216.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.853638 m, nav range: 32.922646 m, bearing: 239.489522 deg, approach rate: -0.509845 m/s, LOS rate: 0.051203 deg/s, cmd heading: 242.861146 deg, new cmd heading: 242.924351 deg. 2025-10-27T03:36:56.537Z,1761536216.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.239830 target range: 34.853638 and range: 35.00 m. 2025-10-27T03:36:56.594Z,1761536216.594 [DAT](INFO): DAT read: Rx Time:03:36:57.5892 2025-10-27T03:36:56.594Z,1761536216.594 [DAT](INFO): Rx dataTimestamp_ set to:1761536216.593924 2025-10-27T03:36:56.596Z,1761536216.596 [DAT](INFO): DAT read: Bearing 35.9, -3.4 (Local) 2025-10-27T03:36:56.596Z,1761536216.596 [DAT](INFO): Local bearing/azimuth received: Bearing 35.9, -3.4 (Local) 2025-10-27T03:36:56.598Z,1761536216.598 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4 2025-10-27T03:36:56.603Z,1761536216.603 [DAT](INFO): DAT read: 03:36:57.5892 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.29,-1.863, 2.879,-1.479,-1.911, PHS= 0.150,-1.448, 0.388, RAW= 156.8, 10.5, CAL= 156.8, 11.5, ROT= 353.2, -11.5 2025-10-27T03:36:56.604Z,1761536216.604 [DAT](INFO): got valid direction response: 03:36:57.5892 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.29,-1.863, 2.879,-1.479,-1.911, PHS= 0.150,-1.448, 0.388, RAW= 156.8, 10.5, CAL= 156.8, 11.5, ROT= 353.2, -11.5 2025-10-27T03:36:56.604Z,1761536216.604 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T03:36:56.605Z,1761536216.605 [DAT](INFO): direction in FSK: [0.973031,-0.116027,0.199368] 2025-10-27T03:36:56.606Z,1761536216.606 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:56.609Z,1761536216.609 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.545101 2025-10-27T03:36:56.844Z,1761536216.844 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.779971 2025-10-27T03:36:56.851Z,1761536216.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426849,0.886011,0.181067],[-0.899490,-0.436643,0.016150],[0.093371,-0.155974,0.983338]] 2025-10-27T03:36:56.874Z,1761536216.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.503786 s, deltaX: -0.200001 m, approachRate: -0.396995 m/s, rangeRepo size: 4 2025-10-27T03:36:56.876Z,1761536216.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.654472 m, bearing: 239.591883 deg, lat: 36.779340 deg, lon: -121.859585 deg, deltaT: 0.503786 s, deltaX: -0.199165 m, approachRate: -0.395337 m/s, posRepo size: 4 2025-10-27T03:36:56.877Z,1761536216.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.65 m. 2025-10-27T03:36:56.880Z,1761536216.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.654472 m, nav range: 32.766647 m, bearing: 239.505077 deg, approach rate: 0.000000 m/s, LOS rate: 0.051203 deg/s, cmd heading: 242.924339 deg, new cmd heading: 242.976623 deg. 2025-10-27T03:36:56.881Z,1761536216.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240742 target range: 34.654472 and range: 34.80 m. 2025-10-27T03:36:57.097Z,1761536217.097 [DAT](INFO): DAT read: Rx Time:03:36:58.0890 2025-10-27T03:36:57.097Z,1761536217.097 [DAT](INFO): Rx dataTimestamp_ set to:1761536217.096739 2025-10-27T03:36:57.098Z,1761536217.098 [DAT](INFO): DAT read: Bearing 34.4, -3.0 (Local) 2025-10-27T03:36:57.099Z,1761536217.099 [DAT](INFO): Local bearing/azimuth received: Bearing 34.4, -3.0 (Local) 2025-10-27T03:36:57.101Z,1761536217.101 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.4 2025-10-27T03:36:57.106Z,1761536217.106 [DAT](INFO): DAT read: 03:36:58.0890 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.19,-0.620,-2.180,-0.230,-0.701, PHS= 0.183,-1.434, 0.427, RAW= 156.9, 9.4, CAL= 156.7, 10.1, ROT= 353.3, -10.1 2025-10-27T03:36:57.107Z,1761536217.107 [DAT](INFO): got valid direction response: 03:36:58.0890 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.19,-0.620,-2.180,-0.230,-0.701, PHS= 0.183,-1.434, 0.427, RAW= 156.9, 9.4, CAL= 156.7, 10.1, ROT= 353.3, -10.1 2025-10-27T03:36:57.107Z,1761536217.107 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T03:36:57.108Z,1761536217.108 [DAT](INFO): direction in FSK: [0.977780,-0.114863,0.175367] 2025-10-27T03:36:57.109Z,1761536217.109 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:57.112Z,1761536217.112 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.048188 2025-10-27T03:36:57.258Z,1761536217.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426272,0.886111,0.181934],[-0.899710,-0.436179,0.016389],[0.093878,-0.156701,0.983174]] 2025-10-27T03:36:57.312Z,1761536217.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.502815 s, deltaX: -0.299999 m, approachRate: -0.596639 m/s, rangeRepo size: 4 2025-10-27T03:36:57.314Z,1761536217.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.355652 m, bearing: 239.516092 deg, lat: 36.779340 deg, lon: -121.859587 deg, deltaT: 0.502815 s, deltaX: -0.298820 m, approachRate: -0.594295 m/s, posRepo size: 4 2025-10-27T03:36:57.319Z,1761536217.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.36 m. 2025-10-27T03:36:57.322Z,1761536217.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.355652 m, nav range: 32.700256 m, bearing: 239.656064 deg, approach rate: 0.000000 m/s, LOS rate: 0.051203 deg/s, cmd heading: 242.976630 deg, new cmd heading: 243.043248 deg. 2025-10-27T03:36:57.327Z,1761536217.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241905 target range: 34.355652 and range: 34.50 m. 2025-10-27T03:36:57.348Z,1761536217.348 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.283971 2025-10-27T03:36:57.601Z,1761536217.601 [DAT](INFO): DAT read: Rx Time:03:36:58.5889 2025-10-27T03:36:57.601Z,1761536217.601 [DAT](INFO): Rx dataTimestamp_ set to:1761536217.600716 2025-10-27T03:36:57.602Z,1761536217.602 [DAT](INFO): DAT read: Bearing 34.8, -2.7 (Local) 2025-10-27T03:36:57.603Z,1761536217.603 [DAT](INFO): Local bearing/azimuth received: Bearing 34.8, -2.7 (Local) 2025-10-27T03:36:57.605Z,1761536217.605 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 2025-10-27T03:36:57.614Z,1761536217.614 [DAT](INFO): DAT read: 03:36:58.5889 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.10,-2.969, 1.749,-2.592,-3.046, PHS= 0.179,-1.443, 0.410, RAW= 156.6, 9.8, CAL= 156.4, 10.6, ROT= 353.6, -10.6 2025-10-27T03:36:57.633Z,1761536217.633 [DAT](INFO): got valid direction response: 03:36:58.5889 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.10,-2.969, 1.749,-2.592,-3.046, PHS= 0.179,-1.443, 0.410, RAW= 156.6, 9.8, CAL= 156.4, 10.6, ROT= 353.6, -10.6 2025-10-27T03:36:57.633Z,1761536217.633 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T03:36:57.634Z,1761536217.634 [DAT](INFO): direction in FSK: [0.976810,-0.109567,0.183951] 2025-10-27T03:36:57.634Z,1761536217.634 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:57.659Z,1761536217.659 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.574669 2025-10-27T03:36:57.679Z,1761536217.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425483,0.886427,0.182242],[-0.900044,-0.435474,0.016803],[0.094256,-0.156876,0.983110]] 2025-10-27T03:36:57.806Z,1761536217.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.503977 s, deltaX: -0.099998 m, approachRate: -0.198419 m/s, rangeRepo size: 4 2025-10-27T03:36:57.812Z,1761536217.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.256073 m, bearing: 239.950384 deg, lat: 36.779340 deg, lon: -121.859587 deg, deltaT: 0.503977 s, deltaX: -0.099579 m, approachRate: -0.197586 m/s, posRepo size: 4 2025-10-27T03:36:57.813Z,1761536217.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.26 m. 2025-10-27T03:36:57.820Z,1761536217.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.256073 m, nav range: 32.544933 m, bearing: 239.707819 deg, approach rate: 0.000000 m/s, LOS rate: 0.051203 deg/s, cmd heading: 243.043238 deg, new cmd heading: 243.119727 deg. 2025-10-27T03:36:57.821Z,1761536217.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243240 target range: 34.256073 and range: 34.40 m. 2025-10-27T03:36:57.852Z,1761536217.852 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.788050 2025-10-27T03:36:58.105Z,1761536218.105 [DAT](INFO): DAT read: Rx Time:03:36:59.0886 2025-10-27T03:36:58.105Z,1761536218.105 [DAT](INFO): Rx dataTimestamp_ set to:1761536218.104933 2025-10-27T03:36:58.106Z,1761536218.106 [DAT](INFO): DAT read: Bearing 34.6, -2.9 (Local) 2025-10-27T03:36:58.107Z,1761536218.107 [DAT](INFO): Local bearing/azimuth received: Bearing 34.6, -2.9 (Local) 2025-10-27T03:36:58.109Z,1761536218.109 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 2025-10-27T03:36:58.114Z,1761536218.114 [DAT](INFO): DAT read: 03:36:59.0886 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504, 0.45,-2.848, 1.874,-2.459,-2.920, PHS= 0.174,-1.444, 0.417, RAW= 156.9, 9.8, CAL= 156.7, 10.5, ROT= 353.3, -10.5 2025-10-27T03:36:58.119Z,1761536218.119 [DAT](INFO): got valid direction response: 03:36:59.0886 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504, 0.45,-2.848, 1.874,-2.459,-2.920, PHS= 0.174,-1.444, 0.417, RAW= 156.9, 9.8, CAL= 156.7, 10.5, ROT= 353.3, -10.5 2025-10-27T03:36:58.119Z,1761536218.119 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T03:36:58.120Z,1761536218.120 [DAT](INFO): direction in FSK: [0.976540,-0.114717,0.182236] 2025-10-27T03:36:58.120Z,1761536218.120 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:58.124Z,1761536218.124 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.059955 2025-10-27T03:36:58.166Z,1761536218.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424061,0.887524,0.180206],[-0.900654,-0.434134,0.018714],[0.094843,-0.154367,0.983451]] 2025-10-27T03:36:58.245Z,1761536218.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.504217 s, deltaX: -0.500000 m, approachRate: -0.991637 m/s, rangeRepo size: 4 2025-10-27T03:36:58.255Z,1761536218.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.757900 m, bearing: 239.688144 deg, lat: 36.779340 deg, lon: -121.859587 deg, deltaT: 0.504217 s, deltaX: -0.498173 m, approachRate: -0.988013 m/s, posRepo size: 4 2025-10-27T03:36:58.256Z,1761536218.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.76 m. 2025-10-27T03:36:58.258Z,1761536218.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.757900 m, nav range: 32.339981 m, bearing: 239.717369 deg, approach rate: 0.000000 m/s, LOS rate: 0.051203 deg/s, cmd heading: 243.119737 deg, new cmd heading: 243.187189 deg. 2025-10-27T03:36:58.261Z,1761536218.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244417 target range: 33.757900 and range: 33.90 m. 2025-10-27T03:36:58.356Z,1761536218.356 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.292185 2025-10-27T03:36:58.609Z,1761536218.609 [DAT](INFO): DAT read: Rx Time:03:36:59.5886 2025-10-27T03:36:58.609Z,1761536218.609 [DAT](INFO): Rx dataTimestamp_ set to:1761536218.608719 2025-10-27T03:36:58.610Z,1761536218.610 [DAT](INFO): DAT read: Bearing 35.0, -2.7 (Local) 2025-10-27T03:36:58.611Z,1761536218.611 [DAT](INFO): Local bearing/azimuth received: Bearing 35.0, -2.7 (Local) 2025-10-27T03:36:58.613Z,1761536218.613 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 2025-10-27T03:36:58.617Z,1761536218.617 [DAT](INFO): DAT read: 03:36:59.5886 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.04,-1.163,-2.715,-0.786,-1.229, PHS= 0.167,-1.441, 0.399, RAW= 156.6, 10.1, CAL= 156.5, 11.0, ROT= 353.5, -11.0 2025-10-27T03:36:58.618Z,1761536218.618 [DAT](INFO): got valid direction response: 03:36:59.5886 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.04,-1.163,-2.715,-0.786,-1.229, PHS= 0.167,-1.441, 0.399, RAW= 156.6, 10.1, CAL= 156.5, 11.0, ROT= 353.5, -11.0 2025-10-27T03:36:58.619Z,1761536218.619 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T03:36:58.620Z,1761536218.620 [DAT](INFO): direction in FSK: [0.975317,-0.111123,0.190809] 2025-10-27T03:36:58.620Z,1761536218.620 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:58.628Z,1761536218.628 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.563773 2025-10-27T03:36:58.748Z,1761536218.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503786 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:36:58.750Z,1761536218.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.757900 m, bearing: 239.969335 deg, lat: 36.779340 deg, lon: -121.859589 deg, deltaT: 0.503786 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:36:58.755Z,1761536218.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.76 m. 2025-10-27T03:36:58.758Z,1761536218.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.757900 m, nav range: 32.206116 m, bearing: 239.823881 deg, approach rate: 0.000000 m/s, LOS rate: 0.051203 deg/s, cmd heading: 243.187192 deg, new cmd heading: 243.264515 deg. 2025-10-27T03:36:58.763Z,1761536218.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.245767 target range: 33.757900 and range: 33.90 m. 2025-10-27T03:36:58.861Z,1761536218.861 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.796642 2025-10-27T03:36:59.016Z,1761536219.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422671,0.888506,0.178622],[-0.901311,-0.432723,0.019704],[0.094801,-0.152666,0.983720]] 2025-10-27T03:36:59.032Z,1761536219.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:36:59.034Z,1761536219.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.76 m. 2025-10-27T03:36:59.037Z,1761536219.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.757900 m, nav range: 32.031643 m, bearing: 239.836157 deg, approach rate: -0.609397 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.264509 deg, new cmd heading: 243.301537 deg. 2025-10-27T03:36:59.038Z,1761536219.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246413 target range: 33.757900 and range: 33.90 m. 2025-10-27T03:36:59.113Z,1761536219.113 [DAT](INFO): DAT read: Rx Time:03:37:00.0883 2025-10-27T03:36:59.113Z,1761536219.113 [DAT](INFO): Rx dataTimestamp_ set to:1761536219.112853 2025-10-27T03:36:59.115Z,1761536219.115 [DAT](INFO): DAT read: Bearing 36.3, -3.3 (Local) 2025-10-27T03:36:59.115Z,1761536219.115 [DAT](INFO): Local bearing/azimuth received: Bearing 36.3, -3.3 (Local) 2025-10-27T03:36:59.118Z,1761536219.118 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 2025-10-27T03:36:59.130Z,1761536219.130 [DAT](INFO): DAT read: 03:37:00.0883 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.31, 2.049, 0.509, 2.433, 2.024, PHS= 0.127,-1.470, 0.364, RAW= 156.8, 11.3, CAL= 156.9, 12.5, ROT= 353.1, -12.5 2025-10-27T03:36:59.144Z,1761536219.144 [DAT](INFO): got valid direction response: 03:37:00.0883 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.31, 2.049, 0.509, 2.433, 2.024, PHS= 0.127,-1.470, 0.364, RAW= 156.8, 11.3, CAL= 156.9, 12.5, ROT= 353.1, -12.5 2025-10-27T03:36:59.145Z,1761536219.145 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T03:36:59.146Z,1761536219.146 [DAT](INFO): direction in FSK: [0.969225,-0.117289,0.216440] 2025-10-27T03:36:59.146Z,1761536219.146 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:59.176Z,1761536219.176 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.111656 2025-10-27T03:36:59.364Z,1761536219.364 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.299801 2025-10-27T03:36:59.437Z,1761536219.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422757,0.888696,0.177470],[-0.901248,-0.432819,0.020486],[0.095018,-0.151283,0.983913]] 2025-10-27T03:36:59.538Z,1761536219.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.504134 s, deltaX: -0.400002 m, approachRate: -0.793443 m/s, rangeRepo size: 4 2025-10-27T03:36:59.540Z,1761536219.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.359505 m, bearing: 239.836616 deg, lat: 36.779340 deg, lon: -121.859589 deg, deltaT: 0.504134 s, deltaX: -0.398396 m, approachRate: -0.790257 m/s, posRepo size: 4 2025-10-27T03:36:59.541Z,1761536219.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.36 m. 2025-10-27T03:36:59.544Z,1761536219.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.359505 m, nav range: 31.766226 m, bearing: 239.848822 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.301529 deg, new cmd heading: 243.366648 deg. 2025-10-27T03:36:59.545Z,1761536219.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247550 target range: 33.359505 and range: 33.50 m. 2025-10-27T03:36:59.617Z,1761536219.617 [DAT](INFO): DAT read: Rx Time:03:37:00.5883 2025-10-27T03:36:59.618Z,1761536219.618 [DAT](INFO): Rx dataTimestamp_ set to:1761536219.617899 2025-10-27T03:36:59.621Z,1761536219.621 [DAT](INFO): DAT read: Bearing 37.0, -3.3 (Local) 2025-10-27T03:36:59.622Z,1761536219.622 [DAT](INFO): Local bearing/azimuth received: Bearing 37.0, -3.3 (Local) 2025-10-27T03:36:59.625Z,1761536219.625 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 2025-10-27T03:36:59.637Z,1761536219.637 [DAT](INFO): DAT read: 03:37:00.5883 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.09,-0.489,-2.013,-0.113,-0.498, PHS= 0.112,-1.469, 0.341, RAW= 156.7, 11.9, CAL= 156.9, 13.2, ROT= 353.1, -13.2 2025-10-27T03:36:59.639Z,1761536219.639 [DAT](INFO): got valid direction response: 03:37:00.5883 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.09,-0.489,-2.013,-0.113,-0.498, PHS= 0.112,-1.469, 0.341, RAW= 156.7, 11.9, CAL= 156.9, 13.2, ROT= 353.1, -13.2 2025-10-27T03:36:59.660Z,1761536219.660 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T03:36:59.661Z,1761536219.661 [DAT](INFO): direction in FSK: [0.966528,-0.116962,0.228351] 2025-10-27T03:36:59.661Z,1761536219.661 [DAT](INFO): publishing direction and range info 2025-10-27T03:36:59.665Z,1761536219.665 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.600878 2025-10-27T03:36:59.823Z,1761536219.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422882,0.888782,0.176738],[-0.901160,-0.432972,0.021119],[0.095293,-0.150339,0.984031]] 2025-10-27T03:36:59.868Z,1761536219.868 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.804035 2025-10-27T03:36:59.876Z,1761536219.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.505046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:36:59.878Z,1761536219.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.359505 m, bearing: 239.922310 deg, lat: 36.779340 deg, lon: -121.859587 deg, deltaT: 0.505046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:36:59.883Z,1761536219.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.36 m. 2025-10-27T03:36:59.886Z,1761536219.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.359505 m, nav range: 31.472055 m, bearing: 239.819186 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.366662 deg, new cmd heading: 243.410431 deg. 2025-10-27T03:36:59.891Z,1761536219.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248313 target range: 33.359505 and range: 33.50 m. 2025-10-27T03:37:00.120Z,1761536220.120 [DAT](INFO): DAT read: Rx Time:03:37:01.0880 2025-10-27T03:37:00.121Z,1761536220.121 [DAT](INFO): Rx dataTimestamp_ set to:1761536220.120670 2025-10-27T03:37:00.122Z,1761536220.122 [DAT](INFO): DAT read: Bearing 34.9, -2.4 (Local) 2025-10-27T03:37:00.123Z,1761536220.123 [DAT](INFO): Local bearing/azimuth received: Bearing 34.9, -2.4 (Local) 2025-10-27T03:37:00.129Z,1761536220.129 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 2025-10-27T03:37:00.133Z,1761536220.133 [DAT](INFO): DAT read: 03:37:01.0880 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.48,-0.596,-2.142,-0.225,-0.660, PHS= 0.166,-1.437, 0.391, RAW= 156.5, 10.2, CAL= 156.4, 11.1, ROT= 353.6, -11.1 2025-10-27T03:37:00.134Z,1761536220.134 [DAT](INFO): got valid direction response: 03:37:01.0880 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.48,-0.596,-2.142,-0.225,-0.660, PHS= 0.166,-1.437, 0.391, RAW= 156.5, 10.2, CAL= 156.4, 11.1, ROT= 353.6, -11.1 2025-10-27T03:37:00.143Z,1761536220.143 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T03:37:00.151Z,1761536220.151 [DAT](INFO): direction in FSK: [0.975177,-0.109383,0.192522] 2025-10-27T03:37:00.159Z,1761536220.159 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:00.188Z,1761536220.188 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.124359 2025-10-27T03:37:00.268Z,1761536220.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424180,0.888644,0.174306],[-0.900536,-0.434213,0.022211],[0.095423,-0.147547,0.984441]] 2025-10-27T03:37:00.307Z,1761536220.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.502771 s, deltaX: -0.500000 m, approachRate: -0.994489 m/s, rangeRepo size: 4 2025-10-27T03:37:00.309Z,1761536220.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.861462 m, bearing: 239.991289 deg, lat: 36.779340 deg, lon: -121.859587 deg, deltaT: 0.502771 s, deltaX: -0.498043 m, approachRate: -0.990596 m/s, posRepo size: 4 2025-10-27T03:37:00.310Z,1761536220.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.86 m. 2025-10-27T03:37:00.324Z,1761536220.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.861462 m, nav range: 31.231052 m, bearing: 239.853562 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.410429 deg, new cmd heading: 243.466111 deg. 2025-10-27T03:37:00.325Z,1761536220.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249285 target range: 32.861462 and range: 33.00 m. 2025-10-27T03:37:00.373Z,1761536220.373 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.309134 2025-10-27T03:37:00.625Z,1761536220.625 [DAT](INFO): DAT read: Rx Time:03:37:01.5880 2025-10-27T03:37:00.625Z,1761536220.625 [DAT](INFO): Rx dataTimestamp_ set to:1761536220.624699 2025-10-27T03:37:00.626Z,1761536220.626 [DAT](INFO): DAT read: Bearing 35.7, -2.8 (Local) 2025-10-27T03:37:00.627Z,1761536220.627 [DAT](INFO): Local bearing/azimuth received: Bearing 35.7, -2.8 (Local) 2025-10-27T03:37:00.629Z,1761536220.629 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 2025-10-27T03:37:00.633Z,1761536220.633 [DAT](INFO): DAT read: 03:37:01.5880 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.19, 0.838,-0.707, 1.214, 0.798, PHS= 0.142,-1.461, 0.371, RAW= 156.6, 11.0, CAL= 156.6, 12.1, ROT= 353.4, -12.1 2025-10-27T03:37:00.634Z,1761536220.634 [DAT](INFO): got valid direction response: 03:37:01.5880 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.19, 0.838,-0.707, 1.214, 0.798, PHS= 0.142,-1.461, 0.371, RAW= 156.6, 11.0, CAL= 156.6, 12.1, ROT= 353.4, -12.1 2025-10-27T03:37:00.635Z,1761536220.635 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T03:37:00.636Z,1761536220.636 [DAT](INFO): direction in FSK: [0.971303,-0.112384,0.209619] 2025-10-27T03:37:00.636Z,1761536220.636 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:00.640Z,1761536220.640 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.575828 2025-10-27T03:37:00.791Z,1761536220.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425763,0.887716,0.175173],[-0.899733,-0.435882,0.022073],[0.095949,-0.148211,0.984290]] 2025-10-27T03:37:00.849Z,1761536220.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504029 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:00.851Z,1761536220.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.861462 m, bearing: 239.843628 deg, lat: 36.779340 deg, lon: -121.859589 deg, deltaT: 0.504029 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:37:00.852Z,1761536220.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.86 m. 2025-10-27T03:37:00.854Z,1761536220.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.861462 m, nav range: 31.055676 m, bearing: 239.965621 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.466109 deg, new cmd heading: 243.536206 deg. 2025-10-27T03:37:00.856Z,1761536220.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250509 target range: 32.861462 and range: 33.00 m. 2025-10-27T03:37:00.876Z,1761536220.876 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.811720 2025-10-27T03:37:01.130Z,1761536221.130 [DAT](INFO): DAT read: Rx Time:03:37:02.0877 2025-10-27T03:37:01.130Z,1761536221.130 [DAT](INFO): Rx dataTimestamp_ set to:1761536221.130097 2025-10-27T03:37:01.132Z,1761536221.132 [DAT](INFO): DAT read: Bearing 34.4, -2.5 (Local) 2025-10-27T03:37:01.133Z,1761536221.133 [DAT](INFO): Local bearing/azimuth received: Bearing 34.4, -2.5 (Local) 2025-10-27T03:37:01.135Z,1761536221.135 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.5 2025-10-27T03:37:01.139Z,1761536221.139 [DAT](INFO): DAT read: 03:37:02.0877 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 495,-0.07, 1.661, 0.099, 2.040, 1.592, PHS= 0.172,-1.447, 0.404, RAW= 156.6, 10.0, CAL= 156.5, 10.8, ROT= 353.5, -10.8 2025-10-27T03:37:01.141Z,1761536221.141 [DAT](INFO): got valid direction response: 03:37:02.0877 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 495,-0.07, 1.661, 0.099, 2.040, 1.592, PHS= 0.172,-1.447, 0.404, RAW= 156.6, 10.0, CAL= 156.5, 10.8, ROT= 353.5, -10.8 2025-10-27T03:37:01.141Z,1761536221.141 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T03:37:01.142Z,1761536221.142 [DAT](INFO): direction in FSK: [0.975973,-0.111198,0.187381] 2025-10-27T03:37:01.142Z,1761536221.142 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:01.156Z,1761536221.156 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.091499 2025-10-27T03:37:01.378Z,1761536221.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431064,0.884362,0.179129],[-0.897068,-0.441416,0.020530],[0.097227,-0.151841,0.983611]] 2025-10-27T03:37:01.380Z,1761536221.380 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.315998 2025-10-27T03:37:01.422Z,1761536221.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.505398 s, deltaX: -0.400002 m, approachRate: -0.791458 m/s, rangeRepo size: 4 2025-10-27T03:37:01.458Z,1761536221.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.463070 m, bearing: 239.451246 deg, lat: 36.779340 deg, lon: -121.859589 deg, deltaT: 0.505398 s, deltaX: -0.398392 m, approachRate: -0.788273 m/s, posRepo size: 4 2025-10-27T03:37:01.465Z,1761536221.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.46 m. 2025-10-27T03:37:01.490Z,1761536221.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.463070 m, nav range: 30.749678 m, bearing: 239.942723 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.536214 deg, new cmd heading: 243.609879 deg. 2025-10-27T03:37:01.510Z,1761536221.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251794 target range: 32.463070 and range: 32.60 m. 2025-10-27T03:37:01.632Z,1761536221.632 [DAT](INFO): DAT read: Rx Time:03:37:02.5875 2025-10-27T03:37:01.633Z,1761536221.633 [DAT](INFO): Rx dataTimestamp_ set to:1761536221.632656 2025-10-27T03:37:01.634Z,1761536221.634 [DAT](INFO): DAT read: Bearing 35.2, -2.5 (Local) 2025-10-27T03:37:01.635Z,1761536221.635 [DAT](INFO): Local bearing/azimuth received: Bearing 35.2, -2.5 (Local) 2025-10-27T03:37:01.637Z,1761536221.637 [DAT](INFO): DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.5 2025-10-27T03:37:01.648Z,1761536221.648 [DAT](INFO): DAT read: 03:37:02.5875 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.01,-3.043, 1.674,-2.674,-3.096, PHS= 0.155,-1.468, 0.378, RAW= 156.4, 10.7, CAL= 156.3, 11.8, ROT= 353.7, -11.8 2025-10-27T03:37:01.649Z,1761536221.649 [DAT](INFO): got valid direction response: 03:37:02.5875 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.01,-3.043, 1.674,-2.674,-3.096, PHS= 0.155,-1.468, 0.378, RAW= 156.4, 10.7, CAL= 156.3, 11.8, ROT= 353.7, -11.8 2025-10-27T03:37:01.649Z,1761536221.649 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T03:37:01.650Z,1761536221.650 [DAT](INFO): direction in FSK: [0.972956,-0.107415,0.204496] 2025-10-27T03:37:01.650Z,1761536221.650 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:01.654Z,1761536221.654 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.589823 2025-10-27T03:37:01.888Z,1761536221.888 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.823630 2025-10-27T03:37:01.989Z,1761536221.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434395,0.882480,0.180361],[-0.895322,-0.444940,0.020669],[0.098490,-0.152503,0.983383]] 2025-10-27T03:37:02.050Z,1761536222.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.502559 s, deltaX: -0.299999 m, approachRate: -0.596943 m/s, rangeRepo size: 4 2025-10-27T03:37:02.052Z,1761536222.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.164330 m, bearing: 239.600033 deg, lat: 36.779339 deg, lon: -121.859590 deg, deltaT: 0.502559 s, deltaX: -0.298740 m, approachRate: -0.594438 m/s, posRepo size: 4 2025-10-27T03:37:02.052Z,1761536222.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.16 m. 2025-10-27T03:37:02.055Z,1761536222.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.164330 m, nav range: 30.498470 m, bearing: 239.749316 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.609871 deg, new cmd heading: 243.691471 deg. 2025-10-27T03:37:02.056Z,1761536222.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253219 target range: 32.164330 and range: 32.30 m. 2025-10-27T03:37:02.137Z,1761536222.137 [DAT](INFO): DAT read: Rx Time:03:37:03.0873 2025-10-27T03:37:02.138Z,1761536222.138 [DAT](INFO): Rx dataTimestamp_ set to:1761536222.137250 2025-10-27T03:37:02.140Z,1761536222.140 [DAT](INFO): DAT read: Bearing 33.8, -2.1 (Local) 2025-10-27T03:37:02.140Z,1761536222.140 [DAT](INFO): Local bearing/azimuth received: Bearing 33.8, -2.1 (Local) 2025-10-27T03:37:02.143Z,1761536222.143 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.6 2025-10-27T03:37:02.158Z,1761536222.158 [DAT](INFO): DAT read: 03:37:03.0873 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.07, 2.516, 0.924, 2.891, 2.428, PHS= 0.191,-1.459, 0.419, RAW= 156.4, 9.6, CAL= 156.2, 10.3, ROT= 353.8, -10.3 2025-10-27T03:37:02.165Z,1761536222.165 [DAT](INFO): got valid direction response: 03:37:03.0873 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.07, 2.516, 0.924, 2.891, 2.428, PHS= 0.191,-1.459, 0.419, RAW= 156.4, 9.6, CAL= 156.2, 10.3, ROT= 353.8, -10.3 2025-10-27T03:37:02.165Z,1761536222.165 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T03:37:02.167Z,1761536222.167 [DAT](INFO): direction in FSK: [0.978130,-0.106259,0.178802] 2025-10-27T03:37:02.176Z,1761536222.176 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:02.198Z,1761536222.198 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.133470 2025-10-27T03:37:02.377Z,1761536222.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438136,0.880103,0.182907],[-0.893279,-0.449020,0.020809],[0.100443,-0.154270,0.982910]] 2025-10-27T03:37:02.388Z,1761536222.388 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.323687 2025-10-27T03:37:02.494Z,1761536222.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.504594 s, deltaX: -0.500000 m, approachRate: -0.990896 m/s, rangeRepo size: 4 2025-10-27T03:37:02.510Z,1761536222.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.666441 m, bearing: 239.242511 deg, lat: 36.779339 deg, lon: -121.859590 deg, deltaT: 0.504594 s, deltaX: -0.497889 m, approachRate: -0.986711 m/s, posRepo size: 4 2025-10-27T03:37:02.516Z,1761536222.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.67 m. 2025-10-27T03:37:02.534Z,1761536222.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.666441 m, nav range: 30.328640 m, bearing: 239.559682 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.691478 deg, new cmd heading: 243.747840 deg. 2025-10-27T03:37:02.542Z,1761536222.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254202 target range: 31.666441 and range: 31.80 m. 2025-10-27T03:37:02.641Z,1761536222.641 [DAT](INFO): DAT read: Rx Time:03:37:03.5872 2025-10-27T03:37:02.641Z,1761536222.641 [DAT](INFO): Rx dataTimestamp_ set to:1761536222.641150 2025-10-27T03:37:02.643Z,1761536222.643 [DAT](INFO): DAT read: Bearing 34.2, -2.1 (Local) 2025-10-27T03:37:02.643Z,1761536222.643 [DAT](INFO): Local bearing/azimuth received: Bearing 34.2, -2.1 (Local) 2025-10-27T03:37:02.645Z,1761536222.645 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.5 2025-10-27T03:37:02.650Z,1761536222.650 [DAT](INFO): DAT read: 03:37:03.5872 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505, 0.05,-1.710, 3.012,-1.344,-1.784, PHS= 0.176,-1.442, 0.396, RAW= 156.3, 10.0, CAL= 156.2, 10.9, ROT= 353.8, -10.9 2025-10-27T03:37:02.651Z,1761536222.651 [DAT](INFO): got valid direction response: 03:37:03.5872 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505, 0.05,-1.710, 3.012,-1.344,-1.784, PHS= 0.176,-1.442, 0.396, RAW= 156.3, 10.0, CAL= 156.2, 10.9, ROT= 353.8, -10.9 2025-10-27T03:37:02.652Z,1761536222.652 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T03:37:02.653Z,1761536222.653 [DAT](INFO): direction in FSK: [0.976215,-0.106051,0.189095] 2025-10-27T03:37:02.653Z,1761536222.653 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:02.657Z,1761536222.657 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.592524 2025-10-27T03:37:02.896Z,1761536222.896 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.831765 2025-10-27T03:37:03.017Z,1761536223.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503900 s, deltaX: -0.099998 m, approachRate: -0.198449 m/s, rangeRepo size: 4 2025-10-27T03:37:03.020Z,1761536223.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.566862 m, bearing: 239.336195 deg, lat: 36.779337 deg, lon: -121.859590 deg, deltaT: 0.503900 s, deltaX: -0.099579 m, approachRate: -0.197616 m/s, posRepo size: 4 2025-10-27T03:37:03.020Z,1761536223.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.57 m. 2025-10-27T03:37:03.023Z,1761536223.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.566862 m, nav range: 30.050415 m, bearing: 239.283911 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.747841 deg, new cmd heading: 243.816658 deg. 2025-10-27T03:37:03.024Z,1761536223.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255404 target range: 31.566862 and range: 31.70 m. 2025-10-27T03:37:03.145Z,1761536223.145 [DAT](INFO): DAT read: Rx Time:03:37:04.0869 2025-10-27T03:37:03.145Z,1761536223.145 [DAT](INFO): Rx dataTimestamp_ set to:1761536223.144824 2025-10-27T03:37:03.146Z,1761536223.146 [DAT](INFO): DAT read: Bearing 34.0, -2.0 (Local) 2025-10-27T03:37:03.147Z,1761536223.147 [DAT](INFO): Local bearing/azimuth received: Bearing 34.0, -2.0 (Local) 2025-10-27T03:37:03.149Z,1761536223.149 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.7 2025-10-27T03:37:03.158Z,1761536223.158 [DAT](INFO): DAT read: 03:37:04.0869 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502, 0.03, 2.792, 1.215,-3.122, 2.714, PHS= 0.180,-1.454, 0.403, RAW= 156.3, 9.9, CAL= 156.2, 10.8, ROT= 353.8, -10.8 2025-10-27T03:37:03.161Z,1761536223.161 [DAT](INFO): got valid direction response: 03:37:04.0869 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502, 0.03, 2.792, 1.215,-3.122, 2.714, PHS= 0.180,-1.454, 0.403, RAW= 156.3, 9.9, CAL= 156.2, 10.8, ROT= 353.8, -10.8 2025-10-27T03:37:03.163Z,1761536223.163 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T03:37:03.164Z,1761536223.164 [DAT](INFO): direction in FSK: [0.976542,-0.106086,0.187381] 2025-10-27T03:37:03.165Z,1761536223.165 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:03.182Z,1761536223.182 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.117608 2025-10-27T03:37:03.292Z,1761536223.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444277,0.876349,0.186095],[-0.889732,-0.455911,0.022839],[0.104858,-0.155428,0.982266]] 2025-10-27T03:37:03.343Z,1761536223.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503674 s, deltaX: -0.500000 m, approachRate: -0.992706 m/s, rangeRepo size: 4 2025-10-27T03:37:03.345Z,1761536223.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.069040 m, bearing: 238.921604 deg, lat: 36.779337 deg, lon: -121.859590 deg, deltaT: 0.503674 s, deltaX: -0.497822 m, approachRate: -0.988381 m/s, posRepo size: 4 2025-10-27T03:37:03.346Z,1761536223.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.07 m. 2025-10-27T03:37:03.353Z,1761536223.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.069040 m, nav range: 29.858053 m, bearing: 239.237121 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.816662 deg, new cmd heading: 243.858251 deg. 2025-10-27T03:37:03.354Z,1761536223.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256129 target range: 31.069040 and range: 31.20 m. 2025-10-27T03:37:03.396Z,1761536223.396 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.331958 2025-10-27T03:37:03.649Z,1761536223.649 [DAT](INFO): DAT read: Rx Time:03:37:04.5868 2025-10-27T03:37:03.649Z,1761536223.649 [DAT](INFO): Rx dataTimestamp_ set to:1761536223.648720 2025-10-27T03:37:03.650Z,1761536223.650 [DAT](INFO): DAT read: Bearing 34.7, -1.6 (Local) 2025-10-27T03:37:03.651Z,1761536223.651 [DAT](INFO): Local bearing/azimuth received: Bearing 34.7, -1.6 (Local) 2025-10-27T03:37:03.653Z,1761536223.653 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.5 2025-10-27T03:37:03.662Z,1761536223.662 [DAT](INFO): DAT read: 03:37:04.5868 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501,-0.08,-2.846, 1.872,-2.492,-2.913, PHS= 0.169,-1.453, 0.377, RAW= 156.0, 10.5, CAL= 155.9, 11.4, ROT= 354.1, -11.4 2025-10-27T03:37:03.669Z,1761536223.669 [DAT](INFO): got valid direction response: 03:37:04.5868 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501,-0.08,-2.846, 1.872,-2.492,-2.913, PHS= 0.169,-1.453, 0.377, RAW= 156.0, 10.5, CAL= 155.9, 11.4, ROT= 354.1, -11.4 2025-10-27T03:37:03.670Z,1761536223.670 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T03:37:03.671Z,1761536223.671 [DAT](INFO): direction in FSK: [0.975079,-0.100764,0.197657] 2025-10-27T03:37:03.671Z,1761536223.671 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:03.687Z,1761536223.687 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.610686 2025-10-27T03:37:03.727Z,1761536223.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449042,0.873383,0.188582],[-0.886732,-0.461545,0.026118],[0.109850,-0.155493,0.981710]] 2025-10-27T03:37:03.825Z,1761536223.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:03.831Z,1761536223.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.069040 m, bearing: 238.994584 deg, lat: 36.779337 deg, lon: -121.859589 deg, deltaT: 0.503896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:37:03.832Z,1761536223.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.07 m. 2025-10-27T03:37:03.838Z,1761536223.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.069040 m, nav range: 29.470053 m, bearing: 239.072261 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.858244 deg, new cmd heading: 243.921133 deg. 2025-10-27T03:37:03.847Z,1761536223.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257227 target range: 31.069040 and range: 31.20 m. 2025-10-27T03:37:03.906Z,1761536223.906 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.841473 2025-10-27T03:37:04.153Z,1761536224.153 [DAT](INFO): DAT read: Rx Time:03:37:05.0865 2025-10-27T03:37:04.153Z,1761536224.153 [DAT](INFO): Rx dataTimestamp_ set to:1761536224.153111 2025-10-27T03:37:04.160Z,1761536224.160 [DAT](INFO): DAT read: Bearing 34.6, -2.0 (Local) 2025-10-27T03:37:04.160Z,1761536224.160 [DAT](INFO): Local bearing/azimuth received: Bearing 34.6, -2.0 (Local) 2025-10-27T03:37:04.162Z,1761536224.162 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.5 2025-10-27T03:37:04.167Z,1761536224.167 [DAT](INFO): DAT read: 03:37:05.0865 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.16, 1.507,-0.060, 1.881, 1.447, PHS= 0.161,-1.462, 0.390, RAW= 156.5, 10.4, CAL= 156.4, 11.4, ROT= 353.6, -11.4 2025-10-27T03:37:04.168Z,1761536224.168 [DAT](INFO): got valid direction response: 03:37:05.0865 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.16, 1.507,-0.060, 1.881, 1.447, PHS= 0.161,-1.462, 0.390, RAW= 156.5, 10.4, CAL= 156.4, 11.4, ROT= 353.6, -11.4 2025-10-27T03:37:04.169Z,1761536224.169 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T03:37:04.169Z,1761536224.169 [DAT](INFO): direction in FSK: [0.974162,-0.109270,0.197657] 2025-10-27T03:37:04.170Z,1761536224.170 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:04.184Z,1761536224.184 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.119617 2025-10-27T03:37:04.207Z,1761536224.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450526,0.872069,0.191106],[-0.885656,-0.463537,0.027345],[0.112431,-0.156934,0.981188]] 2025-10-27T03:37:04.270Z,1761536224.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504391 s, deltaX: -0.400002 m, approachRate: -0.793039 m/s, rangeRepo size: 4 2025-10-27T03:37:04.286Z,1761536224.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.670092 m, bearing: 238.394505 deg, lat: 36.779337 deg, lon: -121.859588 deg, deltaT: 0.504391 s, deltaX: -0.398949 m, approachRate: -0.790951 m/s, posRepo size: 4 2025-10-27T03:37:04.287Z,1761536224.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.67 m. 2025-10-27T03:37:04.289Z,1761536224.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.670092 m, nav range: 29.183796 m, bearing: 238.975067 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.921136 deg, new cmd heading: 243.978706 deg. 2025-10-27T03:37:04.290Z,1761536224.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258232 target range: 30.670092 and range: 30.80 m. 2025-10-27T03:37:04.409Z,1761536224.409 [DAT](INFO): DAT read: Rx Time:03:37:05.5863 2025-10-27T03:37:04.411Z,1761536224.411 [DAT](INFO): Rx dataTimestamp_ set to:1761536224.409530 2025-10-27T03:37:04.415Z,1761536224.415 [DAT](INFO): DAT read: Bearing 34.5, -1.9 (Local) 2025-10-27T03:37:04.418Z,1761536224.418 [DAT](INFO): Local bearing/azimuth received: Bearing 34.5, -1.9 (Local) 2025-10-27T03:37:04.444Z,1761536224.444 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.6 2025-10-27T03:37:04.452Z,1761536224.452 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-10-27T03:37:04.453Z,1761536224.453 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.388452 2025-10-27T03:37:04.640Z,1761536224.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450097,0.871895,0.192904],[-0.885584,-0.463574,0.028974],[0.114688,-0.157792,0.980790]] 2025-10-27T03:37:04.660Z,1761536224.660 [DAT](INFO): DAT read: 03:37:05.5863 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.27, 2.805, 1.250,-3.107, 2.744, PHS= 0.163,-1.449, 0.388, RAW= 156.4, 10.4, CAL= 156.4, 11.3, ROT= 353.6, -11.3 2025-10-27T03:37:04.661Z,1761536224.661 [DAT](INFO): got valid direction response: 03:37:05.5863 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.27, 2.805, 1.250,-3.107, 2.744, PHS= 0.163,-1.449, 0.388, RAW= 156.4, 10.4, CAL= 156.4, 11.3, ROT= 353.6, -11.3 2025-10-27T03:37:04.661Z,1761536224.661 [DAT](INFO): #Rx 23: Read direction message, but no range. 2025-10-27T03:37:04.662Z,1761536224.662 [DAT](INFO): direction in FSK: [0.974503,-0.109308,0.195946] 2025-10-27T03:37:04.666Z,1761536224.666 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.601577 2025-10-27T03:37:04.764Z,1761536224.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.256419 s, deltaX: -0.299999 m, approachRate: -1.169957 m/s, rangeRepo size: 4 2025-10-27T03:37:04.766Z,1761536224.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.371357 m, bearing: 238.406744 deg, lat: 36.779337 deg, lon: -121.859586 deg, deltaT: 0.256419 s, deltaX: -0.298735 m, approachRate: -1.165025 m/s, posRepo size: 4 2025-10-27T03:37:04.767Z,1761536224.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.37 m. 2025-10-27T03:37:04.770Z,1761536224.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.371357 m, nav range: 28.776218 m, bearing: 238.715199 deg, approach rate: 0.000000 m/s, LOS rate: 0.043110 deg/s, cmd heading: 243.978701 deg, new cmd heading: 244.041936 deg. 2025-10-27T03:37:04.771Z,1761536224.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259336 target range: 30.371357 and range: 30.50 m. 2025-10-27T03:37:04.913Z,1761536224.913 [DAT](INFO): DAT read: Rx Time:03:37:06.0860 2025-10-27T03:37:04.915Z,1761536224.915 [DAT](INFO): Rx dataTimestamp_ set to:1761536224.914085 2025-10-27T03:37:04.919Z,1761536224.919 [DAT](INFO): DAT read: Bearing 36.6, -2.7 (Local) 2025-10-27T03:37:04.920Z,1761536224.920 [DAT](INFO): Local bearing/azimuth received: Bearing 36.6, -2.7 (Local) 2025-10-27T03:37:04.931Z,1761536224.931 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.5 2025-10-27T03:37:04.934Z,1761536224.934 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-27T03:37:04.943Z,1761536224.943 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.877708 2025-10-27T03:37:05.079Z,1761536225.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448549,0.872698,0.192880],[-0.886102,-0.462414,0.031565],[0.116738,-0.156753,0.980714]] 2025-10-27T03:37:05.112Z,1761536225.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:05.114Z,1761536225.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.504555 s, deltaX: -0.500000 m, approachRate: -0.990972 m/s, rangeRepo size: 4 2025-10-27T03:37:05.115Z,1761536225.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.37 m. 2025-10-27T03:37:05.118Z,1761536225.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.371357 m, nav range: 28.573399 m, bearing: 238.673913 deg, approach rate: -0.571068 m/s, LOS rate: -0.117072 deg/s, cmd heading: 244.041949 deg, new cmd heading: 243.917211 deg. 2025-10-27T03:37:05.123Z,1761536225.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257158 target range: 30.371357 and range: 30.00 m. 2025-10-27T03:37:05.164Z,1761536225.164 [DAT](INFO): DAT read: 03:37:06.0860 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.48,-1.826, 2.937,-1.446,-1.829, PHS= 0.105,-1.472, 0.339, RAW= 156.8, 12.0, CAL= 157.0, 13.4, ROT= 353.0, -13.4 2025-10-27T03:37:05.166Z,1761536225.166 [DAT](INFO): got valid direction response: 03:37:06.0860 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.48,-1.826, 2.937,-1.446,-1.829, PHS= 0.105,-1.472, 0.339, RAW= 156.8, 12.0, CAL= 157.0, 13.4, ROT= 353.0, -13.4 2025-10-27T03:37:05.166Z,1761536225.166 [DAT](INFO): #Rx 25: Read direction message, but no range. 2025-10-27T03:37:05.169Z,1761536225.169 [DAT](INFO): direction in FSK: [0.965525,-0.118552,0.231748] 2025-10-27T03:37:05.174Z,1761536225.174 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.110196 2025-10-27T03:37:05.416Z,1761536225.416 [DAT](INFO): DAT read: Rx Time:03:37:06.5858 2025-10-27T03:37:05.418Z,1761536225.418 [DAT](INFO): Rx dataTimestamp_ set to:1761536225.416807 2025-10-27T03:37:05.422Z,1761536225.422 [DAT](INFO): DAT read: Bearing 33.9, -1.8 (Local) 2025-10-27T03:37:05.423Z,1761536225.423 [DAT](INFO): Local bearing/azimuth received: Bearing 33.9, -1.8 (Local) 2025-10-27T03:37:05.438Z,1761536225.438 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.5 2025-10-27T03:37:05.441Z,1761536225.441 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-27T03:37:05.450Z,1761536225.450 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.384658 2025-10-27T03:37:05.578Z,1761536225.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446427,0.874222,0.190890],[-0.886906,-0.460603,0.035257],[0.118747,-0.153562,0.980978]] 2025-10-27T03:37:05.662Z,1761536225.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.502722 s, deltaX: -0.299999 m, approachRate: -0.596750 m/s, rangeRepo size: 4 2025-10-27T03:37:05.668Z,1761536225.668 [DAT](INFO): DAT read: 03:37:06.5858 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.34, 1.624, 0.077, 2.013, 1.551, PHS= 0.175,-1.430, 0.418, RAW= 157.0, 9.7, CAL= 156.8, 10.4, ROT= 353.2, -10.4 2025-10-27T03:37:05.669Z,1761536225.669 [DAT](INFO): got valid direction response: 03:37:06.5858 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.34, 1.624, 0.077, 2.013, 1.551, PHS= 0.175,-1.430, 0.418, RAW= 157.0, 9.7, CAL= 156.8, 10.4, ROT= 353.2, -10.4 2025-10-27T03:37:05.669Z,1761536225.669 [DAT](INFO): #Rx 27: Read direction message, but no range. 2025-10-27T03:37:05.670Z,1761536225.670 [DAT](INFO): direction in FSK: [0.976653,-0.116459,0.180519] 2025-10-27T03:37:05.674Z,1761536225.674 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.610206 2025-10-27T03:37:05.676Z,1761536225.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.574368 m, bearing: 238.282742 deg, lat: 36.779337 deg, lon: -121.859585 deg, deltaT: 1.007277 s, deltaX: -0.796989 m, approachRate: -0.791232 m/s, posRepo size: 4 2025-10-27T03:37:05.677Z,1761536225.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.57 m. 2025-10-27T03:37:05.679Z,1761536225.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.574368 m, nav range: 28.199516 m, bearing: 238.557067 deg, approach rate: 0.000000 m/s, LOS rate: -0.117072 deg/s, cmd heading: 243.917202 deg, new cmd heading: 243.724963 deg. 2025-10-27T03:37:05.680Z,1761536225.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253803 target range: 29.574368 and range: 29.70 m. 2025-10-27T03:37:05.920Z,1761536225.920 [DAT](INFO): DAT read: Rx Time:03:37:07.0856 2025-10-27T03:37:05.922Z,1761536225.922 [DAT](INFO): Rx dataTimestamp_ set to:1761536225.921078 2025-10-27T03:37:05.959Z,1761536225.959 [DAT](INFO): DAT read: Bearing 36.5, -1.7 (Locae 11 to 50 : 29.4 m (tri9.6 ms) speed 0.5 2025-10-27T03:37:05.961Z,1761536225.961 [DAT](INFO): unknown deviceResponse_: Bearing 36.5, -1.7 (Locae 11 to 50 : 29.4 m (tri9.6 ms) speed 0.5 2025-10-27T03:37:05.996Z,1761536225.996 [DAT](INFO): DAT read: 03:37:07.0856 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.20, 0.082,-1.415, 0.443, 0.056, PHS= 0.128,-1.426, 0.342, RAW= 156.4, 11.4, CAL= 156.5, 12.7, ROT= 353.5, -12.7 2025-10-27T03:37:05.997Z,1761536225.997 [DAT](INFO): got valid direction response: 03:37:07.0856 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.20, 0.082,-1.415, 0.443, 0.056, PHS= 0.128,-1.426, 0.342, RAW= 156.4, 11.4, CAL= 156.5, 12.7, ROT= 353.5, -12.7 2025-10-27T03:37:05.998Z,1761536225.998 [DAT](INFO): #Rx 28: Read direction message, but no range. 2025-10-27T03:37:06.027Z,1761536226.027 [DAT](INFO): direction in FSK: [0.969264,-0.110434,0.219846] 2025-10-27T03:37:06.030Z,1761536226.030 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.966144 2025-10-27T03:37:06.043Z,1761536226.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444398,0.876038,0.187265],[-0.887690,-0.458747,0.039472],[0.120486,-0.148692,0.981516]] 2025-10-27T03:37:06.121Z,1761536226.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.57 m. 2025-10-27T03:37:06.128Z,1761536226.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.574368 m, nav range: 27.965734 m, bearing: 238.540180 deg, approach rate: -0.508644 m/s, LOS rate: -0.037048 deg/s, cmd heading: 243.724973 deg, new cmd heading: 243.673890 deg. 2025-10-27T03:37:06.129Z,1761536226.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252912 target range: 29.574368 and range: 29.70 m. 2025-10-27T03:37:06.168Z,1761536226.168 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.103877 2025-10-27T03:37:06.424Z,1761536226.424 [DAT](INFO): DAT read: Rx Time:03:37:07.5855 2025-10-27T03:37:06.425Z,1761536226.425 [DAT](INFO): Rx dataTimestamp_ set to:1761536226.424633 2025-10-27T03:37:06.428Z,1761536226.428 [DAT](INFO): DAT read: Bearing 34.8, -1.7 (Local) 2025-10-27T03:37:06.430Z,1761536226.430 [DAT](INFO): Local bearing/azimuth received: Bearing 34.8, -1.7 (Local) 2025-10-27T03:37:06.436Z,1761536226.436 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4 2025-10-27T03:37:06.438Z,1761536226.438 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-27T03:37:06.441Z,1761536226.441 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.376602 2025-10-27T03:37:06.544Z,1761536226.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437958,0.880225,0.182746],[-0.890567,-0.452564,0.045564],[0.122811,-0.142793,0.982104]] 2025-10-27T03:37:06.632Z,1761536226.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 1.007826 s, deltaX: -0.400002 m, approachRate: -0.396895 m/s, rangeRepo size: 4 2025-10-27T03:37:06.633Z,1761536226.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.57 m. 2025-10-27T03:37:06.640Z,1761536226.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.574368 m, nav range: 27.664347 m, bearing: 238.513853 deg, approach rate: -0.589957 m/s, LOS rate: -0.052096 deg/s, cmd heading: 243.673883 deg, new cmd heading: 243.594042 deg. 2025-10-27T03:37:06.641Z,1761536226.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251518 target range: 29.574368 and range: 29.30 m. 2025-10-27T03:37:06.676Z,1761536226.676 [DAT](INFO): DAT read: 03:37:07.5855 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.18,-0.003,-1.519, 0.389,-0.061, PHS= 0.160,-1.413, 0.406, RAW= 157.1, 9.9, CAL= 157.0, 10.8, ROT= 353.0, -10.8 2025-10-27T03:37:06.677Z,1761536226.677 [DAT](INFO): got valid direction response: 03:37:07.5855 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.18,-0.003,-1.519, 0.389,-0.061, PHS= 0.160,-1.413, 0.406, RAW= 157.1, 9.9, CAL= 157.0, 10.8, ROT= 353.0, -10.8 2025-10-27T03:37:06.677Z,1761536226.677 [DAT](INFO): #Rx 30: Read direction message, but no range. 2025-10-27T03:37:06.678Z,1761536226.678 [DAT](INFO): direction in FSK: [0.974965,-0.119711,0.187381] 2025-10-27T03:37:06.682Z,1761536226.682 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.617832 2025-10-27T03:37:06.930Z,1761536226.930 [DAT](INFO): DAT read: Rx Time:03:37:08.0853 2025-10-27T03:37:06.931Z,1761536226.931 [DAT](INFO): Rx dataTimestamp_ set to:1761536226.930793 2025-10-27T03:37:06.937Z,1761536226.937 [DAT](INFO): DAT read: Bearing 35.3, -1.5 (Local) 2025-10-27T03:37:06.938Z,1761536226.938 [DAT](INFO): Local bearing/azimuth received: Bearing 35.3, -1.5 (Local) 2025-10-27T03:37:06.964Z,1761536226.964 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.4 2025-10-27T03:37:06.981Z,1761536226.981 [DAT](INFO): DAT read: 03:37:08.0853 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.37, 2.301, 0.789, 2.690, 2.244, PHS= 0.160,-1.410, 0.402, RAW= 157.1, 10.0, CAL= 156.9, 10.8, ROT= 353.1, -10.8 2025-10-27T03:37:07.031Z,1761536227.031 [DAT](INFO): got valid direction response: 03:37:08.0853 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.37, 2.301, 0.789, 2.690, 2.244, PHS= 0.160,-1.410, 0.402, RAW= 157.1, 10.0, CAL= 156.9, 10.8, ROT= 353.1, -10.8 2025-10-27T03:37:07.032Z,1761536227.032 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T03:37:07.033Z,1761536227.033 [DAT](INFO): direction in FSK: [0.975173,-0.118009,0.187381] 2025-10-27T03:37:07.033Z,1761536227.033 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:07.038Z,1761536227.038 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.973784 2025-10-27T03:37:07.147Z,1761536227.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.506160 s, deltaX: -0.299999 m, approachRate: -0.592696 m/s, rangeRepo size: 4 2025-10-27T03:37:07.149Z,1761536227.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.877199 m, bearing: 238.371877 deg, lat: 36.779337 deg, lon: -121.859585 deg, deltaT: 1.513986 s, deltaX: -0.697168 m, approachRate: -0.460485 m/s, posRepo size: 4 2025-10-27T03:37:07.150Z,1761536227.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.88 m. 2025-10-27T03:37:07.157Z,1761536227.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.877199 m, nav range: 27.424259 m, bearing: 238.464231 deg, approach rate: 0.000000 m/s, LOS rate: -0.052096 deg/s, cmd heading: 243.594052 deg, new cmd heading: 243.514242 deg. 2025-10-27T03:37:07.158Z,1761536227.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250125 target range: 28.877199 and range: 29.00 m. 2025-10-27T03:37:07.176Z,1761536227.176 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.111990 2025-10-27T03:37:07.432Z,1761536227.432 [DAT](INFO): DAT read: Rx Time:03:37:08.5852 2025-10-27T03:37:07.434Z,1761536227.434 [DAT](INFO): Rx dataTimestamp_ set to:1761536227.432817 2025-10-27T03:37:07.438Z,1761536227.438 [DAT](INFO): DAT read: Bearing 35.6, -2.4 (Local) 2025-10-27T03:37:07.440Z,1761536227.440 [DAT](INFO): Local bearing/azimuth received: Bearing 35.6, -2.4 (Local) 2025-10-27T03:37:07.449Z,1761536227.449 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 2025-10-27T03:37:07.452Z,1761536227.452 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-27T03:37:07.453Z,1761536227.453 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.389014 2025-10-27T03:37:07.623Z,1761536227.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429065,0.886070,0.175450],[-0.894557,-0.443751,0.053415],[0.125186,-0.134031,0.983038]] 2025-10-27T03:37:07.665Z,1761536227.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:07.668Z,1761536227.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.502024 s, deltaX: -0.200001 m, approachRate: -0.398389 m/s, rangeRepo size: 4 2025-10-27T03:37:07.669Z,1761536227.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.88 m. 2025-10-27T03:37:07.672Z,1761536227.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.877199 m, nav range: 27.166412 m, bearing: 238.493509 deg, approach rate: -0.491306 m/s, LOS rate: 0.056316 deg/s, cmd heading: 243.514248 deg, new cmd heading: 243.602916 deg. 2025-10-27T03:37:07.673Z,1761536227.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251673 target range: 28.877199 and range: 28.80 m. 2025-10-27T03:37:07.684Z,1761536227.684 [DAT](INFO): DAT read: 03:37:08.5852 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501, 0.09,-2.524, 2.230,-2.088,-2.560, PHS= 0.138,-1.448, 0.428, RAW= 158.3, 10.1, CAL= 158.2, 11.0, ROT= 351.8, -11.0 2025-10-27T03:37:07.685Z,1761536227.685 [DAT](INFO): got valid direction response: 03:37:08.5852 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501, 0.09,-2.524, 2.230,-2.088,-2.560, PHS= 0.138,-1.448, 0.428, RAW= 158.3, 10.1, CAL= 158.2, 11.0, ROT= 351.8, -11.0 2025-10-27T03:37:07.685Z,1761536227.685 [DAT](INFO): #Rx 33: Read direction message, but no range. 2025-10-27T03:37:07.686Z,1761536227.686 [DAT](INFO): direction in FSK: [0.971591,-0.140009,0.190809] 2025-10-27T03:37:07.691Z,1761536227.691 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.627300 2025-10-27T03:37:07.937Z,1761536227.937 [DAT](INFO): DAT read: Rx Time:03:37:09.0850 2025-10-27T03:37:07.938Z,1761536227.938 [DAT](INFO): Rx dataTimestamp_ set to:1761536227.937156 2025-10-27T03:37:07.942Z,1761536227.942 [DAT](INFO): DAT read: Bearing 34.8, -1.9 (Local) 2025-10-27T03:37:07.949Z,1761536227.949 [DAT](INFO): Local bearing/azimuth received: Bearing 34.8, -1.9 (Local) 2025-10-27T03:37:07.954Z,1761536227.954 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 2025-10-27T03:37:07.967Z,1761536227.967 [DAT](INFO): DAT read: 03:37:09.0850 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.35, 1.082,-0.444, 1.516, 1.019, PHS= 0.165,-1.417, 0.453, RAW= 158.2, 9.2, CAL= 158.0, 9.8, ROT= 352.0, -9.8 2025-10-27T03:37:07.998Z,1761536227.998 [DAT](INFO): got valid direction response: 03:37:09.0850 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.35, 1.082,-0.444, 1.516, 1.019, PHS= 0.165,-1.417, 0.453, RAW= 158.2, 9.2, CAL= 158.0, 9.8, ROT= 352.0, -9.8 2025-10-27T03:37:07.998Z,1761536227.998 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T03:37:07.000Z,1761536228.000 [DAT](INFO): direction in FSK: [0.975818,-0.137142,0.170209] 2025-10-27T03:37:08.000Z,1761536228.000 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:08.009Z,1761536228.009 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.944958 2025-10-27T03:37:08.036Z,1761536228.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423681,0.889322,0.172048],[-0.896894,-0.438459,0.057744],[0.126789,-0.129844,0.983395]] 2025-10-27T03:37:08.124Z,1761536228.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.504339 s, deltaX: -0.299999 m, approachRate: -0.594836 m/s, rangeRepo size: 4 2025-10-27T03:37:08.126Z,1761536228.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.379311 m, bearing: 237.849714 deg, lat: 36.779336 deg, lon: -121.859584 deg, deltaT: 1.006363 s, deltaX: -0.497889 m, approachRate: -0.494741 m/s, posRepo size: 4 2025-10-27T03:37:08.127Z,1761536228.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m. 2025-10-27T03:37:08.133Z,1761536228.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.379311 m, nav range: 26.948391 m, bearing: 238.239752 deg, approach rate: 0.000000 m/s, LOS rate: 0.056316 deg/s, cmd heading: 243.602904 deg, new cmd heading: 243.677890 deg. 2025-10-27T03:37:08.134Z,1761536228.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252982 target range: 28.379311 and range: 28.50 m. 2025-10-27T03:37:08.184Z,1761536228.184 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.120136 2025-10-27T03:37:08.442Z,1761536228.442 [DAT](INFO): DAT read: Rx Time:03:37:09.5849 2025-10-27T03:37:08.444Z,1761536228.444 [DAT](INFO): Rx dataTimestamp_ set to:1761536228.442894 2025-10-27T03:37:08.449Z,1761536228.449 [DAT](INFO): DAT read: Bearing 35.7, -2.3 (Local) 2025-10-27T03:37:08.450Z,1761536228.450 [DAT](INFO): Local bearing/azimuth received: Bearing 35.7, -2.3 (Local) 2025-10-27T03:37:08.454Z,1761536228.454 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.4 2025-10-27T03:37:08.464Z,1761536228.464 [DAT](INFO): DAT read: 03:37:09.5849 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.10,-2.029, 2.729,-1.576,-2.068, PHS= 0.141,-1.441, 0.447, RAW= 158.7, 9.7, CAL= 158.6, 10.5, ROT= 351.4, -10.5 2025-10-27T03:37:08.467Z,1761536228.467 [DAT](INFO): got valid direction response: 03:37:09.5849 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.10,-2.029, 2.729,-1.576,-2.068, PHS= 0.141,-1.441, 0.447, RAW= 158.7, 9.7, CAL= 158.6, 10.5, ROT= 351.4, -10.5 2025-10-27T03:37:08.467Z,1761536228.467 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T03:37:08.469Z,1761536228.469 [DAT](INFO): direction in FSK: [0.972200,-0.147032,0.182236] 2025-10-27T03:37:08.469Z,1761536228.469 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:08.536Z,1761536228.536 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.472263 2025-10-27T03:37:08.568Z,1761536228.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414111,0.895586,0.162596],[-0.900855,-0.428823,0.067615],[0.130280,-0.118476,0.984373]] 2025-10-27T03:37:08.666Z,1761536228.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.505738 s, deltaX: -0.100000 m, approachRate: -0.197732 m/s, rangeRepo size: 4 2025-10-27T03:37:08.668Z,1761536228.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.279615 m, bearing: 237.770039 deg, lat: 36.779336 deg, lon: -121.859584 deg, deltaT: 0.505738 s, deltaX: -0.099695 m, approachRate: -0.197128 m/s, posRepo size: 4 2025-10-27T03:37:08.669Z,1761536228.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m. 2025-10-27T03:37:08.676Z,1761536228.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.279615 m, nav range: 26.636034 m, bearing: 238.193248 deg, approach rate: 0.000000 m/s, LOS rate: 0.056316 deg/s, cmd heading: 243.677900 deg, new cmd heading: 243.771521 deg. 2025-10-27T03:37:08.677Z,1761536228.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254616 target range: 28.279615 and range: 28.40 m. 2025-10-27T03:37:08.688Z,1761536228.688 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.624350 2025-10-27T03:37:08.945Z,1761536228.945 [DAT](INFO): DAT read: Rx Time:03:37:10.0847 2025-10-27T03:37:08.955Z,1761536228.955 [DAT](INFO): Rx dataTimestamp_ set to:1761536228.945843 2025-10-27T03:37:08.956Z,1761536228.956 [DAT](INFO): DAT read: Bearing 34.7, -1.6 (Local) 2025-10-27T03:37:08.957Z,1761536228.957 [DAT](INFO): Local bearing/azimuth received: Bearing 34.7, -1.6 (Local) 2025-10-27T03:37:08.961Z,1761536228.961 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 2025-10-27T03:37:08.993Z,1761536228.993 [DAT](INFO): DAT read: 03:37:10.0847 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496,-0.21, 1.212,-0.318, 1.661, 1.141, PHS= 0.173,-1.414, 0.476, RAW= 158.6, 8.8, CAL= 158.3, 9.2, ROT= 351.7, -9.2 2025-10-27T03:37:08.994Z,1761536228.994 [DAT](INFO): got valid direction response: 03:37:10.0847 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496,-0.21, 1.212,-0.318, 1.661, 1.141, PHS= 0.173,-1.414, 0.476, RAW= 158.6, 8.8, CAL= 158.3, 9.2, ROT= 351.7, -9.2 2025-10-27T03:37:08.994Z,1761536228.994 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T03:37:09.004Z,1761536229.004 [DAT](INFO): direction in FSK: [0.976797,-0.142499,0.159881] 2025-10-27T03:37:09.004Z,1761536229.004 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:09.014Z,1761536229.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410809,0.897015,0.163093],[-0.902055,-0.425877,0.070181],[0.132411,-0.118288,0.984112]] 2025-10-27T03:37:09.016Z,1761536229.016 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.951937 2025-10-27T03:37:09.109Z,1761536229.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.502949 s, deltaX: -0.299999 m, approachRate: -0.596480 m/s, rangeRepo size: 4 2025-10-27T03:37:09.115Z,1761536229.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.980888 m, bearing: 238.134092 deg, lat: 36.779335 deg, lon: -121.859584 deg, deltaT: 0.502949 s, deltaX: -0.298727 m, approachRate: -0.593951 m/s, posRepo size: 4 2025-10-27T03:37:09.116Z,1761536229.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m. 2025-10-27T03:37:09.118Z,1761536229.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.980888 m, nav range: 26.506449 m, bearing: 237.926592 deg, approach rate: 0.000000 m/s, LOS rate: 0.056316 deg/s, cmd heading: 243.771528 deg, new cmd heading: 243.846369 deg. 2025-10-27T03:37:09.124Z,1761536229.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255922 target range: 27.980888 and range: 28.10 m. 2025-10-27T03:37:09.192Z,1761536229.192 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.128183 2025-10-27T03:37:09.354Z,1761536229.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407235,0.898092,0.166102],[-0.903391,-0.422837,0.071367],[0.134328,-0.120992,0.983523]] 2025-10-27T03:37:09.387Z,1761536229.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m. 2025-10-27T03:37:09.390Z,1761536229.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.980888 m, nav range: 26.364151 m, bearing: 237.933166 deg, approach rate: -0.510379 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.846359 deg, new cmd heading: 243.866187 deg. 2025-10-27T03:37:09.392Z,1761536229.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256268 target range: 27.980888 and range: 28.10 m. 2025-10-27T03:37:09.450Z,1761536229.450 [DAT](INFO): DAT read: Rx Time:03:37:10.5845 2025-10-27T03:37:09.452Z,1761536229.452 [DAT](INFO): Rx dataTimestamp_ set to:1761536229.450622 2025-10-27T03:37:09.454Z,1761536229.454 [DAT](INFO): DAT read: Bearing 37.1, -2.7 (Local) 2025-10-27T03:37:09.454Z,1761536229.454 [DAT](INFO): Local bearing/azimuth received: Bearing 37.1, -2.7 (Local) 2025-10-27T03:37:09.457Z,1761536229.457 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.4 2025-10-27T03:37:09.481Z,1761536229.481 [DAT](INFO): DAT read: 03:37:10.5845 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.29, 3.064, 1.569,-2.753, 3.063, PHS= 0.103,-1.449, 0.423, RAW= 159.2, 10.7, CAL= 159.3, 11.7, ROT= 350.7, -11.7 2025-10-27T03:37:09.493Z,1761536229.493 [DAT](INFO): got valid direction response: 03:37:10.5845 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.29, 3.064, 1.569,-2.753, 3.063, PHS= 0.103,-1.449, 0.423, RAW= 159.2, 10.7, CAL= 159.3, 11.7, ROT= 350.7, -11.7 2025-10-27T03:37:09.495Z,1761536229.495 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T03:37:09.497Z,1761536229.497 [DAT](INFO): direction in FSK: [0.966352,-0.158246,0.202787] 2025-10-27T03:37:09.497Z,1761536229.497 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:09.506Z,1761536229.506 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.441536 2025-10-27T03:37:09.698Z,1761536229.698 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.632887 2025-10-27T03:37:09.782Z,1761536229.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404499,0.898060,0.172829],[-0.904223,-0.421034,0.071495],[0.136973,-0.127356,0.982354]] 2025-10-27T03:37:09.834Z,1761536229.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.504779 s, deltaX: -0.300001 m, approachRate: -0.594322 m/s, rangeRepo size: 4 2025-10-27T03:37:09.852Z,1761536229.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.682068 m, bearing: 237.863081 deg, lat: 36.779335 deg, lon: -121.859584 deg, deltaT: 0.504779 s, deltaX: -0.298820 m, approachRate: -0.591983 m/s, posRepo size: 4 2025-10-27T03:37:09.853Z,1761536229.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.68 m. 2025-10-27T03:37:09.859Z,1761536229.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.682068 m, nav range: 26.146185 m, bearing: 237.918843 deg, approach rate: 0.000000 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.866194 deg, new cmd heading: 243.897913 deg. 2025-10-27T03:37:09.860Z,1761536229.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256822 target range: 27.682068 and range: 27.80 m. 2025-10-27T03:37:09.953Z,1761536229.953 [DAT](INFO): DAT read: Rx Time:03:37:11.0843 2025-10-27T03:37:09.953Z,1761536229.953 [DAT](INFO): Rx dataTimestamp_ set to:1761536229.952964 2025-10-27T03:37:09.956Z,1761536229.956 [DAT](INFO): DAT read: Bearing 37.3, -2.8 (Local) 2025-10-27T03:37:09.956Z,1761536229.956 [DAT](INFO): Local bearing/azimuth received: Bearing 37.3, -2.8 (Local) 2025-10-27T03:37:09.960Z,1761536229.960 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4 2025-10-27T03:37:09.970Z,1761536229.970 [DAT](INFO): DAT read: 03:37:11.0843 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.06, 0.725,-0.756, 1.196, 0.733, PHS= 0.094,-1.445, 0.419, RAW= 159.4, 10.8, CAL= 159.5, 11.9, ROT= 350.5, -11.9 2025-10-27T03:37:09.972Z,1761536229.972 [DAT](INFO): got valid direction response: 03:37:11.0843 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.06, 0.725,-0.756, 1.196, 0.733, PHS= 0.094,-1.445, 0.419, RAW= 159.4, 10.8, CAL= 159.5, 11.9, ROT= 350.5, -11.9 2025-10-27T03:37:09.973Z,1761536229.973 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T03:37:09.974Z,1761536229.974 [DAT](INFO): direction in FSK: [0.965089,-0.161500,0.206204] 2025-10-27T03:37:09.975Z,1761536229.975 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:10.003Z,1761536230.003 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.938568 2025-10-27T03:37:10.200Z,1761536230.200 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.136194 2025-10-27T03:37:10.229Z,1761536230.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403251,0.898440,0.173765],[-0.904358,-0.420267,0.074243],[0.139731,-0.127208,0.981984]] 2025-10-27T03:37:10.252Z,1761536230.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.502342 s, deltaX: -0.299999 m, approachRate: -0.597201 m/s, rangeRepo size: 4 2025-10-27T03:37:10.254Z,1761536230.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.383299 m, bearing: 237.737679 deg, lat: 36.779335 deg, lon: -121.859584 deg, deltaT: 0.502342 s, deltaX: -0.298769 m, approachRate: -0.594752 m/s, posRepo size: 4 2025-10-27T03:37:10.255Z,1761536230.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m. 2025-10-27T03:37:10.258Z,1761536230.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.383299 m, nav range: 25.937939 m, bearing: 237.901861 deg, approach rate: 0.000000 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.897914 deg, new cmd heading: 243.927699 deg. 2025-10-27T03:37:10.259Z,1761536230.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257341 target range: 27.383299 and range: 27.50 m. 2025-10-27T03:37:10.454Z,1761536230.454 [DAT](INFO): DAT read: Rx Time:03:37:11.5842 2025-10-27T03:37:10.455Z,1761536230.455 [DAT](INFO): Rx dataTimestamp_ set to:1761536230.454610 2025-10-27T03:37:10.458Z,1761536230.458 [DAT](INFO): DAT read: Bearing 37.7, -2.6 (Local) 2025-10-27T03:37:10.458Z,1761536230.458 [DAT](INFO): Local bearing/azimuth received: Bearing 37.7, -2.6 (Local) 2025-10-27T03:37:10.465Z,1761536230.465 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 2025-10-27T03:37:10.485Z,1761536230.485 [DAT](INFO): DAT read: 03:37:11.5842 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.43,-2.989, 1.829,-2.523,-2.973, PHS= 0.086,-1.437, 0.406, RAW= 159.4, 11.1, CAL= 159.5, 12.2, ROT= 350.5, -12.2 2025-10-27T03:37:10.495Z,1761536230.495 [DAT](INFO): got valid direction response: 03:37:11.5842 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.43,-2.989, 1.829,-2.523,-2.973, PHS= 0.086,-1.437, 0.406, RAW= 159.4, 11.1, CAL= 159.5, 12.2, ROT= 350.5, -12.2 2025-10-27T03:37:10.496Z,1761536230.496 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T03:37:10.497Z,1761536230.497 [DAT](INFO): direction in FSK: [0.964011,-0.161320,0.211325] 2025-10-27T03:37:10.498Z,1761536230.498 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:10.529Z,1761536230.529 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.464769 2025-10-27T03:37:10.676Z,1761536230.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403370,0.898507,0.173140],[-0.903862,-0.420728,0.077603],[0.142571,-0.125192,0.981835]] 2025-10-27T03:37:10.705Z,1761536230.705 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.640646 2025-10-27T03:37:10.748Z,1761536230.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.501646 s, deltaX: -0.200001 m, approachRate: -0.398689 m/s, rangeRepo size: 4 2025-10-27T03:37:10.750Z,1761536230.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.184147 m, bearing: 237.718100 deg, lat: 36.779335 deg, lon: -121.859581 deg, deltaT: 0.501646 s, deltaX: -0.199152 m, approachRate: -0.396997 m/s, posRepo size: 4 2025-10-27T03:37:10.751Z,1761536230.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.18 m. 2025-10-27T03:37:10.754Z,1761536230.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.184147 m, nav range: 25.438517 m, bearing: 237.783784 deg, approach rate: 0.000000 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.927693 deg, new cmd heading: 243.962925 deg. 2025-10-27T03:37:10.754Z,1761536230.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257957 target range: 27.184147 and range: 27.30 m. 2025-10-27T03:37:10.958Z,1761536230.958 [DAT](INFO): DAT read: Rx Time:03:37:12.0840 2025-10-27T03:37:10.960Z,1761536230.960 [DAT](INFO): Rx dataTimestamp_ set to:1761536230.959189 2025-10-27T03:37:10.962Z,1761536230.962 [DAT](INFO): DAT read: Bearing 37.0, ocal) 2025-10-27T03:37:10.963Z,1761536230.963 [DAT](INFO): unknown deviceResponse_: Bearing 37.0, ocal) 2025-10-27T03:37:10.981Z,1761536230.981 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 2025-10-27T03:37:10.998Z,1761536230.998 [DAT](INFO): DAT read: 03:37:12.0840 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505,-0.03, 0.800,-0.681, 1.264, 0.798, PHS= 0.104,-1.434, 0.422, RAW= 159.2, 10.6, CAL= 159.3, 11.6, ROT= 350.7, -11.6 2025-10-27T03:37:11.016Z,1761536231.016 [DAT](INFO): got valid direction response: 03:37:12.0840 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505,-0.03, 0.800,-0.681, 1.264, 0.798, PHS= 0.104,-1.434, 0.422, RAW= 159.2, 10.6, CAL= 159.3, 11.6, ROT= 350.7, -11.6 2025-10-27T03:37:11.017Z,1761536231.017 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T03:37:11.018Z,1761536231.018 [DAT](INFO): direction in FSK: [0.966700,-0.158303,0.201078] 2025-10-27T03:37:11.019Z,1761536231.019 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:11.050Z,1761536231.050 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.986326 2025-10-27T03:37:11.121Z,1761536231.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.504579 s, deltaX: -0.299999 m, approachRate: -0.594554 m/s, rangeRepo size: 4 2025-10-27T03:37:11.127Z,1761536231.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.885422 m, bearing: 237.857582 deg, lat: 36.779336 deg, lon: -121.859581 deg, deltaT: 0.504579 s, deltaX: -0.298725 m, approachRate: -0.592028 m/s, posRepo size: 4 2025-10-27T03:37:11.128Z,1761536231.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.89 m. 2025-10-27T03:37:11.135Z,1761536231.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.885422 m, nav range: 25.173025 m, bearing: 237.715148 deg, approach rate: 0.000000 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.962937 deg, new cmd heading: 243.989483 deg. 2025-10-27T03:37:11.136Z,1761536231.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258420 target range: 26.885422 and range: 27.00 m. 2025-10-27T03:37:11.208Z,1761536231.208 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.144047 2025-10-27T03:37:11.462Z,1761536231.462 [DAT](INFO): DAT read: Rx Time:03:37:12.5839 2025-10-27T03:37:11.463Z,1761536231.463 [DAT](INFO): Rx dataTimestamp_ set to:1761536231.462185 2025-10-27T03:37:11.465Z,1761536231.465 [DAT](INFO): DAT read: Bearing 33.8, -0.8 (Local) 2025-10-27T03:37:11.465Z,1761536231.465 [DAT](INFO): Local bearing/azimuth received: Bearing 33.8, -0.8 (Local) 2025-10-27T03:37:11.468Z,1761536231.468 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 2025-10-27T03:37:11.475Z,1761536231.475 [DAT](INFO): DAT read: 03:37:12.5839 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.38, 2.755, 1.241,-3.067, 2.674, PHS= 0.183,-1.389, 0.498, RAW= 158.9, 8.1, CAL= 158.6, 8.4, ROT= 351.4, -8.4 2025-10-27T03:37:11.477Z,1761536231.477 [DAT](INFO): got valid direction response: 03:37:12.5839 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.38, 2.755, 1.241,-3.067, 2.674, PHS= 0.183,-1.389, 0.498, RAW= 158.9, 8.1, CAL= 158.6, 8.4, ROT= 351.4, -8.4 2025-10-27T03:37:11.478Z,1761536231.478 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T03:37:11.479Z,1761536231.479 [DAT](INFO): direction in FSK: [0.978149,-0.147931,0.146083] 2025-10-27T03:37:11.479Z,1761536231.479 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:11.486Z,1761536231.486 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.421762 2025-10-27T03:37:11.495Z,1761536231.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405797,0.895644,0.182074],[-0.901899,-0.424676,0.078923],[0.148010,-0.132186,0.980112]] 2025-10-27T03:37:11.564Z,1761536231.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.502996 s, deltaX: -0.100000 m, approachRate: -0.198809 m/s, rangeRepo size: 4 2025-10-27T03:37:11.566Z,1761536231.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.785749 m, bearing: 238.100494 deg, lat: 36.779336 deg, lon: -121.859581 deg, deltaT: 0.502996 s, deltaX: -0.099672 m, approachRate: -0.198157 m/s, posRepo size: 4 2025-10-27T03:37:11.571Z,1761536231.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.79 m. 2025-10-27T03:37:11.574Z,1761536231.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.785749 m, nav range: 24.942307 m, bearing: 237.659120 deg, approach rate: 0.000000 m/s, LOS rate: 0.023706 deg/s, cmd heading: 243.989493 deg, new cmd heading: 244.020367 deg. 2025-10-27T03:37:11.584Z,1761536231.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258959 target range: 26.785749 and range: 26.90 m. 2025-10-27T03:37:11.713Z,1761536231.713 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.648380 2025-10-27T03:37:11.854Z,1761536231.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407473,0.893513,0.188680],[-0.900750,-0.427262,0.078086],[0.150386,-0.138135,0.978929]] 2025-10-27T03:37:11.920Z,1761536231.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:11.947Z,1761536231.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.79 m. 2025-10-27T03:37:11.962Z,1761536231.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.785749 m, nav range: 24.729248 m, bearing: 237.585573 deg, approach rate: -0.572190 m/s, LOS rate: -0.199218 deg/s, cmd heading: 244.020365 deg, new cmd heading: 243.797826 deg. 2025-10-27T03:37:11.966Z,1761536231.966 [DAT](INFO): DAT read: Rx Time:03:37:13.0836 2025-10-27T03:37:11.967Z,1761536231.967 [DAT](INFO): Rx dataTimestamp_ set to:1761536231.966010 2025-10-27T03:37:11.968Z,1761536231.968 [DAT](INFO): DAT read: Bearing 33.5, -0.8 (Local) 2025-10-27T03:37:11.969Z,1761536231.969 [DAT](INFO): Local bearing/azimuth received: Bearing 33.5, -0.8 (Local) 2025-10-27T03:37:11.972Z,1761536231.972 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 2025-10-27T03:37:11.984Z,1761536231.984 [DAT](INFO): DAT read: 03:37:13.0836 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.40, 2.998, 1.515,-2.827, 2.921, PHS= 0.179,-1.361, 0.491, RAW= 159.1, 8.1, CAL= 158.7, 8.3, ROT= 351.3, -8.3 2025-10-27T03:37:11.986Z,1761536231.986 [DAT](INFO): got valid direction response: 03:37:13.0836 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.40, 2.998, 1.515,-2.827, 2.921, PHS= 0.179,-1.361, 0.491, RAW= 159.1, 8.1, CAL= 158.7, 8.3, ROT= 351.3, -8.3 2025-10-27T03:37:11.986Z,1761536231.986 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T03:37:11.988Z,1761536231.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255075 target range: 26.785749 and range: 26.90 m. 2025-10-27T03:37:11.996Z,1761536231.996 [DAT](INFO): direction in FSK: [0.978140,-0.149677,0.144356] 2025-10-27T03:37:11.996Z,1761536231.996 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:12.011Z,1761536232.011 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.946457 2025-10-27T03:37:12.216Z,1761536232.216 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.151970 2025-10-27T03:37:12.258Z,1761536232.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409384,0.891634,0.193374],[-0.899548,-0.429862,0.077670],[0.152377,-0.142153,0.978046]] 2025-10-27T03:37:12.303Z,1761536232.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.503825 s, deltaX: -0.500000 m, approachRate: -0.992408 m/s, rangeRepo size: 4 2025-10-27T03:37:12.305Z,1761536232.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.287951 m, bearing: 237.827418 deg, lat: 36.779336 deg, lon: -121.859581 deg, deltaT: 0.503825 s, deltaX: -0.497799 m, approachRate: -0.988039 m/s, posRepo size: 4 2025-10-27T03:37:12.306Z,1761536232.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.29 m. 2025-10-27T03:37:12.309Z,1761536232.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.287951 m, nav range: 24.508055 m, bearing: 237.509111 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 243.797838 deg, new cmd heading: 243.573378 deg. 2025-10-27T03:37:12.310Z,1761536232.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251157 target range: 26.287951 and range: 26.40 m. 2025-10-27T03:37:12.470Z,1761536232.470 [DAT](INFO): DAT read: Rx Time:03:37:13.5834 2025-10-27T03:37:12.471Z,1761536232.471 [DAT](INFO): Rx dataTimestamp_ set to:1761536232.470293 2025-10-27T03:37:12.473Z,1761536232.473 [DAT](INFO): DAT read: Bearing 31.2, -0.1 (Local) 2025-10-27T03:37:12.473Z,1761536232.473 [DAT](INFO): Local bearing/azimuth received: Bearing 31.2, -0.1 (Local) 2025-10-27T03:37:12.477Z,1761536232.477 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 2025-10-27T03:37:12.501Z,1761536232.501 [DAT](INFO): DAT read: 03:37:13.5834 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500,-0.23,-2.159, 2.613,-1.694,-2.288, PHS= 0.231,-1.337, 0.550, RAW= 159.1, 6.4, CAL= 158.4, 6.2, ROT= 351.6, -6.2 2025-10-27T03:37:12.516Z,1761536232.516 [DAT](INFO): got valid direction response: 03:37:13.5834 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500,-0.23,-2.159, 2.613,-1.694,-2.288, PHS= 0.231,-1.337, 0.550, RAW= 159.1, 6.4, CAL= 158.4, 6.2, ROT= 351.6, -6.2 2025-10-27T03:37:12.516Z,1761536232.516 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T03:37:12.517Z,1761536232.517 [DAT](INFO): direction in FSK: [0.983486,-0.145229,0.107999] 2025-10-27T03:37:12.517Z,1761536232.517 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:12.525Z,1761536232.525 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.461237 2025-10-27T03:37:12.702Z,1761536232.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411841,0.889454,0.198140],[-0.898175,-0.432927,0.076528],[0.153849,-0.146447,0.977182]] 2025-10-27T03:37:12.721Z,1761536232.721 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.656601 2025-10-27T03:37:12.762Z,1761536232.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.504283 s, deltaX: -0.299999 m, approachRate: -0.594903 m/s, rangeRepo size: 4 2025-10-27T03:37:12.765Z,1761536232.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.989223 m, bearing: 237.732232 deg, lat: 36.779335 deg, lon: -121.859586 deg, deltaT: 0.504283 s, deltaX: -0.298727 m, approachRate: -0.592380 m/s, posRepo size: 4 2025-10-27T03:37:12.765Z,1761536232.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m. 2025-10-27T03:37:12.768Z,1761536232.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.989223 m, nav range: 24.700417 m, bearing: 237.735273 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 243.573370 deg, new cmd heading: 243.298855 deg. 2025-10-27T03:37:12.769Z,1761536232.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246366 target range: 25.989223 and range: 26.10 m. 2025-10-27T03:37:12.973Z,1761536232.973 [DAT](INFO): DAT read: Rx Time:03:37:14.0833 2025-10-27T03:37:12.974Z,1761536232.974 [DAT](INFO): Rx dataTimestamp_ set to:1761536232.973654 2025-10-27T03:37:12.977Z,1761536232.977 [DAT](INFO): DAT read: Bearing 34.2, -0.9 (Local) 2025-10-27T03:37:12.977Z,1761536232.977 [DAT](INFO): Local bearing/azimuth received: Bearing 34.2, -0.9 (Local) 2025-10-27T03:37:12.982Z,1761536232.982 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.4 2025-10-27T03:37:12.990Z,1761536232.990 [DAT](INFO): DAT read: 03:37:14.0833 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.16,-1.858, 2.969,-1.407,-1.910, PHS= 0.154,-1.359, 0.460, RAW= 159.0, 8.9, CAL= 158.8, 9.3, ROT= 351.2, -9.3 2025-10-27T03:37:12.996Z,1761536232.996 [DAT](INFO): got valid direction response: 03:37:14.0833 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.16,-1.858, 2.969,-1.407,-1.910, PHS= 0.154,-1.359, 0.460, RAW= 159.0, 8.9, CAL= 158.8, 9.3, ROT= 351.2, -9.3 2025-10-27T03:37:12.997Z,1761536232.997 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T03:37:12.998Z,1761536232.998 [DAT](INFO): direction in FSK: [0.975239,-0.150975,0.161604] 2025-10-27T03:37:12.999Z,1761536232.999 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:13.017Z,1761536233.017 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.952612 2025-10-27T03:37:13.149Z,1761536233.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.503361 s, deltaX: -0.300001 m, approachRate: -0.595996 m/s, rangeRepo size: 4 2025-10-27T03:37:13.155Z,1761536233.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.690496 m, bearing: 237.735787 deg, lat: 36.779335 deg, lon: -121.859586 deg, deltaT: 0.503361 s, deltaX: -0.298727 m, approachRate: -0.593465 m/s, posRepo size: 4 2025-10-27T03:37:13.156Z,1761536233.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.69 m. 2025-10-27T03:37:13.163Z,1761536233.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.690496 m, nav range: 24.484632 m, bearing: 237.644474 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 243.298851 deg, new cmd heading: 243.067761 deg. 2025-10-27T03:37:13.164Z,1761536233.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242333 target range: 25.690496 and range: 25.80 m. 2025-10-27T03:37:13.225Z,1761536233.225 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.160868 2025-10-27T03:37:13.477Z,1761536233.477 [DAT](INFO): DAT read: Rx Time:03:37:14.5832 2025-10-27T03:37:13.478Z,1761536233.478 [DAT](INFO): Rx dataTimestamp_ set to:1761536233.477844 2025-10-27T03:37:13.481Z,1761536233.481 [DAT](INFO): DAT read: Bearing 23.3, -3.2 (Local) 2025-10-27T03:37:13.481Z,1761536233.481 [DAT](INFO): Local bearing/azimuth received: Bearing 23.3, -3.2 (Local) 2025-10-27T03:37:13.485Z,1761536233.485 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.5 2025-10-27T03:37:13.490Z,1761536233.490 [DAT](INFO): DAT read: 03:37:14.5832 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.05,-0.181,-1.716, 0.492,-0.401, PHS= 0.322,-1.270, 0.849, RAW= 163.8, 1.0, CAL= 162.6, -0.9, ROT= 347.4, 0.9 2025-10-27T03:37:13.491Z,1761536233.491 [DAT](INFO): got valid direction response: 03:37:14.5832 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.05,-0.181,-1.716, 0.492,-0.401, PHS= 0.322,-1.270, 0.849, RAW= 163.8, 1.0, CAL= 162.6, -0.9, ROT= 347.4, 0.9 2025-10-27T03:37:13.492Z,1761536233.492 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T03:37:13.493Z,1761536233.493 [DAT](INFO): direction in FSK: [0.975796,-0.218116,-0.015707] 2025-10-27T03:37:13.493Z,1761536233.493 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:13.509Z,1761536233.509 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.445023 2025-10-27T03:37:13.562Z,1761536233.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415406,0.886863,0.202268],[-0.896319,-0.436986,0.075198],[0.155079,-0.150058,0.976439]] 2025-10-27T03:37:13.606Z,1761536233.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504190 s, deltaX: -0.099998 m, approachRate: -0.198335 m/s, rangeRepo size: 4 2025-10-27T03:37:13.617Z,1761536233.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.590952 m, bearing: 232.358181 deg, lat: 36.779334 deg, lon: -121.859586 deg, deltaT: 0.504190 s, deltaX: -0.099545 m, approachRate: -0.197435 m/s, posRepo size: 4 2025-10-27T03:37:13.617Z,1761536233.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.59 m. 2025-10-27T03:37:13.645Z,1761536233.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.590952 m, nav range: 24.210518 m, bearing: 237.505804 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 243.067772 deg, new cmd heading: 242.794569 deg. 2025-10-27T03:37:13.656Z,1761536233.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237565 target range: 25.590952 and range: 25.70 m. 2025-10-27T03:37:13.731Z,1761536233.731 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.667114 2025-10-27T03:37:13.982Z,1761536233.982 [DAT](INFO): DAT read: Rx Time:03:37:15.0829 2025-10-27T03:37:13.983Z,1761536233.983 [DAT](INFO): Rx dataTimestamp_ set to:1761536233.982285 2025-10-27T03:37:13.985Z,1761536233.985 [DAT](INFO): DAT read: Bearing 31.8, -0.8 (Local) 2025-10-27T03:37:13.986Z,1761536233.986 [DAT](INFO): Local bearing/azimuth received: Bearing 31.8, -0.8 (Local) 2025-10-27T03:37:13.988Z,1761536233.988 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.5 2025-10-27T03:37:13.993Z,1761536233.993 [DAT](INFO): DAT read: 03:37:15.0829 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.02,-1.865, 2.930,-1.395,-1.966, PHS= 0.203,-1.342, 0.527, RAW= 159.3, 7.1, CAL= 158.8, 7.1, ROT= 351.2, -7.1 2025-10-27T03:37:13.994Z,1761536233.994 [DAT](INFO): got valid direction response: 03:37:15.0829 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.02,-1.865, 2.930,-1.395,-1.966, PHS= 0.203,-1.342, 0.527, RAW= 159.3, 7.1, CAL= 158.8, 7.1, ROT= 351.2, -7.1 2025-10-27T03:37:13.994Z,1761536233.994 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T03:37:13.995Z,1761536233.995 [DAT](INFO): direction in FSK: [0.980651,-0.151812,0.123601] 2025-10-27T03:37:13.996Z,1761536233.996 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:14.024Z,1761536234.024 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.959835 2025-10-27T03:37:14.057Z,1761536234.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417042,0.885825,0.203445],[-0.895578,-0.438674,0.074196],[0.154970,-0.151258,0.976271]] 2025-10-27T03:37:14.176Z,1761536234.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504441 s, deltaX: -0.500000 m, approachRate: -0.991196 m/s, rangeRepo size: 4 2025-10-27T03:37:14.178Z,1761536234.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.093073 m, bearing: 237.142454 deg, lat: 36.779333 deg, lon: -121.859586 deg, deltaT: 0.504441 s, deltaX: -0.497879 m, approachRate: -0.986992 m/s, posRepo size: 4 2025-10-27T03:37:14.179Z,1761536234.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.09 m. 2025-10-27T03:37:14.186Z,1761536234.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.093073 m, nav range: 23.960365 m, bearing: 237.125039 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 242.794565 deg, new cmd heading: 242.456566 deg. 2025-10-27T03:37:14.186Z,1761536234.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231666 target range: 25.093073 and range: 25.20 m. 2025-10-27T03:37:14.232Z,1761536234.232 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.168053 2025-10-27T03:37:14.486Z,1761536234.486 [DAT](INFO): DAT read: Rx Time:03:37:15.5828 2025-10-27T03:37:14.486Z,1761536234.486 [DAT](INFO): Rx dataTimestamp_ set to:1761536234.486023 2025-10-27T03:37:14.488Z,1761536234.488 [DAT](INFO): DAT read: Bearing 31.7, -1.2 (Local) 2025-10-27T03:37:14.488Z,1761536234.488 [DAT](INFO): Local bearing/azimuth received: Bearing 31.7, -1.2 (Local) 2025-10-27T03:37:14.490Z,1761536234.490 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.5 2025-10-27T03:37:14.520Z,1761536234.520 [DAT](INFO): DAT read: 03:37:15.5828 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.08,-0.345,-1.839, 0.141,-0.444, PHS= 0.201,-1.350, 0.542, RAW= 159.7, 7.0, CAL= 159.2, 6.9, ROT= 350.8, -6.9 2025-10-27T03:37:14.521Z,1761536234.521 [DAT](INFO): got valid direction response: 03:37:15.5828 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.08,-0.345,-1.839, 0.141,-0.444, PHS= 0.201,-1.350, 0.542, RAW= 159.7, 7.0, CAL= 159.2, 6.9, ROT= 350.8, -6.9 2025-10-27T03:37:14.522Z,1761536234.522 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T03:37:14.523Z,1761536234.523 [DAT](INFO): direction in FSK: [0.979987,-0.158723,0.120137] 2025-10-27T03:37:14.523Z,1761536234.523 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:14.527Z,1761536234.527 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.462524 2025-10-27T03:37:14.545Z,1761536234.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419660,0.884369,0.204394],[-0.894464,-0.441216,0.072544],[0.154337,-0.152380,0.976197]] 2025-10-27T03:37:14.593Z,1761536234.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503738 s, deltaX: -0.100000 m, approachRate: -0.198517 m/s, rangeRepo size: 4 2025-10-27T03:37:14.595Z,1761536234.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.993559 m, bearing: 236.549343 deg, lat: 36.779333 deg, lon: -121.859586 deg, deltaT: 0.503738 s, deltaX: -0.099514 m, approachRate: -0.197551 m/s, posRepo size: 4 2025-10-27T03:37:14.596Z,1761536234.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m. 2025-10-27T03:37:14.603Z,1761536234.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.993559 m, nav range: 23.743378 m, bearing: 236.984094 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 242.456580 deg, new cmd heading: 242.204761 deg. 2025-10-27T03:37:14.604Z,1761536234.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.227271 target range: 24.993559 and range: 25.10 m. 2025-10-27T03:37:14.736Z,1761536234.736 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.671974 2025-10-27T03:37:14.989Z,1761536234.989 [DAT](INFO): DAT read: Rx Time:03:37:16.0825 2025-10-27T03:37:14.989Z,1761536234.989 [DAT](INFO): Rx dataTimestamp_ set to:1761536234.988856 2025-10-27T03:37:14.990Z,1761536234.990 [DAT](INFO): DAT read: Bearing 34.0, -2.3 (Local) 2025-10-27T03:37:14.991Z,1761536234.991 [DAT](INFO): Local bearing/azimuth received: Bearing 34.0, -2.3 (Local) 2025-10-27T03:37:14.993Z,1761536234.993 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.5 2025-10-27T03:37:14.998Z,1761536234.998 [DAT](INFO): DAT read: 03:37:16.0825 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505,-0.17,-1.372,-2.819,-0.877,-1.407, PHS= 0.137,-1.366, 0.486, RAW= 160.2, 8.8, CAL= 160.0, 9.2, ROT= 350.0, -9.2 2025-10-27T03:37:14.999Z,1761536234.999 [DAT](INFO): got valid direction response: 03:37:16.0825 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505,-0.17,-1.372,-2.819,-0.877,-1.407, PHS= 0.137,-1.366, 0.486, RAW= 160.2, 8.8, CAL= 160.0, 9.2, ROT= 350.0, -9.2 2025-10-27T03:37:14.999Z,1761536234.999 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T03:37:14.000Z,1761536235.000 [DAT](INFO): direction in FSK: [0.972139,-0.171414,0.159881] 2025-10-27T03:37:15.000Z,1761536235.000 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:15.048Z,1761536235.048 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.984058 2025-10-27T03:37:15.131Z,1761536235.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.502833 s, deltaX: -0.300001 m, approachRate: -0.596622 m/s, rangeRepo size: 4 2025-10-27T03:37:15.133Z,1761536235.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.694830 m, bearing: 236.040068 deg, lat: 36.779332 deg, lon: -121.859584 deg, deltaT: 0.502833 s, deltaX: -0.298729 m, approachRate: -0.594092 m/s, posRepo size: 4 2025-10-27T03:37:15.134Z,1761536235.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.69 m. 2025-10-27T03:37:15.141Z,1761536235.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.694830 m, nav range: 23.398407 m, bearing: 236.215275 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 242.204764 deg, new cmd heading: 241.885652 deg. 2025-10-27T03:37:15.142Z,1761536235.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221701 target range: 24.694830 and range: 24.80 m. 2025-10-27T03:37:15.240Z,1761536235.240 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.175974 2025-10-27T03:37:15.493Z,1761536235.493 [DAT](INFO): DAT read: Rx Time:03:37:16.5824 2025-10-27T03:37:15.494Z,1761536235.494 [DAT](INFO): Rx dataTimestamp_ set to:1761536235.493685 2025-10-27T03:37:15.495Z,1761536235.495 [DAT](INFO): DAT read: Bearing 32.3, -1.6 (Local) 2025-10-27T03:37:15.496Z,1761536235.496 [DAT](INFO): Local bearing/azimuth received: Bearing 32.3, -1.6 (Local) 2025-10-27T03:37:15.498Z,1761536235.498 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.5 2025-10-27T03:37:15.502Z,1761536235.502 [DAT](INFO): DAT read: 03:37:16.5824 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.13,-0.621,-2.062,-0.132,-0.701, PHS= 0.182,-1.316, 0.524, RAW= 160.1, 7.2, CAL= 159.6, 7.2, ROT= 350.4, -7.2 2025-10-27T03:37:15.504Z,1761536235.504 [DAT](INFO): got valid direction response: 03:37:16.5824 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.13,-0.621,-2.062,-0.132,-0.701, PHS= 0.182,-1.316, 0.524, RAW= 160.1, 7.2, CAL= 159.6, 7.2, ROT= 350.4, -7.2 2025-10-27T03:37:15.504Z,1761536235.504 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T03:37:15.505Z,1761536235.505 [DAT](INFO): direction in FSK: [0.978221,-0.165454,0.125333] 2025-10-27T03:37:15.505Z,1761536235.505 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:15.537Z,1761536235.537 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.472879 2025-10-27T03:37:15.624Z,1761536235.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422323,0.885919,0.191811],[-0.893304,-0.442677,0.077749],[0.153790,-0.138510,0.978347]] 2025-10-27T03:37:15.721Z,1761536235.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504829 s, deltaX: -0.199999 m, approachRate: -0.396171 m/s, rangeRepo size: 4 2025-10-27T03:37:15.735Z,1761536235.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.496040 m, bearing: 235.889542 deg, lat: 36.779331 deg, lon: -121.859586 deg, deltaT: 0.504829 s, deltaX: -0.198790 m, approachRate: -0.393776 m/s, posRepo size: 4 2025-10-27T03:37:15.736Z,1761536235.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m. 2025-10-27T03:37:15.744Z,1761536235.744 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.679972 2025-10-27T03:37:15.744Z,1761536235.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.496040 m, nav range: 23.295654 m, bearing: 236.219093 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 241.885658 deg, new cmd heading: 241.539747 deg. 2025-10-27T03:37:15.745Z,1761536235.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215664 target range: 24.496040 and range: 24.60 m. 2025-10-27T03:37:15.997Z,1761536235.997 [DAT](INFO): DAT read: Rx Time:03:37:17.0821 2025-10-27T03:37:15.997Z,1761536235.997 [DAT](INFO): Rx dataTimestamp_ set to:1761536235.997163 2025-10-27T03:37:15.999Z,1761536235.999 [DAT](INFO): DAT read: Bearing 37.0, -3.9 (Local) 2025-10-27T03:37:15.999Z,1761536235.999 [DAT](INFO): Local bearing/azimuth received: Bearing 37.0, -3.9 (Local) 2025-10-27T03:37:16.001Z,1761536236.001 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 2025-10-27T03:37:16.006Z,1761536236.006 [DAT](INFO): DAT read: 03:37:17.0821 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02,-3.035, 1.842,-2.517,-2.991, PHS= 0.058,-1.406, 0.430, RAW= 161.1, 10.9, CAL= 161.2, 12.1, ROT= 348.8, -12.1 2025-10-27T03:37:16.008Z,1761536236.008 [DAT](INFO): got valid direction response: 03:37:17.0821 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02,-3.035, 1.842,-2.517,-2.991, PHS= 0.058,-1.406, 0.430, RAW= 161.1, 10.9, CAL= 161.2, 12.1, ROT= 348.8, -12.1 2025-10-27T03:37:16.008Z,1761536236.008 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T03:37:16.009Z,1761536236.009 [DAT](INFO): direction in FSK: [0.959161,-0.189920,0.209619] 2025-10-27T03:37:16.009Z,1761536236.009 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:16.013Z,1761536236.013 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.949045 2025-10-27T03:37:16.182Z,1761536236.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424674,0.885293,0.189492],[-0.892446,-0.444558,0.076862],[0.152285,-0.136471,0.978869]] 2025-10-27T03:37:16.248Z,1761536236.248 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.184357 2025-10-27T03:37:16.250Z,1761536236.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503478 s, deltaX: -0.400000 m, approachRate: -0.794473 m/s, rangeRepo size: 4 2025-10-27T03:37:16.256Z,1761536236.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.097733 m, bearing: 234.657065 deg, lat: 36.779331 deg, lon: -121.859586 deg, deltaT: 0.503478 s, deltaX: -0.398308 m, approachRate: -0.791113 m/s, posRepo size: 4 2025-10-27T03:37:16.257Z,1761536236.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m. 2025-10-27T03:37:16.263Z,1761536236.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.097733 m, nav range: 23.006773 m, bearing: 236.123970 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 241.539750 deg, new cmd heading: 241.218439 deg. 2025-10-27T03:37:16.264Z,1761536236.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210056 target range: 24.097733 and range: 24.20 m. 2025-10-27T03:37:16.501Z,1761536236.501 [DAT](INFO): DAT read: Rx Time:03:37:17.5819 2025-10-27T03:37:16.501Z,1761536236.501 [DAT](INFO): Rx dataTimestamp_ set to:1761536236.500725 2025-10-27T03:37:16.502Z,1761536236.502 [DAT](INFO): DAT read: Bearing 37.6, -4.0 (Local) 2025-10-27T03:37:16.503Z,1761536236.503 [DAT](INFO): Local bearing/azimuth received: Bearing 37.6, -4.0 (Local) 2025-10-27T03:37:16.508Z,1761536236.508 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.4 2025-10-27T03:37:16.514Z,1761536236.514 [DAT](INFO): DAT read: 03:37:17.5819 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.15,-3.103, 1.776,-2.587,-3.049, PHS= 0.048,-1.413, 0.418, RAW= 161.0, 11.3, CAL= 161.2, 12.6, ROT= 348.8, -12.6 2025-10-27T03:37:16.516Z,1761536236.516 [DAT](INFO): got valid direction response: 03:37:17.5819 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.15,-3.103, 1.776,-2.587,-3.049, PHS= 0.048,-1.413, 0.418, RAW= 161.0, 11.3, CAL= 161.2, 12.6, ROT= 348.8, -12.6 2025-10-27T03:37:16.516Z,1761536236.516 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T03:37:16.517Z,1761536236.517 [DAT](INFO): direction in FSK: [0.957330,-0.189557,0.218143] 2025-10-27T03:37:16.517Z,1761536236.517 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:16.521Z,1761536236.521 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.456951 2025-10-27T03:37:16.671Z,1761536236.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425148,0.884196,0.193509],[-0.892483,-0.445123,0.073066],[0.150740,-0.141640,0.978374]] 2025-10-27T03:37:16.755Z,1761536236.755 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.690495 2025-10-27T03:37:16.763Z,1761536236.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503562 s, deltaX: -0.300001 m, approachRate: -0.595758 m/s, rangeRepo size: 4 2025-10-27T03:37:16.765Z,1761536236.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.799078 m, bearing: 234.777134 deg, lat: 36.779331 deg, lon: -121.859582 deg, deltaT: 0.503562 s, deltaX: -0.298655 m, approachRate: -0.593084 m/s, posRepo size: 4 2025-10-27T03:37:16.766Z,1761536236.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m. 2025-10-27T03:37:16.773Z,1761536236.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.799078 m, nav range: 22.501677 m, bearing: 235.589684 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 241.218430 deg, new cmd heading: 240.917192 deg. 2025-10-27T03:37:16.774Z,1761536236.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204798 target range: 23.799078 and range: 23.90 m. 2025-10-27T03:37:17.004Z,1761536237.004 [DAT](INFO): DAT read: Rx Time:03:37:18.0816 2025-10-27T03:37:17.005Z,1761536237.005 [DAT](INFO): Rx dataTimestamp_ set to:1761536237.004630 2025-10-27T03:37:17.006Z,1761536237.006 [DAT](INFO): DAT read: Bearing 37.4, -4.2 (Local) 2025-10-27T03:37:17.006Z,1761536237.006 [DAT](INFO): Local bearing/azimuth received: Bearing 37.4, -4.2 (Local) 2025-10-27T03:37:17.009Z,1761536237.009 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 2025-10-27T03:37:17.013Z,1761536237.013 [DAT](INFO): DAT read: 03:37:18.0816 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.48, 1.172,-0.230, 1.689, 1.224, PHS= 0.050,-1.409, 0.420, RAW= 161.0, 11.2, CAL= 161.2, 12.5, ROT= 348.8, -12.5 2025-10-27T03:37:17.014Z,1761536237.014 [DAT](INFO): got valid direction response: 03:37:18.0816 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.48, 1.172,-0.230, 1.689, 1.224, PHS= 0.050,-1.409, 0.420, RAW= 161.0, 11.2, CAL= 161.2, 12.5, ROT= 348.8, -12.5 2025-10-27T03:37:17.015Z,1761536237.015 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T03:37:17.016Z,1761536237.016 [DAT](INFO): direction in FSK: [0.957703,-0.189631,0.216440] 2025-10-27T03:37:17.016Z,1761536237.016 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:17.019Z,1761536237.019 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.955393 2025-10-27T03:37:17.086Z,1761536237.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425312,0.883187,0.197713],[-0.892714,-0.445325,0.068906],[0.148904,-0.147195,0.977835]] 2025-10-27T03:37:17.176Z,1761536237.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503905 s, deltaX: -0.500000 m, approachRate: -0.992251 m/s, rangeRepo size: 4 2025-10-27T03:37:17.178Z,1761536237.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.301189 m, bearing: 234.850849 deg, lat: 36.779332 deg, lon: -121.859576 deg, deltaT: 0.503905 s, deltaX: -0.497889 m, approachRate: -0.988060 m/s, posRepo size: 4 2025-10-27T03:37:17.183Z,1761536237.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m. 2025-10-27T03:37:17.186Z,1761536237.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.301189 m, nav range: 21.775576 m, bearing: 234.776335 deg, approach rate: 0.000000 m/s, LOS rate: -0.199218 deg/s, cmd heading: 240.917192 deg, new cmd heading: 240.660994 deg. 2025-10-27T03:37:17.191Z,1761536237.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.200327 target range: 23.301189 and range: 23.40 m. 2025-10-27T03:37:17.257Z,1761536237.257 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.192781 2025-10-27T03:37:17.488Z,1761536237.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425875,0.882078,0.201418],[-0.892692,-0.445911,0.065304],[0.147417,-0.151993,0.977326]] 2025-10-27T03:37:17.505Z,1761536237.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:17.509Z,1761536237.509 [DAT](INFO): DAT read: Rx Time:03:37:18.5816 2025-10-27T03:37:17.509Z,1761536237.509 [DAT](INFO): Rx dataTimestamp_ set to:1761536237.508784 2025-10-27T03:37:17.510Z,1761536237.510 [DAT](INFO): DAT read: Bearing 38.9, -6.7 (Local) 2025-10-27T03:37:17.511Z,1761536237.511 [DAT](INFO): Local bearing/azimuth received: Bearing 38.9, -6.7 (Local) 2025-10-27T03:37:17.513Z,1761536237.513 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 2025-10-27T03:37:17.517Z,1761536237.517 [DAT](INFO): DAT read: 03:37:18.5816 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 512,-0.05, 0.709,-0.986, 1.401, 0.844, PHS=-0.032,-1.784, 0.514, RAW= 163.1, 12.5, CAL= 163.5, 14.4, ROT= 346.5, -14.4 2025-10-27T03:37:17.519Z,1761536237.519 [DAT](INFO): got valid direction response: 03:37:18.5816 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 512,-0.05, 0.709,-0.986, 1.401, 0.844, PHS=-0.032,-1.784, 0.514, RAW= 163.1, 12.5, CAL= 163.5, 14.4, ROT= 346.5, -14.4 2025-10-27T03:37:17.519Z,1761536237.519 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T03:37:17.520Z,1761536237.520 [DAT](INFO): direction in FSK: [0.941821,-0.226111,0.248690] 2025-10-27T03:37:17.520Z,1761536237.520 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:17.523Z,1761536237.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m. 2025-10-27T03:37:17.526Z,1761536237.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.301189 m, nav range: 21.603935 m, bearing: 234.729681 deg, approach rate: -0.517706 m/s, LOS rate: -0.141837 deg/s, cmd heading: 240.661005 deg, new cmd heading: 240.519932 deg. 2025-10-27T03:37:17.548Z,1761536237.548 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.484268 2025-10-27T03:37:17.549Z,1761536237.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197865 target range: 23.301189 and range: 23.40 m. 2025-10-27T03:37:17.763Z,1761536237.763 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.699259 2025-10-27T03:37:17.882Z,1761536237.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427138,0.880425,0.205927],[-0.892333,-0.447217,0.061149],[0.145931,-0.157636,0.976655]] 2025-10-27T03:37:18.013Z,1761536238.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:18.017Z,1761536238.017 [DAT](INFO): DAT read: Rx Time:03:37:19.0813 2025-10-27T03:37:18.017Z,1761536238.017 [DAT](INFO): Rx dataTimestamp_ set to:1761536238.016864 2025-10-27T03:37:18.018Z,1761536238.018 [DAT](INFO): DAT read: Bearing 36.7, -4.1 (Local) 2025-10-27T03:37:18.019Z,1761536238.019 [DAT](INFO): Local bearing/azimuth received: Bearing 36.7, -4.1 (Local) 2025-10-27T03:37:18.021Z,1761536238.021 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4 2025-10-27T03:37:18.026Z,1761536238.026 [DAT](INFO): DAT read: 03:37:19.0813 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.42,-0.101,-1.538, 0.418,-0.066, PHS= 0.066,-1.427, 0.440, RAW= 160.9, 10.8, CAL= 161.0, 11.9, ROT= 349.0, -11.9 2025-10-27T03:37:18.027Z,1761536238.027 [DAT](INFO): got valid direction response: 03:37:19.0813 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.42,-0.101,-1.538, 0.418,-0.066, PHS= 0.066,-1.427, 0.440, RAW= 160.9, 10.8, CAL= 161.0, 11.9, ROT= 349.0, -11.9 2025-10-27T03:37:18.027Z,1761536238.027 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T03:37:18.028Z,1761536238.028 [DAT](INFO): direction in FSK: [0.960531,-0.186708,0.206204] 2025-10-27T03:37:18.028Z,1761536238.028 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:18.031Z,1761536238.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.300894 m, bearing: 232.773132 deg, lat: 36.779330 deg, lon: -121.859576 deg, deltaT: 0.504154 s, deltaX: -0.000296 m, approachRate: -0.000586 m/s, posRepo size: 4 2025-10-27T03:37:18.032Z,1761536238.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m. 2025-10-27T03:37:18.034Z,1761536238.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.300894 m, nav range: 21.429928 m, bearing: 234.338000 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 240.519921 deg, new cmd heading: 240.304962 deg. 2025-10-27T03:37:18.036Z,1761536238.036 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.972223 2025-10-27T03:37:18.038Z,1761536238.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194113 target range: 23.300894 and range: 23.40 m. 2025-10-27T03:37:18.269Z,1761536238.269 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.204651 2025-10-27T03:37:18.385Z,1761536238.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427491,0.879058,0.210973],[-0.892448,-0.447586,0.056601],[0.144185,-0.164086,0.975852]] 2025-10-27T03:37:18.482Z,1761536238.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.508080 s, deltaX: -0.400000 m, approachRate: -0.787277 m/s, rangeRepo size: 4 2025-10-27T03:37:18.488Z,1761536238.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.902859 m, bearing: 235.116466 deg, lat: 36.779332 deg, lon: -121.859576 deg, deltaT: 0.508080 s, deltaX: -0.398035 m, approachRate: -0.783410 m/s, posRepo size: 4 2025-10-27T03:37:18.489Z,1761536238.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m. 2025-10-27T03:37:18.496Z,1761536238.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.902859 m, nav range: 21.162968 m, bearing: 234.586017 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 240.304961 deg, new cmd heading: 240.105334 deg. 2025-10-27T03:37:18.497Z,1761536238.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190629 target range: 22.902859 and range: 23.00 m. 2025-10-27T03:37:18.521Z,1761536238.521 [DAT](INFO): DAT read: Rx Time:03:37:19.5813 2025-10-27T03:37:18.521Z,1761536238.521 [DAT](INFO): Rx dataTimestamp_ set to:1761536238.520821 2025-10-27T03:37:18.522Z,1761536238.522 [DAT](INFO): DAT read: Bearing 35.8, -3.9 (Local) 2025-10-27T03:37:18.523Z,1761536238.523 [DAT](INFO): Local bearing/azimuth received: Bearing 35.8, -3.9 (Local) 2025-10-27T03:37:18.525Z,1761536238.525 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4 2025-10-27T03:37:18.529Z,1761536238.529 [DAT](INFO): DAT read: 03:37:19.5813 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.00,-0.032,-1.483, 0.486,-0.016, PHS= 0.086,-1.422, 0.458, RAW= 160.8, 10.2, CAL= 160.7, 11.1, ROT= 349.3, -11.1 2025-10-27T03:37:18.531Z,1761536238.531 [DAT](INFO): got valid direction response: 03:37:19.5813 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.00,-0.032,-1.483, 0.486,-0.016, PHS= 0.086,-1.422, 0.458, RAW= 160.8, 10.2, CAL= 160.7, 11.1, ROT= 349.3, -11.1 2025-10-27T03:37:18.531Z,1761536238.531 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T03:37:18.532Z,1761536238.532 [DAT](INFO): direction in FSK: [0.964231,-0.182193,0.192522] 2025-10-27T03:37:18.532Z,1761536238.532 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:18.544Z,1761536238.544 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.479980 2025-10-27T03:37:18.776Z,1761536238.776 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.711143 2025-10-27T03:37:18.918Z,1761536238.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:18.940Z,1761536238.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.902859 m, bearing: 235.305227 deg, lat: 36.779332 deg, lon: -121.859576 deg, deltaT: 0.503957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:37:18.947Z,1761536238.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m. 2025-10-27T03:37:18.958Z,1761536238.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.902859 m, nav range: 20.944561 m, bearing: 234.562195 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 240.105328 deg, new cmd heading: 239.929822 deg. 2025-10-27T03:37:18.964Z,1761536238.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187565 target range: 22.902859 and range: 23.00 m. 2025-10-27T03:37:19.026Z,1761536239.026 [DAT](INFO): DAT read: Rx Time:03:37:20.0810 2025-10-27T03:37:19.026Z,1761536239.026 [DAT](INFO): Rx dataTimestamp_ set to:1761536239.026171 2025-10-27T03:37:19.028Z,1761536239.028 [DAT](INFO): DAT read: Bearing 35.5, -3.7 (Local) 2025-10-27T03:37:19.029Z,1761536239.029 [DAT](INFO): Local bearing/azimuth received: Bearing 35.5, -3.7 (Local) 2025-10-27T03:37:19.032Z,1761536239.032 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 2025-10-27T03:37:19.039Z,1761536239.039 [DAT](INFO): DAT read: 03:37:20.0810 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.43,-1.806, 3.022,-1.298,-1.798, PHS= 0.094,-1.418, 0.457, RAW= 160.5, 10.1, CAL= 160.5, 10.9, ROT= 349.5, -10.9 2025-10-27T03:37:19.040Z,1761536239.040 [DAT](INFO): got valid direction response: 03:37:20.0810 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.43,-1.806, 3.022,-1.298,-1.798, PHS= 0.094,-1.418, 0.457, RAW= 160.5, 10.1, CAL= 160.5, 10.9, ROT= 349.5, -10.9 2025-10-27T03:37:19.041Z,1761536239.041 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T03:37:19.042Z,1761536239.042 [DAT](INFO): direction in FSK: [0.965516,-0.178948,0.189095] 2025-10-27T03:37:19.043Z,1761536239.043 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:19.048Z,1761536239.048 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.983582 2025-10-27T03:37:19.276Z,1761536239.276 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.211937 2025-10-27T03:37:19.349Z,1761536239.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.505350 s, deltaX: -0.500000 m, approachRate: -0.989413 m/s, rangeRepo size: 4 2025-10-27T03:37:19.351Z,1761536239.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.404873 m, bearing: 235.482182 deg, lat: 36.779332 deg, lon: -121.859578 deg, deltaT: 0.505350 s, deltaX: -0.497986 m, approachRate: -0.985428 m/s, posRepo size: 4 2025-10-27T03:37:19.352Z,1761536239.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m. 2025-10-27T03:37:19.355Z,1761536239.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.404873 m, nav range: 20.851412 m, bearing: 235.080990 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 239.929820 deg, new cmd heading: 239.736388 deg. 2025-10-27T03:37:19.356Z,1761536239.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.184189 target range: 22.404873 and range: 22.50 m. 2025-10-27T03:37:19.529Z,1761536239.529 [DAT](INFO): DAT read: Rx Time:03:37:20.5810 2025-10-27T03:37:19.529Z,1761536239.529 [DAT](INFO): Rx dataTimestamp_ set to:1761536239.528813 2025-10-27T03:37:19.530Z,1761536239.530 [DAT](INFO): DAT read: Bearing 35.7, -3.3 (Local) 2025-10-27T03:37:19.531Z,1761536239.531 [DAT](INFO): Local bearing/azimuth received: Bearing 35.7, -3.3 (Local) 2025-10-27T03:37:19.533Z,1761536239.533 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 2025-10-27T03:37:19.545Z,1761536239.545 [DAT](INFO): DAT read: 03:37:20.5810 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.06, 1.221,-0.234, 1.709, 1.226, PHS= 0.097,-1.415, 0.439, RAW= 160.0, 10.3, CAL= 160.0, 11.2, ROT= 350.0, -11.2 2025-10-27T03:37:19.546Z,1761536239.546 [DAT](INFO): got valid direction response: 03:37:20.5810 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.06, 1.221,-0.234, 1.709, 1.226, PHS= 0.097,-1.415, 0.439, RAW= 160.0, 10.3, CAL= 160.0, 11.2, ROT= 350.0, -11.2 2025-10-27T03:37:19.551Z,1761536239.551 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T03:37:19.552Z,1761536239.552 [DAT](INFO): direction in FSK: [0.966052,-0.170341,0.194234] 2025-10-27T03:37:19.553Z,1761536239.553 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:19.575Z,1761536239.575 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.502745 2025-10-27T03:37:19.686Z,1761536239.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432921,0.875300,0.215475],[-0.890213,-0.452734,0.050524],[0.141777,-0.169945,0.975202]] 2025-10-27T03:37:19.783Z,1761536239.783 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.718266 2025-10-27T03:37:19.800Z,1761536239.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.502642 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:19.802Z,1761536239.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.404873 m, bearing: 235.794907 deg, lat: 36.779332 deg, lon: -121.859580 deg, deltaT: 0.502642 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:37:19.802Z,1761536239.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m. 2025-10-27T03:37:19.809Z,1761536239.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.404873 m, nav range: 20.815769 m, bearing: 235.342571 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 239.736389 deg, new cmd heading: 239.544789 deg. 2025-10-27T03:37:19.810Z,1761536239.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180845 target range: 22.404873 and range: 22.50 m. 2025-10-27T03:37:20.033Z,1761536240.033 [DAT](INFO): DAT read: Rx Time:03:37:21.0808 2025-10-27T03:37:20.034Z,1761536240.034 [DAT](INFO): Rx dataTimestamp_ set to:1761536240.033689 2025-10-27T03:37:20.036Z,1761536240.036 [DAT](INFO): DAT read: Bearing 35.7, -3.0 (Local) 2025-10-27T03:37:20.036Z,1761536240.036 [DAT](INFO): Local bearing/azimuth received: Bearing 35.7, -3.0 (Local) 2025-10-27T03:37:20.038Z,1761536240.038 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4 2025-10-27T03:37:20.043Z,1761536240.043 [DAT](INFO): DAT read: 03:37:21.0808 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 504,-0.20,-1.413,-2.880,-0.935,-1.410, PHS= 0.099,-1.425, 0.431, RAW= 159.7, 10.5, CAL= 159.7, 11.4, ROT= 350.3, -11.4 2025-10-27T03:37:20.044Z,1761536240.044 [DAT](INFO): got valid direction response: 03:37:21.0808 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 504,-0.20,-1.413,-2.880,-0.935,-1.410, PHS= 0.099,-1.425, 0.431, RAW= 159.7, 10.5, CAL= 159.7, 11.4, ROT= 350.3, -11.4 2025-10-27T03:37:20.044Z,1761536240.044 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T03:37:20.045Z,1761536240.045 [DAT](INFO): direction in FSK: [0.966257,-0.165165,0.197657] 2025-10-27T03:37:20.046Z,1761536240.046 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:20.055Z,1761536240.055 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.990751 2025-10-27T03:37:20.220Z,1761536240.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504876 s, deltaX: -0.299999 m, approachRate: -0.594204 m/s, rangeRepo size: 4 2025-10-27T03:37:20.222Z,1761536240.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.106142 m, bearing: 236.138859 deg, lat: 36.779333 deg, lon: -121.859581 deg, deltaT: 0.504876 s, deltaX: -0.298731 m, approachRate: -0.591692 m/s, posRepo size: 4 2025-10-27T03:37:20.222Z,1761536240.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.11 m. 2025-10-27T03:37:20.225Z,1761536240.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.106142 m, nav range: 20.671080 m, bearing: 235.676432 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 239.544788 deg, new cmd heading: 239.366020 deg. 2025-10-27T03:37:20.226Z,1761536240.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177725 target range: 22.106142 and range: 22.20 m. 2025-10-27T03:37:20.285Z,1761536240.285 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.221020 2025-10-27T03:37:20.537Z,1761536240.537 [DAT](INFO): DAT read: Rx Time:03:37:21.5806 2025-10-27T03:37:20.537Z,1761536240.537 [DAT](INFO): Rx dataTimestamp_ set to:1761536240.536740 2025-10-27T03:37:20.538Z,1761536240.538 [DAT](INFO): DAT read: Bearing 34.2, -1.9 (Local) 2025-10-27T03:37:20.539Z,1761536240.539 [DAT](INFO): Local bearing/azimuth received: Bearing 34.2, -1.9 (Local) 2025-10-27T03:37:20.541Z,1761536240.541 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-27T03:37:20.545Z,1761536240.545 [DAT](INFO): DAT read: 03:37:21.5806 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.39,-0.831,-2.342,-0.367,-0.875, PHS= 0.146,-1.422, 0.464, RAW= 159.1, 9.3, CAL= 158.9, 9.9, ROT= 351.1, -9.9 2025-10-27T03:37:20.547Z,1761536240.547 [DAT](INFO): got valid direction response: 03:37:21.5806 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.39,-0.831,-2.342,-0.367,-0.875, PHS= 0.146,-1.422, 0.464, RAW= 159.1, 9.3, CAL= 158.9, 9.9, ROT= 351.1, -9.9 2025-10-27T03:37:20.547Z,1761536240.547 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T03:37:20.548Z,1761536240.548 [DAT](INFO): direction in FSK: [0.973248,-0.152407,0.171929] 2025-10-27T03:37:20.548Z,1761536240.548 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:20.552Z,1761536240.552 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.487938 2025-10-27T03:37:20.564Z,1761536240.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442925,0.865623,0.233484],[-0.884969,-0.463852,0.040885],[0.143693,-0.188517,0.971501]] 2025-10-27T03:37:20.660Z,1761536240.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503051 s, deltaX: -0.300001 m, approachRate: -0.596363 m/s, rangeRepo size: 4 2025-10-27T03:37:20.662Z,1761536240.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.807407 m, bearing: 236.285668 deg, lat: 36.779333 deg, lon: -121.859582 deg, deltaT: 0.503051 s, deltaX: -0.298735 m, approachRate: -0.593846 m/s, posRepo size: 4 2025-10-27T03:37:20.667Z,1761536240.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.81 m. 2025-10-27T03:37:20.670Z,1761536240.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.807407 m, nav range: 20.518515 m, bearing: 235.752536 deg, approach rate: 0.000000 m/s, LOS rate: -0.141837 deg/s, cmd heading: 239.366029 deg, new cmd heading: 239.178535 deg. 2025-10-27T03:37:20.675Z,1761536240.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174453 target range: 21.807407 and range: 21.90 m. 2025-10-27T03:37:20.792Z,1761536240.792 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.726748 2025-10-27T03:37:21.023Z,1761536241.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447168,0.862164,0.238147],[-0.882568,-0.468556,0.039119],[0.145312,-0.192688,0.970441]] 2025-10-27T03:37:21.041Z,1761536241.041 [DAT](INFO): DAT read: Rx Time:03:37:22.0804 2025-10-27T03:37:21.041Z,1761536241.041 [DAT](INFO): Rx dataTimestamp_ set to:1761536241.040766 2025-10-27T03:37:21.042Z,1761536241.042 [DAT](INFO): DAT read: Bearing 34.6, -1.6 (Local) 2025-10-27T03:37:21.043Z,1761536241.043 [DAT](INFO): Local bearing/azimuth received: Bearing 34.6, -1.6 (Local) 2025-10-27T03:37:21.045Z,1761536241.045 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 2025-10-27T03:37:21.049Z,1761536241.049 [DAT](INFO): DAT read: 03:37:22.0804 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 500,-0.00,-2.366, 2.431,-1.923,-2.399, PHS= 0.136,0.432, RAW= 158.6, 9.9, CAL= 158.5, 10.6, ROT= 351.5, -10.6 2025-10-27T03:37:21.050Z,1761536241.050 [DAT](INFO): unknown deviceResponse_: 03:37:22.0804 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 500,-0.00,-2.366, 2.431,-1.923,-2.399, PHS= 0.136,0.432, RAW= 158.6, 9.9, CAL= 158.5, 10.6, ROT= 351.5, -10.6 2025-10-27T03:37:21.051Z,1761536241.051 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-27T03:37:21.052Z,1761536241.052 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.987427 2025-10-27T03:37:21.132Z,1761536241.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:21.134Z,1761536241.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504026 s, deltaX: -0.299999 m, approachRate: -0.595206 m/s, rangeRepo size: 4 2025-10-27T03:37:21.139Z,1761536241.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.81 m. 2025-10-27T03:37:21.142Z,1761536241.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.807407 m, nav range: 20.262468 m, bearing: 235.713393 deg, approach rate: -0.539967 m/s, LOS rate: -0.083590 deg/s, cmd heading: 239.178526 deg, new cmd heading: 239.059614 deg. 2025-10-27T03:37:21.147Z,1761536241.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172378 target range: 21.807407 and range: 21.60 m. 2025-10-27T03:37:21.292Z,1761536241.292 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.227844 2025-10-27T03:37:21.465Z,1761536241.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452339,0.858586,0.241288],[-0.879655,-0.474098,0.037926],[0.146957,-0.195095,0.969712]] 2025-10-27T03:37:21.490Z,1761536241.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.81 m. 2025-10-27T03:37:21.505Z,1761536241.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.807407 m, nav range: 20.077980 m, bearing: 235.687772 deg, approach rate: -0.518122 m/s, LOS rate: -0.072615 deg/s, cmd heading: 239.059626 deg, new cmd heading: 238.982058 deg. 2025-10-27T03:37:21.506Z,1761536241.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171024 target range: 21.807407 and range: 21.60 m. 2025-10-27T03:37:21.545Z,1761536241.545 [DAT](INFO): DAT read: Rx Time:03:37:22.5803 2025-10-27T03:37:21.545Z,1761536241.545 [DAT](INFO): Rx dataTimestamp_ set to:1761536241.544861 2025-10-27T03:37:21.546Z,1761536241.546 [DAT](INFO): DAT read: Bearing 34.7, -1.1 (Local) 2025-10-27T03:37:21.547Z,1761536241.547 [DAT](INFO): Local bearing/azimuth received: Bearing 34.7, -1.1 (Local) 2025-10-27T03:37:21.549Z,1761536241.549 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 2025-10-27T03:37:21.554Z,1761536241.554 [DAT](INFO): DAT read: 03:37:22.5803 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 500,-0.46,-1.520,-3.015,-1.096,-1.555, PHS= 0.138,-1.415, 0.415, RAW= 158.1, 10.1, CAL= 158.0, 11.0, ROT= 352.0, -11.0 2025-10-27T03:37:21.555Z,1761536241.555 [DAT](INFO): got valid direction response: 03:37:22.5803 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 500,-0.46,-1.520,-3.015,-1.096,-1.555, PHS= 0.138,-1.415, 0.415, RAW= 158.1, 10.1, CAL= 158.0, 11.0, ROT= 352.0, -11.0 2025-10-27T03:37:21.555Z,1761536241.555 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T03:37:21.556Z,1761536241.556 [DAT](INFO): direction in FSK: [0.972074,-0.136616,0.190809] 2025-10-27T03:37:21.556Z,1761536241.556 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:21.560Z,1761536241.560 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.496367 2025-10-27T03:37:21.806Z,1761536241.806 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.741516 2025-10-27T03:37:21.868Z,1761536241.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457857,0.854534,0.245232],[-0.876575,-0.479934,0.035778],[0.148269,-0.198582,0.968804]] 2025-10-27T03:37:22.018Z,1761536242.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504095 s, deltaX: -0.100000 m, approachRate: -0.198376 m/s, rangeRepo size: 4 2025-10-27T03:37:22.024Z,1761536242.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.408997 m, bearing: 236.553771 deg, lat: 36.779334 deg, lon: -121.859582 deg, deltaT: 1.008121 s, deltaX: -0.398411 m, approachRate: -0.395201 m/s, posRepo size: 4 2025-10-27T03:37:22.025Z,1761536242.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m. 2025-10-27T03:37:22.032Z,1761536242.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.408997 m, nav range: 19.729952 m, bearing: 235.989340 deg, approach rate: 0.000000 m/s, LOS rate: -0.072615 deg/s, cmd heading: 238.982063 deg, new cmd heading: 238.867151 deg. 2025-10-27T03:37:22.033Z,1761536242.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169018 target range: 21.408997 and range: 21.50 m. 2025-10-27T03:37:22.049Z,1761536242.049 [DAT](INFO): DAT read: Rx Time:03:37:23.0801 2025-10-27T03:37:22.049Z,1761536242.049 [DAT](INFO): Rx dataTimestamp_ set to:1761536242.048786 2025-10-27T03:37:22.050Z,1761536242.050 [DAT](INFO): DAT read: Bearing 34.2, -0.3 (Local) 2025-10-27T03:37:22.051Z,1761536242.051 [DAT](INFO): Local bearing/azimuth received: Bearing 34.2, -0.3 (Local) 2025-10-27T03:37:22.053Z,1761536242.053 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 2025-10-27T03:37:22.057Z,1761536242.057 [DAT](INFO): DAT read: 03:37:23.0801 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 497, 0.00,-2.142, 2.627,-1.742,-2.198, PHS= 0.157,-1.413, 0.411, RAW= 157.4, 9.9, CAL= 157.3, 10.7, ROT= 352.7, -10.7 2025-10-27T03:37:22.059Z,1761536242.059 [DAT](INFO): got valid direction response: 03:37:23.0801 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 497, 0.00,-2.142, 2.627,-1.742,-2.198, PHS= 0.157,-1.413, 0.411, RAW= 157.4, 9.9, CAL= 157.3, 10.7, ROT= 352.7, -10.7 2025-10-27T03:37:22.059Z,1761536242.059 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T03:37:22.060Z,1761536242.060 [DAT](INFO): direction in FSK: [0.974648,-0.124855,0.185667] 2025-10-27T03:37:22.060Z,1761536242.060 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:22.068Z,1761536242.068 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.004181 2025-10-27T03:37:22.301Z,1761536242.301 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.236725 2025-10-27T03:37:22.407Z,1761536242.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463809,0.851103,0.245976],[-0.873341,-0.485889,0.034466],[0.148851,-0.198835,0.968663]] 2025-10-27T03:37:22.507Z,1761536242.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503925 s, deltaX: -0.299999 m, approachRate: -0.595325 m/s, rangeRepo size: 4 2025-10-27T03:37:22.509Z,1761536242.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.109703 m, bearing: 236.824447 deg, lat: 36.779334 deg, lon: -121.859583 deg, deltaT: 0.503925 s, deltaX: -0.299294 m, approachRate: -0.593925 m/s, posRepo size: 4 2025-10-27T03:37:22.510Z,1761536242.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m. 2025-10-27T03:37:22.518Z,1761536242.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.109703 m, nav range: 19.547279 m, bearing: 236.102713 deg, approach rate: 0.000000 m/s, LOS rate: -0.072615 deg/s, cmd heading: 238.867152 deg, new cmd heading: 238.761557 deg. 2025-10-27T03:37:22.540Z,1761536242.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167175 target range: 21.109703 and range: 21.20 m. 2025-10-27T03:37:22.553Z,1761536242.553 [DAT](INFO): DAT read: Rx Time:03:37:23.5800 2025-10-27T03:37:22.553Z,1761536242.553 [DAT](INFO): Rx dataTimestamp_ set to:1761536242.553097 2025-10-27T03:37:22.555Z,1761536242.555 [DAT](INFO): DAT read: Bearing 32.5, 1.5 (Local) 2025-10-27T03:37:22.555Z,1761536242.555 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, 1.5 (Local) 2025-10-27T03:37:22.557Z,1761536242.557 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 2025-10-27T03:37:22.562Z,1761536242.562 [DAT](INFO): DAT read: 03:37:23.5800 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 512, 0.28, 1.882, 0.095, 2.272, 1.731, PHS= 0.253,-1.590, 0.497, RAW= 156.1, 8.5, CAL= 155.8, 9.0, ROT= 354.2, -9.0 2025-10-27T03:37:22.563Z,1761536242.563 [DAT](INFO): got valid direction response: 03:37:23.5800 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 512, 0.28, 1.882, 0.095, 2.272, 1.731, PHS= 0.253,-1.590, 0.497, RAW= 156.1, 8.5, CAL= 155.8, 9.0, ROT= 354.2, -9.0 2025-10-27T03:37:22.564Z,1761536242.564 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T03:37:22.565Z,1761536242.565 [DAT](INFO): direction in FSK: [0.982632,-0.099812,0.156434] 2025-10-27T03:37:22.565Z,1761536242.565 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:22.569Z,1761536242.569 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.504519 2025-10-27T03:37:22.808Z,1761536242.808 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.743689 2025-10-27T03:37:22.956Z,1761536242.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476320,0.845691,0.240679],[-0.866654,-0.497760,0.033846],[0.148424,-0.192464,0.970014]] 2025-10-27T03:37:23.014Z,1761536243.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504311 s, deltaX: -0.200001 m, approachRate: -0.396582 m/s, rangeRepo size: 4 2025-10-27T03:37:23.016Z,1761536243.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.910553 m, bearing: 237.128058 deg, lat: 36.779334 deg, lon: -121.859586 deg, deltaT: 0.504311 s, deltaX: -0.199150 m, approachRate: -0.394895 m/s, posRepo size: 4 2025-10-27T03:37:23.017Z,1761536243.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m. 2025-10-27T03:37:23.020Z,1761536243.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.910553 m, nav range: 19.433325 m, bearing: 236.362322 deg, approach rate: 0.000000 m/s, LOS rate: -0.072615 deg/s, cmd heading: 238.761557 deg, new cmd heading: 238.650230 deg. 2025-10-27T03:37:23.021Z,1761536243.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165232 target range: 20.910553 and range: 21.00 m. 2025-10-27T03:37:23.058Z,1761536243.058 [DAT](INFO): DAT read: Rx Time:03:37:24.0797 2025-10-27T03:37:23.058Z,1761536243.058 [DAT](INFO): Rx dataTimestamp_ set to:1761536243.057896 2025-10-27T03:37:23.060Z,1761536243.060 [DAT](INFO): DAT read: Bearing 33.7, 0.5 (Local) 2025-10-27T03:37:23.061Z,1761536243.061 [DAT](INFO): Local bearing/azimuth received: Bearing 33.7, 0.5 (Local) 2025-10-27T03:37:23.065Z,1761536243.065 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 2025-10-27T03:37:23.079Z,1761536243.079 [DAT](INFO): DAT read: 03:37:24.0797 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.50, 0.462,-1.065, 0.836, 0.394, PHS= 0.171,-1.414, 0.398, RAW= 156.6, 9.9, CAL= 156.5, 10.7, ROT= 353.5, -10.7 2025-10-27T03:37:23.080Z,1761536243.080 [DAT](INFO): got valid direction response: 03:37:24.0797 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.50, 0.462,-1.065, 0.836, 0.394, PHS= 0.171,-1.414, 0.398, RAW= 156.6, 9.9, CAL= 156.5, 10.7, ROT= 353.5, -10.7 2025-10-27T03:37:23.081Z,1761536243.081 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T03:37:23.082Z,1761536243.082 [DAT](INFO): direction in FSK: [0.976296,-0.111235,0.185667] 2025-10-27T03:37:23.082Z,1761536243.082 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:23.095Z,1761536243.095 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.031181 2025-10-27T03:37:23.310Z,1761536243.310 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.245407 2025-10-27T03:37:23.344Z,1761536243.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504799 s, deltaX: -0.400000 m, approachRate: -0.792394 m/s, rangeRepo size: 4 2025-10-27T03:37:23.346Z,1761536243.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.512123 m, bearing: 236.744902 deg, lat: 36.779334 deg, lon: -121.859587 deg, deltaT: 0.504799 s, deltaX: -0.398430 m, approachRate: -0.789284 m/s, posRepo size: 4 2025-10-27T03:37:23.346Z,1761536243.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m. 2025-10-27T03:37:23.350Z,1761536243.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.512123 m, nav range: 19.310122 m, bearing: 236.438257 deg, approach rate: 0.000000 m/s, LOS rate: -0.072615 deg/s, cmd heading: 238.650225 deg, new cmd heading: 238.578367 deg. 2025-10-27T03:37:23.351Z,1761536243.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163978 target range: 20.512123 and range: 20.60 m. 2025-10-27T03:37:23.560Z,1761536243.560 [DAT](INFO): DAT read: Rx Time:03:37:24.5796 2025-10-27T03:37:23.561Z,1761536243.561 [DAT](INFO): Rx dataTimestamp_ set to:1761536243.560671 2025-10-27T03:37:23.562Z,1761536243.562 [DAT](INFO): DAT read: Bearing 34.3, 0.6 (Local) 2025-10-27T03:37:23.563Z,1761536243.563 [DAT](INFO): Local bearing/azimuth received: Bearing 34.3, 0.6 (Local) 2025-10-27T03:37:23.565Z,1761536243.565 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.5 2025-10-27T03:37:23.569Z,1761536243.569 [DAT](INFO): DAT read: 03:37:24.5796 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.36,-2.839, 1.905,-2.482,-2.898, PHS= 0.162,-1.435, 0.373, RAW= 156.1, 10.5, CAL= 156.1, 11.5, ROT= 353.9, -11.5 2025-10-27T03:37:23.570Z,1761536243.570 [DAT](INFO): got valid direction response: 03:37:24.5796 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.36,-2.839, 1.905,-2.482,-2.898, PHS= 0.162,-1.435, 0.373, RAW= 156.1, 10.5, CAL= 156.1, 11.5, ROT= 353.9, -11.5 2025-10-27T03:37:23.571Z,1761536243.571 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T03:37:23.572Z,1761536243.572 [DAT](INFO): direction in FSK: [0.974376,-0.104131,0.199368] 2025-10-27T03:37:23.572Z,1761536243.572 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:23.576Z,1761536243.576 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.511513 2025-10-27T03:37:23.748Z,1761536243.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489392,0.838957,0.238008],[-0.859532,-0.510150,0.030863],[0.147312,-0.189471,0.970773]] 2025-10-27T03:37:23.781Z,1761536243.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.502775 s, deltaX: -0.200001 m, approachRate: -0.397794 m/s, rangeRepo size: 4 2025-10-27T03:37:23.782Z,1761536243.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.312977 m, bearing: 236.415041 deg, lat: 36.779335 deg, lon: -121.859587 deg, deltaT: 0.502775 s, deltaX: -0.199146 m, approachRate: -0.396094 m/s, posRepo size: 4 2025-10-27T03:37:23.789Z,1761536243.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m. 2025-10-27T03:37:23.815Z,1761536243.815 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.750044 2025-10-27T03:37:23.816Z,1761536243.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.312977 m, nav range: 19.021786 m, bearing: 236.506767 deg, approach rate: 0.000000 m/s, LOS rate: -0.072615 deg/s, cmd heading: 238.578371 deg, new cmd heading: 238.483193 deg. 2025-10-27T03:37:23.825Z,1761536243.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162317 target range: 20.312977 and range: 20.40 m. 2025-10-27T03:37:23.934Z,1761536243.934 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:37:24.064Z,1761536244.064 [DAT](INFO): DAT read: Rx Time:03:37:25.0794 2025-10-27T03:37:24.065Z,1761536244.065 [DAT](INFO): Rx dataTimestamp_ set to:1761536244.064680 2025-10-27T03:37:24.066Z,1761536244.066 [DAT](INFO): DAT read: Bearing 34.0, 0.8 (Local) 2025-10-27T03:37:24.067Z,1761536244.067 [DAT](INFO): Local bearing/azimuth received: Bearing 34.0, 0.8 (Local) 2025-10-27T03:37:24.069Z,1761536244.069 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.5 2025-10-27T03:37:24.073Z,1761536244.073 [DAT](INFO): DAT read: 03:37:25.0794 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.15, 2.470, 0.931, 2.819, 2.406, PHS= 0.166,-1.430, 0.369, RAW= 155.9, 10.5, CAL= 155.8, 11.5, ROT= 354.2, -11.5 2025-10-27T03:37:24.074Z,1761536244.074 [DAT](INFO): got valid direction response: 03:37:25.0794 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.15, 2.470, 0.931, 2.819, 2.406, PHS= 0.166,-1.430, 0.369, RAW= 155.9, 10.5, CAL= 155.8, 11.5, ROT= 354.2, -11.5 2025-10-27T03:37:24.075Z,1761536244.075 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T03:37:24.076Z,1761536244.076 [DAT](INFO): direction in FSK: [0.974908,-0.099027,0.199368] 2025-10-27T03:37:24.076Z,1761536244.076 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:24.080Z,1761536244.080 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.015770 2025-10-27T03:37:24.122Z,1761536244.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495734,0.835460,0.237179],[-0.856014,-0.516143,0.028930],[0.146588,-0.188687,0.971035]] 2025-10-27T03:37:24.260Z,1761536244.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504009 s, deltaX: -0.299999 m, approachRate: -0.595226 m/s, rangeRepo size: 4 2025-10-27T03:37:24.262Z,1761536244.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.014256 m, bearing: 236.294328 deg, lat: 36.779335 deg, lon: -121.859587 deg, deltaT: 0.504009 s, deltaX: -0.298721 m, approachRate: -0.592690 m/s, posRepo size: 4 2025-10-27T03:37:24.267Z,1761536244.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.01 m. 2025-10-27T03:37:24.270Z,1761536244.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.014256 m, nav range: 18.742393 m, bearing: 236.384965 deg, approach rate: 0.000000 m/s, LOS rate: -0.072615 deg/s, cmd heading: 238.483186 deg, new cmd heading: 238.378720 deg. 2025-10-27T03:37:24.271Z,1761536244.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160493 target range: 20.014256 and range: 20.10 m. 2025-10-27T03:37:24.317Z,1761536244.317 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.252724 2025-10-27T03:37:24.557Z,1761536244.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501801,0.831370,0.238788],[-0.852531,-0.522032,0.025967],[0.146243,-0.190544,0.970725]] 2025-10-27T03:37:24.569Z,1761536244.569 [DAT](INFO): DAT read: Rx Time:03:37:25.5792 2025-10-27T03:37:24.569Z,1761536244.569 [DAT](INFO): Rx dataTimestamp_ set to:1761536244.568770 2025-10-27T03:37:24.570Z,1761536244.570 [DAT](INFO): DAT read: Bearing 34.7, 0.5 (Local) 2025-10-27T03:37:24.571Z,1761536244.571 [DAT](INFO): Local bearing/azimuth received: Bearing 34.7, 0.5 (Local) 2025-10-27T03:37:24.573Z,1761536244.573 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.5 2025-10-27T03:37:24.581Z,1761536244.581 [DAT](INFO): DAT read: 03:37:25.5792 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.03, 2.560, 1.011, 2.903, 2.514, PHS= 0.147,-1.458, 0.344, RAW= 155.7, 11.3, CAL= 155.8, 12.5, ROT= 354.2, -12.5 2025-10-27T03:37:24.583Z,1761536244.583 [DAT](INFO): got valid direction response: 03:37:25.5792 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.03, 2.560, 1.011, 2.903, 2.514, PHS= 0.147,-1.458, 0.344, RAW= 155.7, 11.3, CAL= 155.8, 12.5, ROT= 354.2, -12.5 2025-10-27T03:37:24.583Z,1761536244.583 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T03:37:24.584Z,1761536244.584 [DAT](INFO): direction in FSK: [0.971298,-0.098661,0.216440] 2025-10-27T03:37:24.584Z,1761536244.584 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:24.588Z,1761536244.588 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.523937 2025-10-27T03:37:24.621Z,1761536244.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504090 s, deltaX: -0.300001 m, approachRate: -0.595134 m/s, rangeRepo size: 4 2025-10-27T03:37:24.623Z,1761536244.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.715517 m, bearing: 236.115850 deg, lat: 36.779335 deg, lon: -121.859586 deg, deltaT: 0.504090 s, deltaX: -0.298738 m, approachRate: -0.592629 m/s, posRepo size: 4 2025-10-27T03:37:24.632Z,1761536244.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.72 m. 2025-10-27T03:37:24.634Z,1761536244.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.715517 m, nav range: 18.488840 m, bearing: 236.217008 deg, approach rate: 0.000000 m/s, LOS rate: -0.072615 deg/s, cmd heading: 238.378711 deg, new cmd heading: 238.300157 deg. 2025-10-27T03:37:24.644Z,1761536244.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159122 target range: 19.715517 and range: 19.80 m. 2025-10-27T03:37:24.823Z,1761536244.823 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.758339 2025-10-27T03:37:24.937Z,1761536244.937 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:37:25.032Z,1761536245.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:25.034Z,1761536245.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.72 m. 2025-10-27T03:37:25.037Z,1761536245.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.715517 m, nav range: 18.237370 m, bearing: 236.105723 deg, approach rate: -0.607217 m/s, LOS rate: -0.272422 deg/s, cmd heading: 238.300164 deg, new cmd heading: 237.961709 deg. 2025-10-27T03:37:25.038Z,1761536245.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153215 target range: 19.715517 and range: 19.80 m. 2025-10-27T03:37:25.073Z,1761536245.073 [DAT](INFO): DAT read: Rx Time:03:37:26.0790 2025-10-27T03:37:25.073Z,1761536245.073 [DAT](INFO): Rx dataTimestamp_ set to:1761536245.072829 2025-10-27T03:37:25.075Z,1761536245.075 [DAT](INFO): DAT read: Bearing 32.9, 1.0 (Local) 2025-10-27T03:37:25.075Z,1761536245.075 [DAT](INFO): Local bearing/azimuth received: Bearing 32.9, 1.0 (Local) 2025-10-27T03:37:25.078Z,1761536245.078 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.5 2025-10-27T03:37:25.085Z,1761536245.085 [DAT](INFO): DAT read: 03:37:26.0790 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501, 0.04, 2.069, 0.488, 2.414, 1.983, PHS= 0.188,-1.451, 0.387, RAW= 155.7, 10.1, CAL= 155.5, 10.9, ROT= 354.5, -10.9 2025-10-27T03:37:25.088Z,1761536245.088 [DAT](INFO): got valid direction response: 03:37:26.0790 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501, 0.04, 2.069, 0.488, 2.414, 1.983, PHS= 0.188,-1.451, 0.387, RAW= 155.7, 10.1, CAL= 155.5, 10.9, ROT= 354.5, -10.9 2025-10-27T03:37:25.089Z,1761536245.089 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T03:37:25.090Z,1761536245.090 [DAT](INFO): direction in FSK: [0.977438,-0.094117,0.189095] 2025-10-27T03:37:25.091Z,1761536245.091 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:25.105Z,1761536245.105 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.041351 2025-10-27T03:37:25.324Z,1761536245.324 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.259846 2025-10-27T03:37:25.376Z,1761536245.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512024,0.825407,0.237770],[-0.846568,-0.531783,0.023023],[0.145446,-0.189500,0.971048]] 2025-10-27T03:37:25.475Z,1761536245.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504059 s, deltaX: -0.400000 m, approachRate: -0.793557 m/s, rangeRepo size: 4 2025-10-27T03:37:25.477Z,1761536245.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.317221 m, bearing: 235.405306 deg, lat: 36.779335 deg, lon: -121.859586 deg, deltaT: 0.504059 s, deltaX: -0.398296 m, approachRate: -0.790178 m/s, posRepo size: 4 2025-10-27T03:37:25.478Z,1761536245.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m. 2025-10-27T03:37:25.485Z,1761536245.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.317221 m, nav range: 18.019672 m, bearing: 235.999583 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 237.961714 deg, new cmd heading: 237.606790 deg. 2025-10-27T03:37:25.486Z,1761536245.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147021 target range: 19.317221 and range: 19.40 m. 2025-10-27T03:37:25.577Z,1761536245.577 [DAT](INFO): DAT read: Rx Time:03:37:26.5789 2025-10-27T03:37:25.577Z,1761536245.577 [DAT](INFO): Rx dataTimestamp_ set to:1761536245.576931 2025-10-27T03:37:25.578Z,1761536245.578 [DAT](INFO): DAT read: Bearing 35.6, -0.1 (Local) 2025-10-27T03:37:25.579Z,1761536245.579 [DAT](INFO): Local bearing/azimuth received: Bearing 35.6, -0.1 (Local) 2025-10-27T03:37:25.581Z,1761536245.581 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 2025-10-27T03:37:25.586Z,1761536245.586 [DAT](INFO): DAT read: 03:37:26.5789 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 500,-0.01,-2.919, 1.854,-2.583,-2.927, PHS= 0.110,-1.457, 0.300, RAW= 155.7, 12.5, CAL= 155.9, 14.0, ROT= 354.1, -14.0 2025-10-27T03:37:25.588Z,1761536245.588 [DAT](INFO): got valid direction response: 03:37:26.5789 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 500,-0.01,-2.919, 1.854,-2.583,-2.927, PHS= 0.110,-1.457, 0.300, RAW= 155.7, 12.5, CAL= 155.9, 14.0, ROT= 354.1, -14.0 2025-10-27T03:37:25.588Z,1761536245.588 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T03:37:25.589Z,1761536245.589 [DAT](INFO): direction in FSK: [0.965156,-0.099739,0.241922] 2025-10-27T03:37:25.589Z,1761536245.589 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:25.593Z,1761536245.593 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.528862 2025-10-27T03:37:25.831Z,1761536245.831 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.766323 2025-10-27T03:37:25.977Z,1761536245.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516220,0.823753,0.234409],[-0.844029,-0.535759,0.024013],[0.145368,-0.185452,0.971842]] 2025-10-27T03:37:26.031Z,1761536246.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504102 s, deltaX: -0.199999 m, approachRate: -0.396743 m/s, rangeRepo size: 4 2025-10-27T03:37:26.033Z,1761536246.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.118076 m, bearing: 235.267288 deg, lat: 36.779335 deg, lon: -121.859586 deg, deltaT: 0.504102 s, deltaX: -0.199144 m, approachRate: -0.395048 m/s, posRepo size: 4 2025-10-27T03:37:26.034Z,1761536246.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m. 2025-10-27T03:37:26.037Z,1761536246.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.118076 m, nav range: 17.655510 m, bearing: 235.853506 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 237.606790 deg, new cmd heading: 237.147394 deg. 2025-10-27T03:37:26.038Z,1761536246.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139003 target range: 19.118076 and range: 19.20 m. 2025-10-27T03:37:26.082Z,1761536246.082 [DAT](INFO): DAT read: Rx Time:03:37:27.0786 2025-10-27T03:37:26.082Z,1761536246.082 [DAT](INFO): Rx dataTimestamp_ set to:1761536246.081851 2025-10-27T03:37:26.084Z,1761536246.084 [DAT](INFO): DAT read: Bearing 34.4, 0.2 (Local) 2025-10-27T03:37:26.085Z,1761536246.085 [DAT](INFO): Local bearing/azimuth received: Bearing 34.4, 0.2 (Local) 2025-10-27T03:37:26.088Z,1761536246.088 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T03:37:26.093Z,1761536246.093 [DAT](INFO): DAT read: 03:37:27.0786 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.01, 2.091, 0.560, 2.428, 2.058, PHS= 0.135,-1.453, 0.326, RAW= 155.6, 11.7, CAL= 155.7, 13.0, ROT= 354.3, -13.0 2025-10-27T03:37:26.094Z,1761536246.094 [DAT](INFO): got valid direction response: 03:37:27.0786 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.01, 2.091, 0.560, 2.428, 2.058, PHS= 0.135,-1.453, 0.326, RAW= 155.6, 11.7, CAL= 155.7, 13.0, ROT= 354.3, -13.0 2025-10-27T03:37:26.095Z,1761536246.095 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T03:37:26.096Z,1761536246.096 [DAT](INFO): direction in FSK: [0.969552,-0.096774,0.224951] 2025-10-27T03:37:26.097Z,1761536246.097 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:26.102Z,1761536246.102 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.038162 2025-10-27T03:37:26.332Z,1761536246.332 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.268356 2025-10-27T03:37:26.492Z,1761536246.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520376,0.821940,0.231569],[-0.841411,-0.539808,0.025218],[0.145730,-0.181722,0.972492]] 2025-10-27T03:37:26.534Z,1761536246.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504920 s, deltaX: -0.400002 m, approachRate: -0.792208 m/s, rangeRepo size: 4 2025-10-27T03:37:26.536Z,1761536246.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.719728 m, bearing: 234.933618 deg, lat: 36.779334 deg, lon: -121.859585 deg, deltaT: 0.504920 s, deltaX: -0.398348 m, approachRate: -0.788933 m/s, posRepo size: 4 2025-10-27T03:37:26.537Z,1761536246.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T03:37:26.540Z,1761536246.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.719728 m, nav range: 17.310015 m, bearing: 235.203420 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 237.147392 deg, new cmd heading: 236.736523 deg. 2025-10-27T03:37:26.541Z,1761536246.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131832 target range: 18.719728 and range: 18.80 m. 2025-10-27T03:37:26.585Z,1761536246.585 [DAT](INFO): DAT read: Rx Time:03:37:27.5785 2025-10-27T03:37:26.585Z,1761536246.585 [DAT](INFO): Rx dataTimestamp_ set to:1761536246.584978 2025-10-27T03:37:26.587Z,1761536246.587 [DAT](INFO): DAT read: Bearing 31.6, 1.7 (Local) 2025-10-27T03:37:26.587Z,1761536246.587 [DAT](INFO): Local bearing/azimuth received: Bearing 31.6, 1.7 (Local) 2025-10-27T03:37:26.589Z,1761536246.589 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T03:37:26.594Z,1761536246.594 [DAT](INFO): DAT read: 03:37:27.5785 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.06,-2.018, 2.480,-1.671,-2.157, PHS= 0.240,-1.601, 0.442, RAW= 155.1, 9.5, CAL= 154.9, 10.2, ROT= 355.1, -10.2 2025-10-27T03:37:26.595Z,1761536246.595 [DAT](INFO): got valid direction response: 03:37:27.5785 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.06,-2.018, 2.480,-1.671,-2.157, PHS= 0.240,-1.601, 0.442, RAW= 155.1, 9.5, CAL= 154.9, 10.2, ROT= 355.1, -10.2 2025-10-27T03:37:26.595Z,1761536246.595 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T03:37:26.596Z,1761536246.596 [DAT](INFO): direction in FSK: [0.980599,-0.084067,0.177085] 2025-10-27T03:37:26.597Z,1761536246.597 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:26.600Z,1761536246.600 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.536392 2025-10-27T03:37:26.836Z,1761536246.836 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.771782 2025-10-27T03:37:27.060Z,1761536247.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503127 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:27.062Z,1761536247.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.719728 m, bearing: 235.221720 deg, lat: 36.779333 deg, lon: -121.859585 deg, deltaT: 0.503127 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:37:27.063Z,1761536247.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m. 2025-10-27T03:37:27.066Z,1761536247.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.719728 m, nav range: 17.065516 m, bearing: 234.939319 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 236.736515 deg, new cmd heading: 236.306297 deg. 2025-10-27T03:37:27.067Z,1761536247.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124323 target range: 18.719728 and range: 18.80 m. 2025-10-27T03:37:27.109Z,1761536247.109 [DAT](INFO): DAT read: Rx Time:03:37:28.0782 2025-10-27T03:37:27.110Z,1761536247.110 [DAT](INFO): Rx dataTimestamp_ set to:1761536247.109766 2025-10-27T03:37:27.112Z,1761536247.112 [DAT](INFO): DAT read: Bearing 33.1, 0.1 (Local) 2025-10-27T03:37:27.113Z,1761536247.113 [DAT](INFO): Local bearing/azimuth received: Bearing 33.1, 0.1 (Local) 2025-10-27T03:37:27.116Z,1761536247.116 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 2025-10-27T03:37:27.122Z,1761536247.122 [DAT](INFO): DAT read: 03:37:28.0782 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.03, 1.879, 0.338, 2.232, 1.832, PHS= 0.149,-1.449, 0.356, RAW= 156.0, 11.0, CAL= 156.0, 12.2, ROT= 354.0, -12.2 2025-10-27T03:37:27.132Z,1761536247.132 [DAT](INFO): got valid direction response: 03:37:28.0782 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.03, 1.879, 0.338, 2.232, 1.832, PHS= 0.149,-1.449, 0.356, RAW= 156.0, 11.0, CAL= 156.0, 12.2, ROT= 354.0, -12.2 2025-10-27T03:37:27.132Z,1761536247.132 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T03:37:27.133Z,1761536247.133 [DAT](INFO): direction in FSK: [0.972061,-0.102168,0.211325] 2025-10-27T03:37:27.133Z,1761536247.133 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:27.143Z,1761536247.143 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.078197 2025-10-27T03:37:27.360Z,1761536247.360 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.295872 2025-10-27T03:37:27.472Z,1761536247.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528499,0.817193,0.229966],[-0.836666,-0.547273,0.021963],[0.143803,-0.180797,0.972951]] 2025-10-27T03:37:27.501Z,1761536247.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.524788 s, deltaX: -0.500000 m, approachRate: -0.952766 m/s, rangeRepo size: 4 2025-10-27T03:37:27.503Z,1761536247.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.221645 m, bearing: 233.913761 deg, lat: 36.779333 deg, lon: -121.859584 deg, deltaT: 0.524788 s, deltaX: -0.498083 m, approachRate: -0.949113 m/s, posRepo size: 4 2025-10-27T03:37:27.504Z,1761536247.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.22 m. 2025-10-27T03:37:27.507Z,1761536247.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.221645 m, nav range: 16.833784 m, bearing: 234.772657 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 236.306295 deg, new cmd heading: 235.946041 deg. 2025-10-27T03:37:27.508Z,1761536247.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118035 target range: 18.221645 and range: 18.30 m. 2025-10-27T03:37:27.613Z,1761536247.613 [DAT](INFO): DAT read: Rx Time:03:37:28.5781 2025-10-27T03:37:27.613Z,1761536247.613 [DAT](INFO): Rx dataTimestamp_ set to:1761536247.612800 2025-10-27T03:37:27.614Z,1761536247.614 [DAT](INFO): DAT read: Bearing 31.8, 0.4 (Local) 2025-10-27T03:37:27.615Z,1761536247.615 [DAT](INFO): Local bearing/azimuth received: Bearing 31.8, 0.4 (Local) 2025-10-27T03:37:27.617Z,1761536247.617 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5 2025-10-27T03:37:27.621Z,1761536247.621 [DAT](INFO): DAT read: 03:37:28.5781 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.20, 1.183,-0.375, 1.540, 1.108, PHS= 0.177,-1.438, 0.388, RAW= 156.1, 10.1, CAL= 155.9, 11.0, ROT= 354.1, -11.0 2025-10-27T03:37:27.623Z,1761536247.623 [DAT](INFO): got valid direction response: 03:37:28.5781 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.20, 1.183,-0.375, 1.540, 1.108, PHS= 0.177,-1.438, 0.388, RAW= 156.1, 10.1, CAL= 155.9, 11.0, ROT= 354.1, -11.0 2025-10-27T03:37:27.623Z,1761536247.623 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T03:37:27.624Z,1761536247.624 [DAT](INFO): direction in FSK: [0.976427,-0.100904,0.190809] 2025-10-27T03:37:27.624Z,1761536247.624 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:27.629Z,1761536247.629 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.564484 2025-10-27T03:37:27.806Z,1761536247.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530259,0.816031,0.230041],[-0.835842,-0.548624,0.019479],[0.142101,-0.181949,0.972986]] 2025-10-27T03:37:27.866Z,1761536247.866 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.801704 2025-10-27T03:37:27.969Z,1761536247.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503034 s, deltaX: -0.099998 m, approachRate: -0.198791 m/s, rangeRepo size: 4 2025-10-27T03:37:27.984Z,1761536247.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.122074 m, bearing: 233.695718 deg, lat: 36.779331 deg, lon: -121.859584 deg, deltaT: 0.503034 s, deltaX: -0.099571 m, approachRate: -0.197941 m/s, posRepo size: 4 2025-10-27T03:37:27.984Z,1761536247.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.12 m. 2025-10-27T03:37:27.992Z,1761536247.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.122074 m, nav range: 16.792595 m, bearing: 234.079500 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 235.946044 deg, new cmd heading: 235.564137 deg. 2025-10-27T03:37:27.993Z,1761536247.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111370 target range: 18.122074 and range: 18.20 m. 2025-10-27T03:37:28.120Z,1761536248.120 [DAT](INFO): DAT read: Rx Time:03:37:29.0778 2025-10-27T03:37:28.122Z,1761536248.122 [DAT](INFO): Rx dataTimestamp_ set to:1761536248.120888 2025-10-27T03:37:28.124Z,1761536248.124 [DAT](INFO): DAT read: Bearing 31.5, 0.4 (Local) 2025-10-27T03:37:28.124Z,1761536248.124 [DAT](INFO): Local bearing/azimuth received: Bearing 31.5, 0.4 (Local) 2025-10-27T03:37:28.126Z,1761536248.126 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 2025-10-27T03:37:28.131Z,1761536248.131 [DAT](INFO): DAT read: 03:37:29.0778 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 506,-0.47,-2.919, 1.793,-2.563,-3.002, PHS= 0.185,-1.443, 0.395, RAW= 156.0, 9.9, CAL= 155.8, 10.7, ROT= 354.2, -10.7 2025-10-27T03:37:28.132Z,1761536248.132 [DAT](INFO): got valid direction response: 03:37:29.0778 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 506,-0.47,-2.919, 1.793,-2.563,-3.002, PHS= 0.185,-1.443, 0.395, RAW= 156.0, 9.9, CAL= 155.8, 10.7, ROT= 354.2, -10.7 2025-10-27T03:37:28.133Z,1761536248.133 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T03:37:28.134Z,1761536248.134 [DAT](INFO): direction in FSK: [0.977583,-0.099299,0.185667] 2025-10-27T03:37:28.134Z,1761536248.134 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:28.142Z,1761536248.142 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.077629 2025-10-27T03:37:28.299Z,1761536248.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531737,0.815296,0.229236],[-0.835235,-0.549620,0.017352],[0.140140,-0.182239,0.973216]] 2025-10-27T03:37:28.368Z,1761536248.368 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.303837 2025-10-27T03:37:28.381Z,1761536248.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.508088 s, deltaX: -0.500000 m, approachRate: -0.984082 m/s, rangeRepo size: 4 2025-10-27T03:37:28.387Z,1761536248.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.624098 m, bearing: 233.656698 deg, lat: 36.779330 deg, lon: -121.859584 deg, deltaT: 0.508088 s, deltaX: -0.497976 m, approachRate: -0.980099 m/s, posRepo size: 4 2025-10-27T03:37:28.390Z,1761536248.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.62 m. 2025-10-27T03:37:28.451Z,1761536248.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.624098 m, nav range: 16.552956 m, bearing: 233.944556 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 235.564127 deg, new cmd heading: 235.227023 deg. 2025-10-27T03:37:28.470Z,1761536248.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105486 target range: 17.624098 and range: 17.70 m. 2025-10-27T03:37:28.621Z,1761536248.621 [DAT](INFO): DAT read: Rx Time:03:37:29.5778 2025-10-27T03:37:28.621Z,1761536248.621 [DAT](INFO): Rx dataTimestamp_ set to:1761536248.620970 2025-10-27T03:37:28.623Z,1761536248.623 [DAT](INFO): DAT read: Bearing 31.8, 0.1 (Local) 2025-10-27T03:37:28.623Z,1761536248.623 [DAT](INFO): Local bearing/azimuth received: Bearing 31.8, 0.1 (Local) 2025-10-27T03:37:28.625Z,1761536248.625 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 2025-10-27T03:37:28.646Z,1761536248.646 [DAT](INFO): DAT read: 03:37:29.5778 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.16,-2.492, 2.225,-2.136,-2.563, PHS= 0.173,-1.450, 0.384, RAW= 156.0, 10.3, CAL= 155.9, 11.2, ROT= 354.1, -11.2 2025-10-27T03:37:28.651Z,1761536248.651 [DAT](INFO): got valid direction response: 03:37:29.5778 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.16,-2.492, 2.225,-2.136,-2.563, PHS= 0.173,-1.450, 0.384, RAW= 156.0, 10.3, CAL= 155.9, 11.2, ROT= 354.1, -11.2 2025-10-27T03:37:28.651Z,1761536248.651 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T03:37:28.652Z,1761536248.652 [DAT](INFO): direction in FSK: [0.975759,-0.100835,0.194234] 2025-10-27T03:37:28.653Z,1761536248.653 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:28.660Z,1761536248.660 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.596348 2025-10-27T03:37:28.794Z,1761536248.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532501,0.815071,0.228259],[-0.835080,-0.549910,0.015488],[0.138146,-0.182367,0.973477]] 2025-10-27T03:37:28.817Z,1761536248.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.500082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:28.819Z,1761536248.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.624098 m, bearing: 233.610118 deg, lat: 36.779330 deg, lon: -121.859586 deg, deltaT: 0.500082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:37:28.820Z,1761536248.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.62 m. 2025-10-27T03:37:28.822Z,1761536248.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.624098 m, nav range: 16.474905 m, bearing: 233.949376 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 235.227016 deg, new cmd heading: 234.870662 deg. 2025-10-27T03:37:28.824Z,1761536248.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099267 target range: 17.624098 and range: 17.70 m. 2025-10-27T03:37:28.872Z,1761536248.872 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.808109 2025-10-27T03:37:29.125Z,1761536249.125 [DAT](INFO): DAT read: Rx Time:03:37:30.0775 2025-10-27T03:37:29.126Z,1761536249.126 [DAT](INFO): Rx dataTimestamp_ set to:1761536249.125335 2025-10-27T03:37:29.127Z,1761536249.127 [DAT](INFO): DAT read: Bearing 30.5, 0.6 (Local) 2025-10-27T03:37:29.127Z,1761536249.127 [DAT](INFO): Local bearing/azimuth received: Bearing 30.5, 0.6 (Local) 2025-10-27T03:37:29.129Z,1761536249.129 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 2025-10-27T03:37:29.134Z,1761536249.134 [DAT](INFO): DAT read: 03:37:30.0775 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.13,-2.444, 2.248,-2.089,-2.551, PHS= 0.209,-1.439, 0.418, RAW= 155.9, 9.3, CAL= 155.6, 9.9, ROT= 354.4, -9.9 2025-10-27T03:37:29.136Z,1761536249.136 [DAT](INFO): got valid direction response: 03:37:30.0775 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.13,-2.444, 2.248,-2.089,-2.551, PHS= 0.209,-1.439, 0.418, RAW= 155.9, 9.3, CAL= 155.6, 9.9, ROT= 354.4, -9.9 2025-10-27T03:37:29.137Z,1761536249.137 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T03:37:29.138Z,1761536249.138 [DAT](INFO): direction in FSK: [0.980408,-0.096130,0.171929] 2025-10-27T03:37:29.138Z,1761536249.138 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:29.141Z,1761536249.141 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.077358 2025-10-27T03:37:29.328Z,1761536249.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504365 s, deltaX: -0.400002 m, approachRate: -0.793079 m/s, rangeRepo size: 4 2025-10-27T03:37:29.330Z,1761536249.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.225895 m, bearing: 233.672939 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.504365 s, deltaX: -0.398203 m, approachRate: -0.789513 m/s, posRepo size: 4 2025-10-27T03:37:29.331Z,1761536249.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.23 m. 2025-10-27T03:37:29.348Z,1761536249.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.225895 m, nav range: 16.294792 m, bearing: 233.784818 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 234.870671 deg, new cmd heading: 234.456748 deg. 2025-10-27T03:37:29.349Z,1761536249.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092042 target range: 17.225895 and range: 17.30 m. 2025-10-27T03:37:29.376Z,1761536249.376 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.311970 2025-10-27T03:37:29.629Z,1761536249.629 [DAT](INFO): DAT read: Rx Time:03:37:30.5774 2025-10-27T03:37:29.630Z,1761536249.630 [DAT](INFO): Rx dataTimestamp_ set to:1761536249.629415 2025-10-27T03:37:29.631Z,1761536249.631 [DAT](INFO): DAT read: Bearing 31.2, 0.6 (Local) 2025-10-27T03:37:29.631Z,1761536249.631 [DAT](INFO): Local bearing/azimuth received: Bearing 31.2, 0.6 (Local) 2025-10-27T03:37:29.633Z,1761536249.633 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-27T03:37:29.638Z,1761536249.638 [DAT](INFO): DAT read: 03:37:30.5774 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501,-0.32, 2.526, 0.935, 2.871, 2.433, PHS= 0.195,-1.453, 0.394, RAW= 155.6, 9.9, CAL= 155.5, 10.7, ROT= 354.5, -10.7 2025-10-27T03:37:29.639Z,1761536249.639 [DAT](INFO): got valid direction response: 03:37:30.5774 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501,-0.32, 2.526, 0.935, 2.871, 2.433, PHS= 0.195,-1.453, 0.394, RAW= 155.6, 9.9, CAL= 155.5, 10.7, ROT= 354.5, -10.7 2025-10-27T03:37:29.639Z,1761536249.639 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T03:37:29.640Z,1761536249.640 [DAT](INFO): direction in FSK: [0.978089,-0.094179,0.185667] 2025-10-27T03:37:29.641Z,1761536249.641 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:29.645Z,1761536249.645 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.580578 2025-10-27T03:37:29.749Z,1761536249.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533329,0.816375,0.221566],[-0.835434,-0.549426,0.013431],[0.132699,-0.177941,0.975053]] 2025-10-27T03:37:29.816Z,1761536249.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504080 s, deltaX: -0.199999 m, approachRate: -0.396760 m/s, rangeRepo size: 4 2025-10-27T03:37:29.818Z,1761536249.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.026752 m, bearing: 233.846972 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.504080 s, deltaX: -0.199142 m, approachRate: -0.395061 m/s, posRepo size: 4 2025-10-27T03:37:29.824Z,1761536249.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.03 m. 2025-10-27T03:37:29.826Z,1761536249.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.026752 m, nav range: 16.074512 m, bearing: 233.813842 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 234.456762 deg, new cmd heading: 234.053989 deg. 2025-10-27T03:37:29.828Z,1761536249.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085013 target range: 17.026752 and range: 17.10 m. 2025-10-27T03:37:29.883Z,1761536249.883 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.818344 2025-10-27T03:37:30.134Z,1761536250.134 [DAT](INFO): DAT read: Rx Time:03:37:31.0771 2025-10-27T03:37:30.135Z,1761536250.135 [DAT](INFO): Rx dataTimestamp_ set to:1761536250.134039 2025-10-27T03:37:30.136Z,1761536250.136 [DAT](INFO): DAT read: Bearing 31.1, 0.7 (Local) 2025-10-27T03:37:30.137Z,1761536250.137 [DAT](INFO): Local bearing/azimuth received: Bearing 31.1, 0.7 (Local) 2025-10-27T03:37:30.139Z,1761536250.139 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 2025-10-27T03:37:30.144Z,1761536250.144 [DAT](INFO): DAT read: 03:37:31.0771 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498, 0.12, 2.794, 1.199, 3.135, 2.697, PHS= 0.199,-1.453, 0.394, RAW= 155.5, 9.8, CAL= 155.3, 10.6, ROT= 354.7, -10.6 2025-10-27T03:37:30.145Z,1761536250.145 [DAT](INFO): got valid direction response: 03:37:31.0771 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498, 0.12, 2.794, 1.199, 3.135, 2.697, PHS= 0.199,-1.453, 0.394, RAW= 155.5, 9.8, CAL= 155.3, 10.6, ROT= 354.7, -10.6 2025-10-27T03:37:30.145Z,1761536250.145 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T03:37:30.146Z,1761536250.146 [DAT](INFO): direction in FSK: [0.978733,-0.090794,0.183951] 2025-10-27T03:37:30.146Z,1761536250.146 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:30.155Z,1761536250.155 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.091190 2025-10-27T03:37:30.363Z,1761536250.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533553,0.816898,0.219087],[-0.835624,-0.549158,0.012580],[0.130590,-0.176363,0.975624]] 2025-10-27T03:37:30.384Z,1761536250.384 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.319954 2025-10-27T03:37:30.495Z,1761536250.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504624 s, deltaX: -0.400000 m, approachRate: -0.792669 m/s, rangeRepo size: 4 2025-10-27T03:37:30.497Z,1761536250.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.628544 m, bearing: 234.010979 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.504624 s, deltaX: -0.398209 m, approachRate: -0.789119 m/s, posRepo size: 4 2025-10-27T03:37:30.498Z,1761536250.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.63 m. 2025-10-27T03:37:30.505Z,1761536250.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.628544 m, nav range: 15.768107 m, bearing: 234.004006 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 234.053999 deg, new cmd heading: 233.502585 deg. 2025-10-27T03:37:30.506Z,1761536250.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075389 target range: 16.628544 and range: 16.70 m. 2025-10-27T03:37:30.637Z,1761536250.637 [DAT](INFO): DAT read: Rx Time:03:37:31.5771 2025-10-27T03:37:30.637Z,1761536250.637 [DAT](INFO): Rx dataTimestamp_ set to:1761536250.636742 2025-10-27T03:37:30.639Z,1761536250.639 [DAT](INFO): DAT read: Bearing 31.3, 0.6 (Local) 2025-10-27T03:37:30.640Z,1761536250.640 [DAT](INFO): Local bearing/azimuth received: Bearing 31.3, 0.6 (Local) 2025-10-27T03:37:30.644Z,1761536250.644 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 2025-10-27T03:37:30.649Z,1761536250.649 [DAT](INFO): DAT read: 03:37:31.5771 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 498,-0.23, 1.321,-0.278, 1.661, 1.228, PHS= 0.195,-1.462, 0.388, RAW= 155.4, 10.0, CAL= 155.3, 10.9, ROT= 354.7, -10.9 2025-10-27T03:37:30.651Z,1761536250.651 [DAT](INFO): got valid direction response: 03:37:31.5771 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 498,-0.23, 1.321,-0.278, 1.661, 1.228, PHS= 0.195,-1.462, 0.388, RAW= 155.4, 10.0, CAL= 155.3, 10.9, ROT= 354.7, -10.9 2025-10-27T03:37:30.667Z,1761536250.667 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T03:37:30.668Z,1761536250.668 [DAT](INFO): direction in FSK: [0.977761,-0.090704,0.189095] 2025-10-27T03:37:30.669Z,1761536250.669 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:30.677Z,1761536250.677 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.612446 2025-10-27T03:37:30.832Z,1761536250.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533577,0.817256,0.217690],[-0.835926,-0.548730,0.011126],[0.128546,-0.176036,0.975954]] 2025-10-27T03:37:30.854Z,1761536250.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.502703 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:30.856Z,1761536250.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.628544 m, bearing: 234.071795 deg, lat: 36.779328 deg, lon: -121.859586 deg, deltaT: 0.502703 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:37:30.857Z,1761536250.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.63 m. 2025-10-27T03:37:30.876Z,1761536250.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.628544 m, nav range: 15.618318 m, bearing: 234.073635 deg, approach rate: 0.000000 m/s, LOS rate: -0.272422 deg/s, cmd heading: 233.502584 deg, new cmd heading: 233.205820 deg. 2025-10-27T03:37:30.877Z,1761536250.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070210 target range: 16.628544 and range: 16.70 m. 2025-10-27T03:37:30.889Z,1761536250.889 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.824242 2025-10-27T03:37:31.142Z,1761536251.142 [DAT](INFO): DAT read: Rx Time:03:37:32.0768 2025-10-27T03:37:31.143Z,1761536251.143 [DAT](INFO): Rx dataTimestamp_ set to:1761536251.142569 2025-10-27T03:37:31.145Z,1761536251.145 [DAT](INFO): DAT read: Bearing 31.2, 1.3 (Local) 2025-10-27T03:37:31.145Z,1761536251.145 [DAT](INFO): Local bearing/azimuth received: Bearing 31.2, 1.3 (Local) 2025-10-27T03:37:31.148Z,1761536251.148 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4 2025-10-27T03:37:31.153Z,1761536251.153 [DAT](INFO): DAT read: 03:37:32.0768 LVL= 32752, 32753, 32754, 32755, AGC= 59, 2.759, 1.14, 2.648.213,-1.459, 0.38154.8, 9.9, CAL= 154.5, 10.7, ROT= 355.5, -10.7 2025-10-27T03:37:31.154Z,1761536251.154 [DAT](INFO): unknown deviceResponse_: 03:37:32.0768 LVL= 32752, 32753, 32754, 32755, AGC= 59, 2.759, 1.14, 2.648.213,-1.459, 0.38154.8, 9.9, CAL= 154.5, 10.7, ROT= 355.5, -10.7 2025-10-27T03:37:31.159Z,1761536251.159 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-27T03:37:31.162Z,1761536251.162 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.097416 2025-10-27T03:37:31.360Z,1761536251.360 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,- 2025-10-27T03:37:31.374Z,1761536251.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:31.377Z,1761536251.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.505827 s, deltaX: -0.500000 m, approachRate: -0.988480 m/s, rangeRepo size: 4 2025-10-27T03:37:31.377Z,1761536251.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.63 m. 2025-10-27T03:37:31.381Z,1761536251.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.628544 m, nav range: 15.379972 m, bearing: 234.230134 deg, approach rate: -0.456000 m/s, LOS rate: 0.304052 deg/s, cmd heading: 233.205826 deg, new cmd heading: 233.682588 deg. 2025-10-27T03:37:31.381Z,1761536251.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078531 target range: 16.628544 and range: 16.20 m. 2025-10-27T03:37:31.405Z,1761536251.405 [DAT](INFO): DAT read: Rx Time:03:37:32.5768 2025-10-27T03:37:31.407Z,1761536251.407 [DAT](INFO): Rx dataTimestamp_ set to:1761536251.405499 2025-10-27T03:37:31.410Z,1761536251.410 [DAT](INFO): DAT read: Bearing 32.5, 0.7 (Local) 2025-10-27T03:37:31.418Z,1761536251.418 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, 0.7 (Local) 2025-10-27T03:37:31.436Z,1761536251.436 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4 2025-10-27T03:37:31.452Z,1761536251.452 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-27T03:37:31.453Z,1761536251.453 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.388844 2025-10-27T03:37:31.656Z,1761536251.656 [DAT](INFO): DAT read: 03:37:32.5768 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 511,-0.19, 1.633, 0.036, 1.950, 1.561, PHS= 0.175,-1.480, 0.345, RAW= 154.9, 11.0, CAL= 154.8, 12.1, ROT= 355.2, -12.1 2025-10-27T03:37:31.657Z,1761536251.657 [DAT](INFO): got valid direction response: 03:37:32.5768 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 511,-0.19, 1.633, 0.036, 1.950, 1.561, PHS= 0.175,-1.480, 0.345, RAW= 154.9, 11.0, CAL= 154.8, 12.1, ROT= 355.2, -12.1 2025-10-27T03:37:31.657Z,1761536251.657 [DAT](INFO): #Rx 82: Read direction message, but no range. 2025-10-27T03:37:31.658Z,1761536251.658 [DAT](INFO): direction in FSK: [0.974354,-0.081819,0.209619] 2025-10-27T03:37:31.662Z,1761536251.662 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.597687 2025-10-27T03:37:31.736Z,1761536251.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536606,0.816409,0.213377],[-0.834823,-0.550477,0.006763],[0.122981,-0.174503,0.976946]] 2025-10-27T03:37:31.790Z,1761536251.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.262930 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:31.796Z,1761536251.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.130619 m, bearing: 234.606603 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.768757 s, deltaX: -0.497925 m, approachRate: -0.647701 m/s, posRepo size: 4 2025-10-27T03:37:31.797Z,1761536251.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.13 m. 2025-10-27T03:37:31.804Z,1761536251.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.130619 m, nav range: 15.191804 m, bearing: 234.431261 deg, approach rate: 0.000000 m/s, LOS rate: 0.304052 deg/s, cmd heading: 233.682601 deg, new cmd heading: 234.059085 deg. 2025-10-27T03:37:31.805Z,1761536251.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085102 target range: 16.130619 and range: 16.20 m. 2025-10-27T03:37:31.910Z,1761536251.910 [DAT](INFO): DAT read: Rx Time:03:37:33.0765 2025-10-27T03:37:31.912Z,1761536251.912 [DAT](INFO): Rx dataTimestamp_ set to:1761536251.910486 2025-10-27T03:37:31.917Z,1761536251.917 [DAT](INFO): DAT read: Bearing 31.1, 1.5 (Local) 2025-10-27T03:37:31.918Z,1761536251.918 [DAT](INFO): Local bearing/azimuth received: Bearing 31.1, 1.5 (Local) 2025-10-27T03:37:31.973Z,1761536251.973 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 2025-10-27T03:37:31.981Z,1761536251.981 [DAT](INFO): DAT read: 03:37:33.0765 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508, 0.24, 3.038, 1.407,-2.946, 2.918, PHS= 0.222,-1.466, 0.375, RAW= 154.3, 9.8, CAL= 154.1, 10.7, ROT= 355.9, -10.7 2025-10-27T03:37:31.982Z,1761536251.982 [DAT](INFO): got valid direction response: 03:37:33.0765 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508, 0.24, 3.038, 1.407,-2.946, 2.918, PHS= 0.222,-1.466, 0.375, RAW= 154.3, 9.8, CAL= 154.1, 10.7, ROT= 355.9, -10.7 2025-10-27T03:37:31.987Z,1761536251.987 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T03:37:31.988Z,1761536251.988 [DAT](INFO): direction in FSK: [0.980098,-0.070255,0.185667] 2025-10-27T03:37:31.988Z,1761536251.988 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:31.996Z,1761536251.996 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.932068 2025-10-27T03:37:32.140Z,1761536252.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538922,0.815376,0.211483],[-0.833652,-0.552268,0.004885],[0.120779,-0.173670,0.977369]] 2025-10-27T03:37:32.156Z,1761536252.156 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.091877 2025-10-27T03:37:32.209Z,1761536252.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504987 s, deltaX: -0.400001 m, approachRate: -0.792101 m/s, rangeRepo size: 4 2025-10-27T03:37:32.215Z,1761536252.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.732332 m, bearing: 234.905884 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.504987 s, deltaX: -0.398287 m, approachRate: -0.788707 m/s, posRepo size: 4 2025-10-27T03:37:32.216Z,1761536252.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.73 m. 2025-10-27T03:37:32.219Z,1761536252.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.732332 m, nav range: 14.994739 m, bearing: 234.635613 deg, approach rate: 0.000000 m/s, LOS rate: 0.304052 deg/s, cmd heading: 234.059081 deg, new cmd heading: 234.441643 deg. 2025-10-27T03:37:32.224Z,1761536252.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091779 target range: 15.732332 and range: 15.80 m. 2025-10-27T03:37:32.412Z,1761536252.412 [DAT](INFO): DAT read: Rx Time:03:37:33.5765 2025-10-27T03:37:32.414Z,1761536252.414 [DAT](INFO): Rx dataTimestamp_ set to:1761536252.412894 2025-10-27T03:37:32.422Z,1761536252.422 [DAT](INFO): DAT read: Bearing 31.7, 1.3 (Local) 2025-10-27T03:37:32.424Z,1761536252.424 [DAT](INFO): Local bearing/azimuth received: Bearing 31.7, 1.3 (Local) 2025-10-27T03:37:32.431Z,1761536252.431 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 2025-10-27T03:37:32.485Z,1761536252.485 [DAT](INFO): DAT read: 03:37:33.5765 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 508,-0.22, 2.979, 1.351,-3.012, 2.877, PHS= 0.204,-1.481, 0.350, RAW= 154.1, 10.5, CAL= 154.0, 11.5, ROT= 356.0, -11.5 2025-10-27T03:37:32.486Z,1761536252.486 [DAT](INFO): got valid direction response: 03:37:33.5765 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 508,-0.22, 2.979, 1.351,-3.012, 2.877, PHS= 0.204,-1.481, 0.350, RAW= 154.1, 10.5, CAL= 154.0, 11.5, ROT= 356.0, -11.5 2025-10-27T03:37:32.486Z,1761536252.486 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T03:37:32.491Z,1761536252.491 [DAT](INFO): direction in FSK: [0.977538,-0.068356,0.199368] 2025-10-27T03:37:32.492Z,1761536252.492 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:32.511Z,1761536252.511 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.447327 2025-10-27T03:37:32.541Z,1761536252.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542231,0.813757,0.209248],[-0.831810,-0.555051,0.003077],[0.118647,-0.172386,0.977858]] 2025-10-27T03:37:32.595Z,1761536252.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.502408 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:32.597Z,1761536252.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.732160 m, bearing: 234.920742 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.502408 s, deltaX: -0.000173 m, approachRate: -0.000344 m/s, posRepo size: 4 2025-10-27T03:37:32.597Z,1761536252.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.73 m. 2025-10-27T03:37:32.608Z,1761536252.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.732160 m, nav range: 14.809687 m, bearing: 234.748696 deg, approach rate: 0.000000 m/s, LOS rate: 0.304052 deg/s, cmd heading: 234.441653 deg, new cmd heading: 234.782485 deg. 2025-10-27T03:37:32.609Z,1761536252.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097727 target range: 15.732160 and range: 15.80 m. 2025-10-27T03:37:32.661Z,1761536252.661 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.596699 2025-10-27T03:37:32.916Z,1761536252.916 [DAT](INFO): DAT read: Rx Time:03:37:34.0762 2025-10-27T03:37:32.918Z,1761536252.918 [DAT](INFO): Rx dataTimestamp_ set to:1761536252.917280 2025-10-27T03:37:32.924Z,1761536252.924 [DAT](INFO): DAT read: Bearing 30.7, 1.9 (Local) 2025-10-27T03:37:32.925Z,1761536252.925 [DAT](INFO): Local bearing/azimuth received: Bearing 30.7, 1.9 (Local) 2025-10-27T03:37:32.933Z,1761536252.933 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4 2025-10-27T03:37:32.948Z,1761536252.948 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-27T03:37:32.964Z,1761536252.964 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.899361 2025-10-27T03:37:33.097Z,1761536253.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504386 s, deltaX: -0.500000 m, approachRate: -0.991304 m/s, rangeRepo size: 4 2025-10-27T03:37:33.098Z,1761536253.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.73 m. 2025-10-27T03:37:33.101Z,1761536253.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.732160 m, nav range: 14.535738 m, bearing: 234.853135 deg, approach rate: -0.532291 m/s, LOS rate: 0.206751 deg/s, cmd heading: 234.782480 deg, new cmd heading: 235.101696 deg. 2025-10-27T03:37:33.102Z,1761536253.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103299 target range: 15.732160 and range: 15.30 m. 2025-10-27T03:37:33.170Z,1761536253.170 [DAT](INFO): DAT read: 03:37:34.0762 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.13,-2.746, 1.885,-2.471,-2.882, PHS= 0.238,-1.471, 0.367, RAW= 153.6, 9.8, CAL= 153.4, 10.6, ROT= 356.6, -10.6 2025-10-27T03:37:33.173Z,1761536253.173 [DAT](INFO): got valid direction response: 03:37:34.0762 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.13,-2.746, 1.885,-2.471,-2.882, PHS= 0.238,-1.471, 0.367, RAW= 153.6, 9.8, CAL= 153.4, 10.6, ROT= 356.6, -10.6 2025-10-27T03:37:33.173Z,1761536253.173 [DAT](INFO): #Rx 86: Read direction message, but no range. 2025-10-27T03:37:33.175Z,1761536253.175 [DAT](INFO): direction in FSK: [0.981205,-0.058294,0.183951] 2025-10-27T03:37:33.179Z,1761536253.179 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.114906 2025-10-27T03:37:33.369Z,1761536253.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550563,0.808918,0.206233],[-0.826943,-0.562282,-0.002150],[0.114222,-0.171727,0.978500]] 2025-10-27T03:37:33.420Z,1761536253.420 [DAT](INFO): DAT read: Rx Time:03:37:34.5760 2025-10-27T03:37:33.422Z,1761536253.422 [DAT](INFO): Rx dataTimestamp_ set to:1761536253.420791 2025-10-27T03:37:33.426Z,1761536253.426 [DAT](INFO): DAT read: Bearing 31.3, 1.5 (Local) 2025-10-27T03:37:33.428Z,1761536253.428 [DAT](INFO): Local bearing/azimuth received: Bearing 31.3, 1.5 (Local) 2025-10-27T03:37:33.442Z,1761536253.442 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-27T03:37:33.445Z,1761536253.445 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-27T03:37:33.450Z,1761536253.450 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.386047 2025-10-27T03:37:33.481Z,1761536253.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503511 s, deltaX: -0.300000 m, approachRate: -0.595817 m/s, rangeRepo size: 4 2025-10-27T03:37:33.488Z,1761536253.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.935531 m, bearing: 234.805065 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 1.007897 s, deltaX: -0.796629 m, approachRate: -0.790387 m/s, posRepo size: 4 2025-10-27T03:37:33.488Z,1761536253.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.94 m. 2025-10-27T03:37:33.495Z,1761536253.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.935531 m, nav range: 14.366543 m, bearing: 235.005392 deg, approach rate: 0.000000 m/s, LOS rate: 0.206751 deg/s, cmd heading: 235.101696 deg, new cmd heading: 235.339820 deg. 2025-10-27T03:37:33.496Z,1761536253.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107455 target range: 14.935531 and range: 15.00 m. 2025-10-27T03:37:33.672Z,1761536253.672 [DAT](INFO): DAT read: 03:37:34.5760 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 504,-0.35, 1.962, 0.308, 2.238, 1.849, PHS= 0.215,-1.496, 0.345, RAW= 153.6, 10.5, CAL= 153.5, 11.5, ROT= 356.5, -11.5 2025-10-27T03:37:33.673Z,1761536253.673 [DAT](INFO): got valid direction response: 03:37:34.5760 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 504,-0.35, 1.962, 0.308, 2.238, 1.849, PHS= 0.215,-1.496, 0.345, RAW= 153.6, 10.5, CAL= 153.5, 11.5, ROT= 356.5, -11.5 2025-10-27T03:37:33.674Z,1761536253.674 [DAT](INFO): #Rx 88: Read direction message, but no range. 2025-10-27T03:37:33.675Z,1761536253.675 [DAT](INFO): direction in FSK: [0.978097,-0.059823,0.199368] 2025-10-27T03:37:33.678Z,1761536253.678 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.614002 2025-10-27T03:37:33.794Z,1761536253.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555196,0.805919,0.205552],[-0.824175,-0.566305,-0.005756],[0.111766,-0.172606,0.978629]] 2025-10-27T03:37:33.811Z,1761536253.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:33.813Z,1761536253.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.94 m. 2025-10-27T03:37:33.816Z,1761536253.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.935531 m, nav range: 14.145670 m, bearing: 235.109558 deg, approach rate: -0.663786 m/s, LOS rate: 0.317936 deg/s, cmd heading: 235.339823 deg, new cmd heading: 235.657197 deg. 2025-10-27T03:37:33.817Z,1761536253.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112994 target range: 14.935531 and range: 15.00 m. 2025-10-27T03:37:33.928Z,1761536253.928 [DAT](INFO): DAT read: Rx Time:03:37:35.0758 2025-10-27T03:37:33.930Z,1761536253.930 [DAT](INFO): Rx dataTimestamp_ set to:1761536253.928974 2025-10-27T03:37:33.936Z,1761536253.936 [DAT](INFO): DAT read: Bearing 31.1, 1.8 (Local) 2025-10-27T03:37:33.937Z,1761536253.937 [DAT](INFO): Local bearing/azimuth received: Bearing 31.1, 1.8 (Local) 2025-10-27T03:37:33.968Z,1761536253.968 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 2025-10-27T03:37:34.009Z,1761536254.009 [DAT](INFO): DAT read: 03:37:35.0758 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 501,-0.01, 1.671, 0.002, 1.929, 1.550, PHS= 0.223,-1.503, 0.335, RAW= 153.1, 10.6, CAL= 153.0, 11.6, ROT= 357.0, -11.6 2025-10-27T03:37:34.016Z,1761536254.016 [DAT](INFO): got valid direction response: 03:37:35.0758 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 501,-0.01, 1.671, 0.002, 1.929, 1.550, PHS= 0.223,-1.503, 0.335, RAW= 153.1, 10.6, CAL= 153.0, 11.6, ROT= 357.0, -11.6 2025-10-27T03:37:34.016Z,1761536254.016 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T03:37:34.017Z,1761536254.017 [DAT](INFO): direction in FSK: [0.978233,-0.051267,0.201078] 2025-10-27T03:37:34.017Z,1761536254.017 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:34.032Z,1761536254.032 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.967438 2025-10-27T03:37:34.172Z,1761536254.172 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.107883 2025-10-27T03:37:34.197Z,1761536254.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560200,0.802883,0.203851],[-0.821153,-0.570635,-0.009112],[0.109009,-0.172497,0.978960]] 2025-10-27T03:37:34.275Z,1761536254.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.508183 s, deltaX: -0.300000 m, approachRate: -0.590339 m/s, rangeRepo size: 4 2025-10-27T03:37:34.277Z,1761536254.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.636820 m, bearing: 234.757082 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.508183 s, deltaX: -0.298711 m, approachRate: -0.587802 m/s, posRepo size: 4 2025-10-27T03:37:34.278Z,1761536254.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m. 2025-10-27T03:37:34.285Z,1761536254.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.636820 m, nav range: 13.910485 m, bearing: 235.195197 deg, approach rate: 0.000000 m/s, LOS rate: 0.317936 deg/s, cmd heading: 235.657208 deg, new cmd heading: 236.077676 deg. 2025-10-27T03:37:34.285Z,1761536254.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120333 target range: 14.636820 and range: 14.70 m. 2025-10-27T03:37:34.429Z,1761536254.429 [DAT](INFO): DAT read: Rx Time:03:37:35.5757 2025-10-27T03:37:34.432Z,1761536254.432 [DAT](INFO): Rx dataTimestamp_ set to:1761536254.429877 2025-10-27T03:37:34.436Z,1761536254.436 [DAT](INFO): DAT read: Bearing 31.2, 1.6 (Local) 2025-10-27T03:37:34.437Z,1761536254.437 [DAT](INFO): Local bearing/azimuth received: Bearing 31.2, 1.6 (Local) 2025-10-27T03:37:34.458Z,1761536254.458 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 2025-10-27T03:37:34.472Z,1761536254.472 [DAT](INFO): DAT read: 03:37:35.5757 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 500, 0.32,-2.827, 1.793,-2.575,-2.940, PHS= 0.214,-1.506, 0.321, RAW= 153.0, 10.9, CAL= 152.9, 12.0, ROT= 357.1, -12.0 2025-10-27T03:37:34.473Z,1761536254.473 [DAT](INFO): got valid direction response: 03:37:35.5757 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 500, 0.32,-2.827, 1.793,-2.575,-2.940, PHS= 0.214,-1.506, 0.321, RAW= 153.0, 10.9, CAL= 152.9, 12.0, ROT= 357.1, -12.0 2025-10-27T03:37:34.474Z,1761536254.474 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T03:37:34.475Z,1761536254.475 [DAT](INFO): direction in FSK: [0.976895,-0.049487,0.207912] 2025-10-27T03:37:34.483Z,1761536254.483 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:34.490Z,1761536254.490 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.426212 2025-10-27T03:37:34.602Z,1761536254.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565061,0.799879,0.202237],[-0.818244,-0.574722,-0.013099],[0.105752,-0.172881,0.979249]] 2025-10-27T03:37:34.660Z,1761536254.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.500903 s, deltaX: -0.099999 m, approachRate: -0.199638 m/s, rangeRepo size: 4 2025-10-27T03:37:34.662Z,1761536254.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.537163 m, bearing: 234.611878 deg, lat: 36.779329 deg, lon: -121.859586 deg, deltaT: 0.500903 s, deltaX: -0.099657 m, approachRate: -0.198955 m/s, posRepo size: 4 2025-10-27T03:37:34.662Z,1761536254.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.54 m. 2025-10-27T03:37:34.670Z,1761536254.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.537163 m, nav range: 13.709905 m, bearing: 235.114939 deg, approach rate: 0.000000 m/s, LOS rate: 0.317936 deg/s, cmd heading: 236.077675 deg, new cmd heading: 236.459645 deg. 2025-10-27T03:37:34.671Z,1761536254.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126999 target range: 14.537163 and range: 14.60 m. 2025-10-27T03:37:34.676Z,1761536254.676 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.611927 2025-10-27T03:37:34.934Z,1761536254.934 [DAT](INFO): DAT read: Rx Time:03:37:36.0755 2025-10-27T03:37:34.936Z,1761536254.936 [DAT](INFO): Rx dataTimestamp_ set to:1761536254.934181 2025-10-27T03:37:34.940Z,1761536254.940 [DAT](INFO): DAT read: Bearing 31.2, 1.0 (Local) 2025-10-27T03:37:34.941Z,1761536254.941 [DAT](INFO): Local bearing/azimuth received: Bearing 31.2, 1.0 (Local) 2025-10-27T03:37:34.951Z,1761536254.951 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 2025-10-27T03:37:35.031Z,1761536255.031 [DAT](INFO): DAT read: 03:37:36.0755 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 498,-0.20, 0.675,-0.997, 0.935, 0.574, PHS= 0.203,-1.526, 0.317, RAW= 153.2, 11.3, CAL= 153.1, 12.4, ROT= 356.9, -12.4 2025-10-27T03:37:35.044Z,1761536255.044 [DAT](INFO): got valid direction response: 03:37:36.0755 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 498,-0.20, 0.675,-0.997, 0.935, 0.574, PHS= 0.203,-1.526, 0.317, RAW= 153.2, 11.3, CAL= 153.1, 12.4, ROT= 356.9, -12.4 2025-10-27T03:37:35.044Z,1761536255.044 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T03:37:35.045Z,1761536255.045 [DAT](INFO): direction in FSK: [0.975243,-0.052817,0.214735] 2025-10-27T03:37:35.046Z,1761536255.046 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:35.057Z,1761536255.057 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=42.993359 2025-10-27T03:37:35.062Z,1761536255.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569366,0.797071,0.201244],[-0.815703,-0.578199,-0.017730],[0.102227,-0.174250,0.979381]] 2025-10-27T03:37:35.149Z,1761536255.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504304 s, deltaX: -0.300000 m, approachRate: -0.594880 m/s, rangeRepo size: 4 2025-10-27T03:37:35.155Z,1761536255.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.238454 m, bearing: 234.214924 deg, lat: 36.779328 deg, lon: -121.859585 deg, deltaT: 0.504304 s, deltaX: -0.298709 m, approachRate: -0.592319 m/s, posRepo size: 4 2025-10-27T03:37:35.156Z,1761536255.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.24 m. 2025-10-27T03:37:35.163Z,1761536255.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.238454 m, nav range: 13.422020 m, bearing: 234.865264 deg, approach rate: 0.000000 m/s, LOS rate: 0.317936 deg/s, cmd heading: 236.459646 deg, new cmd heading: 236.930740 deg. 2025-10-27T03:37:35.164Z,1761536255.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135221 target range: 14.238454 and range: 14.30 m. 2025-10-27T03:37:35.180Z,1761536255.180 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.115963 2025-10-27T03:37:35.437Z,1761536255.437 [DAT](INFO): DAT read: Rx Time:03:37:36.5754 2025-10-27T03:37:35.440Z,1761536255.440 [DAT](INFO): Rx dataTimestamp_ set to:1761536255.438135 2025-10-27T03:37:35.443Z,1761536255.443 [DAT](INFO): DAT read: Bearing 30.9, 1.8 (Local) 2025-10-27T03:37:35.444Z,1761536255.444 [DAT](INFO): Local bearing/azimuth received: Bearing 30.9, 1.8 (Local) 2025-10-27T03:37:35.454Z,1761536255.454 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 2025-10-27T03:37:35.469Z,1761536255.469 [DAT](INFO): DAT read: 03:37:36.5754 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497,-0.01,-2.936, 1.659,-2.710,-3.058, PHS= 0.224,-1.521, 0.305, RAW= 152.2, 11.1, CAL= 152.1, 12.2, ROT= 357.9, -12.2 2025-10-27T03:37:35.470Z,1761536255.470 [DAT](INFO): got valid direction response: 03:37:36.5754 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 497,-0.01,-2.936, 1.659,-2.710,-3.058, PHS= 0.224,-1.521, 0.305, RAW= 152.2, 11.1, CAL= 152.1, 12.2, ROT= 357.9, -12.2 2025-10-27T03:37:35.470Z,1761536255.470 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T03:37:35.493Z,1761536255.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572501,0.795222,0.199662],[-0.813930,-0.580564,-0.021528],[0.098798,-0.174836,0.979628]] 2025-10-27T03:37:35.499Z,1761536255.499 [DAT](INFO): direction in FSK: [0.976759,-0.035816,0.211325] 2025-10-27T03:37:35.500Z,1761536255.500 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:35.515Z,1761536255.515 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.451210 2025-10-27T03:37:35.568Z,1761536255.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503954 s, deltaX: -0.200000 m, approachRate: -0.396861 m/s, rangeRepo size: 4 2025-10-27T03:37:35.570Z,1761536255.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.039316 m, bearing: 234.990916 deg, lat: 36.779328 deg, lon: -121.859585 deg, deltaT: 0.503954 s, deltaX: -0.199138 m, approachRate: -0.395151 m/s, posRepo size: 4 2025-10-27T03:37:35.575Z,1761536255.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m. 2025-10-27T03:37:35.578Z,1761536255.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.039316 m, nav range: 13.241579 m, bearing: 234.665694 deg, approach rate: 0.000000 m/s, LOS rate: 0.317936 deg/s, cmd heading: 236.930738 deg, new cmd heading: 237.314740 deg. 2025-10-27T03:37:35.578Z,1761536255.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141923 target range: 14.039316 and range: 14.10 m. 2025-10-27T03:37:35.685Z,1761536255.685 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.620903 2025-10-27T03:37:35.825Z,1761536255.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575326,0.793942,0.196615],[-0.812359,-0.582650,-0.024317],[0.095251,-0.173712,0.980179]] 2025-10-27T03:37:35.842Z,1761536255.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:35.844Z,1761536255.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m. 2025-10-27T03:37:35.847Z,1761536255.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.039316 m, nav range: 13.063087 m, bearing: 234.687491 deg, approach rate: -0.608694 m/s, LOS rate: 0.075350 deg/s, cmd heading: 237.314731 deg, new cmd heading: 237.381017 deg. 2025-10-27T03:37:35.848Z,1761536255.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143080 target range: 14.039316 and range: 14.10 m. 2025-10-27T03:37:35.942Z,1761536255.942 [DAT](INFO): DAT read: Rx Time:03:37:37.0751 2025-10-27T03:37:35.943Z,1761536255.943 [DAT](INFO): Rx dataTimestamp_ set to:1761536255.942960 2025-10-27T03:37:35.945Z,1761536255.945 [DAT](INFO): DAT read: Bearing 30.4, 2.0 (Local) 2025-10-27T03:37:35.946Z,1761536255.946 [DAT](INFO): Local bearing/azimuth received: Bearing 30.4, 2.0 (Local) 2025-10-27T03:37:35.951Z,1761536255.951 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-27T03:37:35.959Z,1761536255.959 [DAT](INFO): DAT read: 03:37:37.0751 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510, 0.05,-0.685,-2.371,-0.470,-0.822, PHS= 0.239,-1308, RAW= 151.9, 10.8, CA, 11.8, ROT= 358.3, -11.8 2025-10-27T03:37:35.961Z,1761536255.961 [DAT](INFO): unknown deviceResponse_: 03:37:37.0751 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510, 0.05,-0.685,-2.371,-0.470,-0.822, PHS= 0.239,-1308, RAW= 151.9, 10.8, CA, 11.8, ROT= 358.3, -11.8 2025-10-27T03:37:35.961Z,1761536255.961 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T03:37:35.966Z,1761536255.966 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.901436 2025-10-27T03:37:36.188Z,1761536256.188 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.124168 2025-10-27T03:37:36.269Z,1761536256.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576750,0.794127,0.191626],[-0.811780,-0.583404,-0.025558],[0.091499,-0.170299,0.981135]] 2025-10-27T03:37:36.278Z,1761536256.278 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050307255455,35.0, +0.0,1494.6, 0 2025-10-27T03:37:36.317Z,1761536256.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504825 s, deltaX: -0.400001 m, approachRate: -0.792355 m/s, rangeRepo size: 4 2025-10-27T03:37:36.317Z,1761536256.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m. 2025-10-27T03:37:36.320Z,1761536256.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.039316 m, nav range: 12.800549 m, bearing: 234.722434 deg, approach rate: -0.556775 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.381012 deg, new cmd heading: 237.487992 deg. 2025-10-27T03:37:36.321Z,1761536256.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144948 target range: 14.039316 and range: 13.70 m. 2025-10-27T03:37:36.443Z,1761536256.443 [DAT](INFO): DAT read: Rx Time:03:37:37.5750 2025-10-27T03:37:36.444Z,1761536256.444 [DAT](INFO): Rx dataTimestamp_ set to:1761536256.443586 2025-10-27T03:37:36.447Z,1761536256.447 [DAT](INFO): DAT read: Bearing 30.0, 2.1 (Local) 2025-10-27T03:37:36.447Z,1761536256.447 [DAT](INFO): Local bearing/azimuth received: Bearing 30.0, 2.1 (Local) 2025-10-27T03:37:36.450Z,1761536256.450 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 2025-10-27T03:37:36.458Z,1761536256.458 [DAT](INFO): DAT read: 03:37:37.5750 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.16, 2.114, 0.406, 2.318, 1.961, PHS= 0.255,-1.510, 0.313, RAW= 151.6, 10.5, CAL= 151.4, 11.5, ROT= 358.6, -11.5 2025-10-27T03:37:36.460Z,1761536256.460 [DAT](INFO): got valid direction response: 03:37:37.5750 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.16, 2.114, 0.406, 2.318, 1.961, PHS= 0.255,-1.510, 0.313, RAW= 151.6, 10.5, CAL= 151.4, 11.5, ROT= 358.6, -11.5 2025-10-27T03:37:36.461Z,1761536256.461 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T03:37:36.463Z,1761536256.463 [DAT](INFO): direction in FSK: [0.979632,-0.023941,0.199368] 2025-10-27T03:37:36.464Z,1761536256.464 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:36.467Z,1761536256.467 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.403023 2025-10-27T03:37:36.693Z,1761536256.693 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.628422 2025-10-27T03:37:36.701Z,1761536256.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577322,0.795604,0.183615],[-0.811826,-0.583372,-0.024789],[0.087394,-0.163375,0.982686]] 2025-10-27T03:37:36.760Z,1761536256.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.500626 s, deltaX: -0.200000 m, approachRate: -0.399499 m/s, rangeRepo size: 4 2025-10-27T03:37:36.762Z,1761536256.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.441807 m, bearing: 235.124681 deg, lat: 36.779327 deg, lon: -121.859586 deg, deltaT: 1.005451 s, deltaX: -0.597509 m, approachRate: -0.594270 m/s, posRepo size: 4 2025-10-27T03:37:36.762Z,1761536256.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.44 m. 2025-10-27T03:37:36.781Z,1761536256.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.441807 m, nav range: 12.616635 m, bearing: 234.748163 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.488000 deg, new cmd heading: 237.588491 deg. 2025-10-27T03:37:36.782Z,1761536256.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146701 target range: 13.441807 and range: 13.50 m. 2025-10-27T03:37:36.946Z,1761536256.946 [DAT](INFO): DAT read: Rx Time:03:37:38.0748 2025-10-27T03:37:36.947Z,1761536256.947 [DAT](INFO): Rx dataTimestamp_ set to:1761536256.946450 2025-10-27T03:37:36.949Z,1761536256.949 [DAT](INFO): DAT read: Bearing 31.4, 0.8 (Local) 2025-10-27T03:37:36.950Z,1761536256.950 [DAT](INFO): Local bearing/azimuth received: Bearing 31.4, 0.8 (Local) 2025-10-27T03:37:36.953Z,1761536256.953 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4 2025-10-27T03:37:36.961Z,1761536256.961 [DAT](INFO): DAT read: 03:37:38.0748 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.49,-1.080,-2.760,-0.850,-1.179, PHS= 0.201,-1.536, 0.285, RAW= 152.3, 11.8, CAL= 152.3, 13.0, ROT= 357.7, -13.0 2025-10-27T03:37:36.970Z,1761536256.970 [DAT](INFO): got valid direction response: 03:37:38.0748 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.49,-1.080,-2.760,-0.850,-1.179, PHS= 0.201,-1.536, 0.285, RAW= 152.3, 11.8, CAL= 152.3, 13.0, ROT= 357.7, -13.0 2025-10-27T03:37:36.976Z,1761536256.976 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T03:37:36.979Z,1761536256.979 [DAT](INFO): direction in FSK: [0.973585,-0.039103,0.224951] 2025-10-27T03:37:36.987Z,1761536256.987 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:37.049Z,1761536257.049 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.973900 2025-10-27T03:37:37.141Z,1761536257.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576735,0.797569,0.176805],[-0.812647,-0.582250,-0.024303],[0.083561,-0.157697,0.983946]] 2025-10-27T03:37:37.196Z,1761536257.196 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.132008 2025-10-27T03:37:37.237Z,1761536257.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.502864 s, deltaX: -0.400000 m, approachRate: -0.795443 m/s, rangeRepo size: 4 2025-10-27T03:37:37.238Z,1761536257.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.043531 m, bearing: 234.455270 deg, lat: 36.779327 deg, lon: -121.859586 deg, deltaT: 0.502864 s, deltaX: -0.398275 m, approachRate: -0.792014 m/s, posRepo size: 4 2025-10-27T03:37:37.247Z,1761536257.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m. 2025-10-27T03:37:37.250Z,1761536257.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.043531 m, nav range: 12.393002 m, bearing: 234.538235 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.588485 deg, new cmd heading: 237.696702 deg. 2025-10-27T03:37:37.255Z,1761536257.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.148590 target range: 13.043531 and range: 13.10 m. 2025-10-27T03:37:37.456Z,1761536257.456 [DAT](INFO): DAT read: Rx Time:03:37:38.5747 2025-10-27T03:37:37.456Z,1761536257.456 [DAT](INFO): Rx dataTimestamp_ set to:1761536257.455838 2025-10-27T03:37:37.459Z,1761536257.459 [DAT](INFO): DAT read: Bearing 32.6, -0.2 (Local) 2025-10-27T03:37:37.459Z,1761536257.459 [DAT](INFO): Local bearing/azimuth received: Bearing 32.6, -0.2 (Local) 2025-10-27T03:37:37.463Z,1761536257.463 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 2025-10-27T03:37:37.470Z,1761536257.470 [DAT](INFO): DAT read: 03:37:38.5747 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.18,-1.950, 2.671,-1.707,-2.014, PHS= 0.166,-1.553, 0.264, RAW= 152.7, 12.6, CAL= 152.8, 14.1, ROT= 357.2, -14.1 2025-10-27T03:37:37.481Z,1761536257.481 [DAT](INFO): got valid direction response: 03:37:38.5747 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505,-0.18,-1.950, 2.671,-1.707,-2.014, PHS= 0.166,-1.553, 0.264, RAW= 152.7, 12.6, CAL= 152.8, 14.1, ROT= 357.2, -14.1 2025-10-27T03:37:37.482Z,1761536257.482 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T03:37:37.517Z,1761536257.517 [DAT](INFO): direction in FSK: [0.968714,-0.047378,0.243615] 2025-10-27T03:37:37.517Z,1761536257.517 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:37.526Z,1761536257.526 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.462257 2025-10-27T03:37:37.579Z,1761536257.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575054,0.800678,0.168011],[-0.814232,-0.580113,-0.022280],[0.079626,-0.149612,0.985533]] 2025-10-27T03:37:37.638Z,1761536257.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.509388 s, deltaX: -0.200001 m, approachRate: -0.392630 m/s, rangeRepo size: 4 2025-10-27T03:37:37.644Z,1761536257.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.844409 m, bearing: 234.145721 deg, lat: 36.779327 deg, lon: -121.859586 deg, deltaT: 0.509388 s, deltaX: -0.199122 m, approachRate: -0.390905 m/s, posRepo size: 4 2025-10-27T03:37:37.645Z,1761536257.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m. 2025-10-27T03:37:37.652Z,1761536257.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.844409 m, nav range: 12.161571 m, bearing: 234.465700 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.696703 deg, new cmd heading: 237.787697 deg. 2025-10-27T03:37:37.652Z,1761536257.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150178 target range: 12.844409 and range: 12.90 m. 2025-10-27T03:37:37.705Z,1761536257.705 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.640991 2025-10-27T03:37:37.958Z,1761536257.958 [DAT](INFO): DAT read: Rx Time:03:37:39.0744 2025-10-27T03:37:37.960Z,1761536257.960 [DAT](INFO): Rx dataTimestamp_ set to:1761536257.958427 2025-10-27T03:37:37.962Z,1761536257.962 [DAT](INFO): DAT read: Bearing 33.2, -0.6 (Local) 2025-10-27T03:37:37.962Z,1761536257.962 [DAT](INFO): Local bearing/azimuth received: Bearing 33.2, -0.6 (Local) 2025-10-27T03:37:37.965Z,1761536257.965 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 2025-10-27T03:37:37.969Z,1761536257.969 [DAT](INFO): DAT read: 03:37:39.0744 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502,-0.00,-2.139, 2.489,-1.885,-2.190, PHS= 0.152,-1.559, 0.261, RAW= 153.0, 12.9, CAL= 153.2, 14.4, ROT= 356.8, -14.4 2025-10-27T03:37:37.970Z,1761536257.970 [DAT](INFO): got valid direction response: 03:37:39.0744 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502,-0.00,-2.139, 2.489,-1.885,-2.190, PHS= 0.152,-1.559, 0.261, RAW= 153.0, 12.9, CAL= 153.2, 14.4, ROT= 356.8, -14.4 2025-10-27T03:37:37.971Z,1761536257.971 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T03:37:37.972Z,1761536257.972 [DAT](INFO): direction in FSK: [0.967073,-0.054068,0.248690] 2025-10-27T03:37:37.972Z,1761536257.972 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:37.988Z,1761536257.988 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.924366 2025-10-27T03:37:38.068Z,1761536258.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572845,0.803957,0.159692],[-0.816108,-0.577558,-0.019864],[0.076262,-0.141705,0.986967]] 2025-10-27T03:37:38.148Z,1761536258.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502589 s, deltaX: -0.400000 m, approachRate: -0.795878 m/s, rangeRepo size: 4 2025-10-27T03:37:38.150Z,1761536258.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.446134 m, bearing: 233.832095 deg, lat: 36.779327 deg, lon: -121.859586 deg, deltaT: 0.502589 s, deltaX: -0.398275 m, approachRate: -0.792447 m/s, posRepo size: 4 2025-10-27T03:37:38.150Z,1761536258.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m. 2025-10-27T03:37:38.157Z,1761536258.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.446134 m, nav range: 11.866197 m, bearing: 234.443862 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.787708 deg, new cmd heading: 237.903420 deg. 2025-10-27T03:37:38.158Z,1761536258.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152198 target range: 12.446134 and range: 12.50 m. 2025-10-27T03:37:38.209Z,1761536258.209 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.144676 2025-10-27T03:37:38.462Z,1761536258.462 [DAT](INFO): DAT read: Rx Time:03:37:39.5743 2025-10-27T03:37:38.463Z,1761536258.463 [DAT](INFO): Rx dataTimestamp_ set to:1761536258.462265 2025-10-27T03:37:38.464Z,1761536258.464 [DAT](INFO): DAT read: Bearing 34.5, -1.0 (Local) 2025-10-27T03:37:38.464Z,1761536258.464 [DAT](INFO): Local bearing/azimuth received: Bearing 34.5, -1.0 (Local) 2025-10-27T03:37:38.466Z,1761536258.466 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 2025-10-27T03:37:38.471Z,1761536258.471 [DAT](INFO): DAT read: 03:37:39.5743 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 501, 0.11, 0.430,-1.231, 0.682, 0.403, PHS= 0.128,-1.589, 0.235, RAW= 153.0, 13.7, CAL= 153.2, 15.4, ROT= 356.8, -15.4 2025-10-27T03:37:38.472Z,1761536258.472 [DAT](INFO): got valid direction response: 03:37:39.5743 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 501, 0.11, 0.430,-1.231, 0.682, 0.403, PHS= 0.128,-1.589, 0.235, RAW= 153.0, 13.7, CAL= 153.2, 15.4, ROT= 356.8, -15.4 2025-10-27T03:37:38.473Z,1761536258.473 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T03:37:38.473Z,1761536258.473 [DAT](INFO): direction in FSK: [0.962592,-0.053818,0.265556] 2025-10-27T03:37:38.474Z,1761536258.474 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:38.503Z,1761536258.503 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.430759 2025-10-27T03:37:38.516Z,1761536258.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570195,0.807123,0.153068],[-0.818245,-0.574577,-0.018330],[0.073154,-0.135699,0.988046]] 2025-10-27T03:37:38.584Z,1761536258.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503838 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:38.586Z,1761536258.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.446163 m, bearing: 234.082164 deg, lat: 36.779326 deg, lon: -121.859586 deg, deltaT: 0.503838 s, deltaX: 0.000030 m, approachRate: 0.000059 m/s, posRepo size: 4 2025-10-27T03:37:38.586Z,1761536258.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m. 2025-10-27T03:37:38.597Z,1761536258.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.446163 m, nav range: 11.639190 m, bearing: 234.266176 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 237.903412 deg, new cmd heading: 238.001242 deg. 2025-10-27T03:37:38.598Z,1761536258.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153905 target range: 12.446163 and range: 12.50 m. 2025-10-27T03:37:38.713Z,1761536258.713 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.648815 2025-10-27T03:37:38.965Z,1761536258.965 [DAT](INFO): DAT read: Rx Time:03:37:40.0740 2025-10-27T03:37:38.965Z,1761536258.965 [DAT](INFO): Rx dataTimestamp_ set to:1761536258.964726 2025-10-27T03:37:38.966Z,1761536258.966 [DAT](INFO): DAT read: Bearing 33.7, -1.1 (Local) 2025-10-27T03:37:38.967Z,1761536258.967 [DAT](INFO): Local bearing/azimuth received: Bearing 33.7, -1.1 (Local) 2025-10-27T03:37:38.969Z,1761536258.969 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4 2025-10-27T03:37:38.977Z,1761536258.977 [DAT](INFO): DAT read: 03:37:40.0740 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 498, 0.29,-1.045,-2.707,-0.781,-1.098, PHS= 0.155,-1.564, 0.273, RAW= 153.3, 12.7, CAL= 153.4, 14.2, ROT= 356.6, -14.2 2025-10-27T03:37:38.978Z,1761536258.978 [DAT](INFO): got valid direction response: 03:37:40.0740 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 498, 0.29,-1.045,-2.707,-0.781,-1.098, PHS= 0.155,-1.564, 0.273, RAW= 153.3, 12.7, CAL= 153.4, 14.2, ROT= 356.6, -14.2 2025-10-27T03:37:38.986Z,1761536258.986 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T03:37:38.987Z,1761536258.987 [DAT](INFO): direction in FSK: [0.967739,-0.057494,0.245307] 2025-10-27T03:37:39.018Z,1761536259.018 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:39.072Z,1761536259.072 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.998459 2025-10-27T03:37:39.123Z,1761536259.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.502461 s, deltaX: -0.500000 m, approachRate: -0.995102 m/s, rangeRepo size: 4 2025-10-27T03:37:39.129Z,1761536259.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.948317 m, bearing: 233.702440 deg, lat: 36.779326 deg, lon: -121.859585 deg, deltaT: 0.502461 s, deltaX: -0.497847 m, approachRate: -0.990816 m/s, posRepo size: 4 2025-10-27T03:37:39.130Z,1761536259.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.95 m. 2025-10-27T03:37:39.137Z,1761536259.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.948317 m, nav range: 11.308440 m, bearing: 234.088830 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 238.001247 deg, new cmd heading: 238.124622 deg. 2025-10-27T03:37:39.137Z,1761536259.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156059 target range: 11.948317 and range: 12.00 m. 2025-10-27T03:37:39.216Z,1761536259.216 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.152077 2025-10-27T03:37:39.465Z,1761536259.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561708,0.817834,0.125028],[-0.824838,-0.565315,-0.007872],[0.064243,-0.107550,0.992122]] 2025-10-27T03:37:39.469Z,1761536259.469 [DAT](INFO): DAT read: Rx Time:03:37:40.5739 2025-10-27T03:37:39.469Z,1761536259.469 [DAT](INFO): Rx dataTimestamp_ set to:1761536259.468798 2025-10-27T03:37:39.470Z,1761536259.470 [DAT](INFO): DAT read: Bearing 35.2, -2.4 (Local) 2025-10-27T03:37:39.471Z,1761536259.471 [DAT](INFO): Local bearing/azimuth received: Bearing 35.2, -2.4 (Local) 2025-10-27T03:37:39.473Z,1761536259.473 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.5 2025-10-27T03:37:39.485Z,1761536259.485 [DAT](INFO): DAT read: 03:37:40.5739 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 497, 0.48,-0.332,-1.964,-0.036,-0.337, PHS= 0.107,-1.582, 0.257, RAW= 154.2, 13.7, CAL= 154.5, 15.4, ROT= 355.5, -15.4 2025-10-27T03:37:39.487Z,1761536259.487 [DAT](INFO): got valid direction response: 03:37:40.5739 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 497, 0.48,-0.332,-1.964,-0.036,-0.337, PHS= 0.107,-1.582, 0.257, RAW= 154.2, 13.7, CAL= 154.5, 15.4, ROT= 355.5, -15.4 2025-10-27T03:37:39.487Z,1761536259.487 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T03:37:39.488Z,1761536259.488 [DAT](INFO): direction in FSK: [0.961123,-0.075642,0.265556] 2025-10-27T03:37:39.488Z,1761536259.488 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:39.524Z,1761536259.524 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS0 2025-10-27T03:37:39.529Z,1761536259.529 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.464729 2025-10-27T03:37:39.570Z,1761536259.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504072 s, deltaX: -0.100000 m, approachRate: -0.198385 m/s, rangeRepo size: 4 2025-10-27T03:37:39.576Z,1761536259.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.848516 m, bearing: 232.913457 deg, lat: 36.779326 deg, lon: -121.859585 deg, deltaT: 0.504072 s, deltaX: -0.099800 m, approachRate: -0.197988 m/s, posRepo size: 4 2025-10-27T03:37:39.577Z,1761536259.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.85 m. 2025-10-27T03:37:39.584Z,1761536259.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.848516 m, nav range: 11.047841 m, bearing: 233.765792 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 238.124628 deg, new cmd heading: 238.226060 deg. 2025-10-27T03:37:39.585Z,1761536259.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157829 target range: 11.848516 and range: 11.90 m. 2025-10-27T03:37:39.721Z,1761536259.721 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.656704 2025-10-27T03:37:39.965Z,1761536259.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559016,0.820663,0.118375],[-0.826879,-0.562345,-0.006274],[0.061419,-0.101389,0.992949]] 2025-10-27T03:37:39.973Z,1761536259.973 [DAT](INFO): DAT read: Rx Time:03:37:41.0737 2025-10-27T03:37:39.973Z,1761536259.973 [DAT](INFO): Rx dataTimestamp_ set to:1761536259.973171 2025-10-27T03:37:39.975Z,1761536259.975 [DAT](INFO): DAT read: Bearing 36.1, -3.4 (Local) 2025-10-27T03:37:39.975Z,1761536259.975 [DAT](INFO): Local bearing/azimuth received: Bearing 36.1, -3.4 (Local) 2025-10-27T03:37:39.977Z,1761536259.977 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.5 2025-10-27T03:37:39.982Z,1761536259.982 [DAT](INFO): DAT read: 03:37:41.0737 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 511,-0.31,-2.747, 1.925,-2.423,-2.724, PHS= 0.079,-1.590, 0.257, RAW= 155.0, 14.1, CAL= 155.5, 16.0, ROT= 354.5, -16.0 2025-10-27T03:37:39.983Z,1761536259.983 [DAT](INFO): got valid direction response: 03:37:41.0737 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 511,-0.31,-2.747, 1.925,-2.423,-2.724, PHS= 0.079,-1.590, 0.257, RAW= 155.0, 14.1, CAL= 155.5, 16.0, ROT= 354.5, -16.0 2025-10-27T03:37:39.983Z,1761536259.983 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T03:37:39.984Z,1761536259.984 [DAT](INFO): direction in FSK: [0.956836,-0.092133,0.275637] 2025-10-27T03:37:39.985Z,1761536259.985 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:40.016Z,1761536260.016 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.952366 2025-10-27T03:37:40.109Z,1761536260.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504373 s, deltaX: -0.299999 m, approachRate: -0.594796 m/s, rangeRepo size: 4 2025-10-27T03:37:40.116Z,1761536260.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.549815 m, bearing: 232.055103 deg, lat: 36.779326 deg, lon: -121.859585 deg, deltaT: 0.504373 s, deltaX: -0.298701 m, approachRate: -0.592223 m/s, posRepo size: 4 2025-10-27T03:37:40.117Z,1761536260.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m. 2025-10-27T03:37:40.120Z,1761536260.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.549815 m, nav range: 10.746387 m, bearing: 233.596459 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 238.226070 deg, new cmd heading: 238.348480 deg. 2025-10-27T03:37:40.121Z,1761536260.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159966 target range: 11.549815 and range: 11.60 m. 2025-10-27T03:37:40.226Z,1761536260.226 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.161713 2025-10-27T03:37:40.477Z,1761536260.477 [DAT](INFO): DAT read: Rx Time:03:37:41.5736 2025-10-27T03:37:40.477Z,1761536260.477 [DAT](INFO): Rx dataTimestamp_ set to:1761536260.476728 2025-10-27T03:37:40.478Z,1761536260.478 [DAT](INFO): DAT read: Bearing 35.5, -3.5 (Local) 2025-10-27T03:37:40.479Z,1761536260.479 [DAT](INFO): Local bearing/azimuth received: Bearing 35.5, -3.5 (Local) 2025-10-27T03:37:40.481Z,1761536260.481 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 2025-10-27T03:37:40.485Z,1761536260.485 [DAT](INFO): DAT read: 03:37:41.5736 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.14,-2.041, 2.626,-1.710,-2.039, PHS= 0.100,-1.573, 0.285, RAW= 155.2, 13.3, CAL= 155.5, 15.0, ROT= 354.5, -15.0 2025-10-27T03:37:40.486Z,1761536260.486 [DAT](INFO): got valid direction response: 03:37:41.5736 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.14,-2.041, 2.626,-1.710,-2.039, PHS= 0.100,-1.573, 0.285, RAW= 155.2, 13.3, CAL= 155.5, 15.0, ROT= 354.5, -15.0 2025-10-27T03:37:40.487Z,1761536260.487 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T03:37:40.488Z,1761536260.488 [DAT](INFO): direction in FSK: [0.961479,-0.092580,0.258819] 2025-10-27T03:37:40.488Z,1761536260.488 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:40.500Z,1761536260.500 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.435867 2025-10-27T03:37:40.502Z,1761536260.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556857,0.823055,0.111760],[-0.828512,-0.559954,-0.004379],[0.058976,-0.095033,0.993726]] 2025-10-27T03:37:40.626Z,1761536260.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503557 s, deltaX: -0.200001 m, approachRate: -0.397176 m/s, rangeRepo size: 4 2025-10-27T03:37:40.632Z,1761536260.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.350477 m, bearing: 232.003513 deg, lat: 36.779324 deg, lon: -121.859585 deg, deltaT: 0.503557 s, deltaX: -0.199338 m, approachRate: -0.395860 m/s, posRepo size: 4 2025-10-27T03:37:40.633Z,1761536260.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.35 m. 2025-10-27T03:37:40.640Z,1761536260.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.350477 m, nav range: 10.566724 m, bearing: 232.770900 deg, approach rate: 0.000000 m/s, LOS rate: 0.075625 deg/s, cmd heading: 238.348467 deg, new cmd heading: 238.465671 deg. 2025-10-27T03:37:40.641Z,1761536260.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162011 target range: 11.350477 and range: 11.40 m. 2025-10-27T03:37:40.729Z,1761536260.729 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.664417 2025-10-27T03:37:40.981Z,1761536260.981 [DAT](INFO): DAT read: Rx Time:03:37:42.0733 2025-10-27T03:37:40.981Z,1761536260.981 [DAT](INFO): Rx dataTimestamp_ set to:1761536260.980799 2025-10-27T03:37:40.982Z,1761536260.982 [DAT](INFO): DAT read: Bearing 36.9, -4.3 (Local) 2025-10-27T03:37:40.983Z,1761536260.983 [DAT](INFO): Local bearing/azimuth received: Bearing 36.9, -4.3 (Local) 2025-10-27T03:37:40.985Z,1761536260.985 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 2025-10-27T03:37:40.989Z,1761536260.989 [DAT](INFO): DAT read: 03:37:42.0733 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.06,-2.854, 1.836,-2.510,-2.814, PHS= 0.062,-1.589, 0.260, RAW= 155.6, AL= 156.1, 16.3, ROT= 353.9, -16.3 2025-10-27T03:37:40.990Z,1761536260.990 [DAT](INFO): unknown deviceResponse_: 03:37:42.0733 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.06,-2.854, 1.836,-2.510,-2.814, PHS= 0.062,-1.589, 0.260, RAW= 155.6, AL= 156.1, 16.3, ROT= 353.9, -16.3 2025-10-27T03:37:40.991Z,1761536260.991 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T03:37:40.992Z,1761536260.992 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.927513 2025-10-27T03:37:41.138Z,1761536261.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:41.141Z,1761536261.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504071 s, deltaX: -0.400000 m, approachRate: -0.793538 m/s, rangeRepo size: 4 2025-10-27T03:37:41.142Z,1761536261.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.35 m. 2025-10-27T03:37:41.149Z,1761536261.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.350477 m, nav range: 10.266973 m, bearing: 232.703513 deg, approach rate: -0.581754 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.465673 deg, new cmd heading: 238.257610 deg. 2025-10-27T03:37:41.150Z,1761536261.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158380 target range: 11.350477 and range: 11.00 m. 2025-10-27T03:37:41.234Z,1761536261.234 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.170158 2025-10-27T03:37:41.472Z,1761536261.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551937,0.827043,0.106611],[-0.832304,-0.554240,-0.009368],[0.051340,-0.093904,0.994257]] 2025-10-27T03:37:41.489Z,1761536261.489 [DAT](INFO): DAT read: Rx Time:03:37:42.5731 2025-10-27T03:37:41.489Z,1761536261.489 [DAT](INFO): Rx dataTimestamp_ set to:1761536261.488723 2025-10-27T03:37:41.490Z,1761536261.490 [DAT](INFO): DAT read: Bearing 35.6, -4.0 (Local) 2025-10-27T03:37:41.491Z,1761536261.491 [DAT](INFO): Local bearing/azimuth received: Bearing 35.6, -4.0 (Local) 2025-10-27T03:37:41.493Z,1761536261.493 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 2025-10-27T03:37:41.497Z,1761536261.497 [DAT](INFO): DAT read: 03:37:42.5731 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.07,-1.547, 3.124,-1.209,-1.549, PHS= 0.104,-1.565, 0.295, RAW= 155.4, 13.1, CAL= 155.7, 14.7, ROT= 354.3, -14.7 2025-10-27T03:37:41.498Z,1761536261.498 [DAT](INFO): got valid direction response: 03:37:42.5731 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.07,-1.547, 3.124,-1.209,-1.549, PHS= 0.104,-1.565, 0.295, RAW= 155.4, 13.1, CAL= 155.7, 14.7, ROT= 354.3, -14.7 2025-10-27T03:37:41.499Z,1761536261.499 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T03:37:41.500Z,1761536261.500 [DAT](INFO): direction in FSK: [0.962485,-0.096069,0.253758] 2025-10-27T03:37:41.500Z,1761536261.500 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:41.508Z,1761536261.508 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.443756 2025-10-27T03:37:41.624Z,1761536261.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.507924 s, deltaX: -0.300000 m, approachRate: -0.590640 m/s, rangeRepo size: 4 2025-10-27T03:37:41.626Z,1761536261.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.653431 m, bearing: 232.118738 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 1.011995 s, deltaX: -0.697046 m, approachRate: -0.688784 m/s, posRepo size: 4 2025-10-27T03:37:41.626Z,1761536261.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.65 m. 2025-10-27T03:37:41.634Z,1761536261.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.653431 m, nav range: 10.087726 m, bearing: 232.264801 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.257598 deg, new cmd heading: 238.064522 deg. 2025-10-27T03:37:41.639Z,1761536261.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155010 target range: 10.653431 and range: 10.70 m. 2025-10-27T03:37:41.740Z,1761536261.740 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.676086 2025-10-27T03:37:41.989Z,1761536261.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550202,0.828046,0.107785],[-0.833598,-0.552223,-0.012811],[0.048913,-0.096899,0.994092]] 2025-10-27T03:37:41.993Z,1761536261.993 [DAT](INFO): DAT read: Rx Time:03:37:43.0728 2025-10-27T03:37:41.993Z,1761536261.993 [DAT](INFO): Rx dataTimestamp_ set to:1761536261.992778 2025-10-27T03:37:41.994Z,1761536261.994 [DAT](INFO): DAT read: Bearing 36.5, -4.6 (Local) 2025-10-27T03:37:41.995Z,1761536261.995 [DAT](INFO): Local bearing/azimuth received: Bearing 36.5, -4.6 (Local) 2025-10-27T03:37:41.997Z,1761536261.997 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 2025-10-27T03:37:42.010Z,1761536262.010 [DAT](INFO): DAT read: 03:37:43.0728 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.18,-1.112,-2.711,-0.771,-1.091, PHS= 0.081,-1.576, 0.276, RAW= 155.5, 13.7, CAL= 155.9, 15.6, ROT= 354.1, -15.6 2025-10-27T03:37:42.027Z,1761536262.027 [DAT](INFO): got valid direction response: 03:37:43.0728 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.18,-1.112,-2.711,-0.771,-1.091, PHS= 0.081,-1.576, 0.276, RAW= 155.5, 13.7, CAL= 155.9, 15.6, ROT= 354.1, -15.6 2025-10-27T03:37:42.028Z,1761536262.028 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T03:37:42.029Z,1761536262.029 [DAT](INFO): direction in FSK: [0.958061,-0.099006,0.268920] 2025-10-27T03:37:42.029Z,1761536262.029 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:42.049Z,1761536262.049 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.985374 2025-10-27T03:37:42.174Z,1761536262.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504055 s, deltaX: -0.500000 m, approachRate: -0.991955 m/s, rangeRepo size: 4 2025-10-27T03:37:42.181Z,1761536262.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.155607 m, bearing: 232.182177 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.504055 s, deltaX: -0.497824 m, approachRate: -0.987638 m/s, posRepo size: 4 2025-10-27T03:37:42.181Z,1761536262.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.16 m. 2025-10-27T03:37:42.188Z,1761536262.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.155607 m, nav range: 9.817706 m, bearing: 232.220870 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.064522 deg, new cmd heading: 237.840311 deg. 2025-10-27T03:37:42.189Z,1761536262.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151096 target range: 10.155607 and range: 10.20 m. 2025-10-27T03:37:42.245Z,1761536262.245 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.180603 2025-10-27T03:37:42.497Z,1761536262.497 [DAT](INFO): DAT read: Rx Time:03:37:43.5727 2025-10-27T03:37:42.497Z,1761536262.497 [DAT](INFO): Rx dataTimestamp_ set to:1761536262.496808 2025-10-27T03:37:42.498Z,1761536262.498 [DAT](INFO): DAT read: Bearing 36.3, -5.0 (Local) 2025-10-27T03:37:42.499Z,1761536262.499 [DAT](INFO): Local bearing/azimuth received: Bearing 36.3, -5.0 (Local) 2025-10-27T03:37:42.501Z,1761536262.501 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 2025-10-27T03:37:42.505Z,1761536262.505 [DAT](INFO): DAT read: 03:37:43.5727 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502,-0.38,-2.956, 1.722,-2.607,-2.940, PHS= 0.086,-1.576, 0.289, RAW= 155.7, 13.5, CAL= 156.1, 15.2, ROT= 353.9, -15.2 2025-10-27T03:37:42.506Z,1761536262.506 [DAT](INFO): got valid direction response: 03:37:43.5727 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502,-0.38,-2.956, 1.722,-2.607,-2.940, PHS= 0.086,-1.576, 0.289, RAW= 155.7, 13.5, CAL= 156.1, 15.2, ROT= 353.9, -15.2 2025-10-27T03:37:42.507Z,1761536262.507 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T03:37:42.508Z,1761536262.508 [DAT](INFO): direction in FSK: [0.959553,-0.102547,0.262189] 2025-10-27T03:37:42.508Z,1761536262.508 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:42.530Z,1761536262.530 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.466221 2025-10-27T03:37:42.685Z,1761536262.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504030 s, deltaX: -0.099999 m, approachRate: -0.198400 m/s, rangeRepo size: 4 2025-10-27T03:37:42.692Z,1761536262.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.055975 m, bearing: 231.938855 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.504030 s, deltaX: -0.099632 m, approachRate: -0.197671 m/s, posRepo size: 4 2025-10-27T03:37:42.693Z,1761536262.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.06 m. 2025-10-27T03:37:42.701Z,1761536262.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.055975 m, nav range: 9.533233 m, bearing: 231.957256 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.840301 deg, new cmd heading: 237.634081 deg. 2025-10-27T03:37:42.707Z,1761536262.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147497 target range: 10.055975 and range: 10.10 m. 2025-10-27T03:37:42.748Z,1761536262.748 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.684067 2025-10-27T03:37:43.001Z,1761536263.001 [DAT](INFO): DAT read: Rx Time:03:37:44.0725 2025-10-27T03:37:43.001Z,1761536263.001 [DAT](INFO): Rx dataTimestamp_ set to:1761536263.000735 2025-10-27T03:37:43.002Z,1761536263.002 [DAT](INFO): DAT read: Bearing 38.0, -5.7 (Local) 2025-10-27T03:37:43.003Z,1761536263.003 [DAT](INFO): Local bearing/azimuth received: Bearing 38.0, -5.7 (Local) 2025-10-27T03:37:43.005Z,1761536263.005 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 2025-10-27T03:37:43.009Z,1761536263.009 [DAT](INFO): DAT read: 03:37:44.0725 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499,-0.02, 1.047,-0.525, 1.402, 1.107, PHS= 0.042,-1.587, 0.251, RAW= 156.0, 14.7, CAL= 156.6, 16.8, ROT= 353.4, -16.8 2025-10-27T03:37:43.010Z,1761536263.010 [DAT](INFO): got valid direction response: 03:37:44.0725 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499,-0.02, 1.047,-0.525, 1.402, 1.107, PHS= 0.042,-1.587, 0.251, RAW= 156.0, 14.7, CAL= 156.6, 16.8, ROT= 353.4, -16.8 2025-10-27T03:37:43.024Z,1761536263.024 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T03:37:43.025Z,1761536263.025 [DAT](INFO): direction in FSK: [0.950975,-0.110032,0.289032] 2025-10-27T03:37:43.025Z,1761536263.025 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:43.034Z,1761536263.034 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.969452 2025-10-27T03:37:43.252Z,1761536263.252 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.188019 2025-10-27T03:37:43.254Z,1761536263.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503927 s, deltaX: -0.300000 m, approachRate: -0.595325 m/s, rangeRepo size: 4 2025-10-27T03:37:43.256Z,1761536263.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.757282 m, bearing: 231.595218 deg, lat: 36.779322 deg, lon: -121.859585 deg, deltaT: 0.503927 s, deltaX: -0.298693 m, approachRate: -0.592730 m/s, posRepo size: 4 2025-10-27T03:37:43.257Z,1761536263.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.76 m. 2025-10-27T03:37:43.257Z,1761536263.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m. 2025-10-27T03:37:43.257Z,1761536263.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T03:37:43.260Z,1761536263.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 9.258432 m, bearing: 232.119213 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.634084 deg, new cmd heading: 237.404487 deg. 2025-10-27T03:37:43.261Z,1761536263.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143490 target range: 9.757282 and range: 9.80 m. 2025-10-27T03:37:43.504Z,1761536263.504 [DAT](INFO): DAT read: Rx Time:03:37:44.5724 2025-10-27T03:37:43.505Z,1761536263.505 [DAT](INFO): Rx dataTimestamp_ set to:1761536263.504599 2025-10-27T03:37:43.506Z,1761536263.506 [DAT](INFO): DAT read: Bearing 37.8, -5.8 (Local) 2025-10-27T03:37:43.506Z,1761536263.506 [DAT](INFO): Local bearing/azimuth received: Bearing 37.8, -5.8 (Local) 2025-10-27T03:37:43.509Z,1761536263.509 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 2025-10-27T03:37:43.513Z,1761536263.513 [DAT](INFO): DAT read: 03:37:44.5724 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498, 0.40, 1.628, 0.052, 1.986, 1.681, PHS= 0.048,-1.584, 0.261, RAW= 156.0, 14.5, CAL= 156.6, 16.5, ROT= 353.4, -16.5 2025-10-27T03:37:43.514Z,1761536263.514 [DAT](INFO): got valid direction response: 03:37:44.5724 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 498, 0.40, 1.628, 0.052, 1.986, 1.681, PHS= 0.048,-1.584, 0.261, RAW= 156.0, 14.5, CAL= 156.6, 16.5, ROT= 353.4, -16.5 2025-10-27T03:37:43.515Z,1761536263.515 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T03:37:43.516Z,1761536263.516 [DAT](INFO): direction in FSK: [0.952465,-0.110204,0.284015] 2025-10-27T03:37:43.516Z,1761536263.516 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:43.520Z,1761536263.520 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.455532 2025-10-27T03:37:43.667Z,1761536263.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541979,0.833370,0.108414],[-0.839342,-0.543225,-0.020286],[0.041988,-0.101991,0.993899]] 2025-10-27T03:37:43.714Z,1761536263.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503864 s, deltaX: -0.200000 m, approachRate: -0.396932 m/s, rangeRepo size: 4 2025-10-27T03:37:43.722Z,1761536263.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.558180 m, bearing: 232.242224 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.503864 s, deltaX: -0.199102 m, approachRate: -0.395151 m/s, posRepo size: 4 2025-10-27T03:37:43.728Z,1761536263.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.76 m. 2025-10-27T03:37:43.730Z,1761536263.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 9.035009 m, bearing: 232.257735 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.404480 deg, new cmd heading: 237.218598 deg. 2025-10-27T03:37:43.738Z,1761536263.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140245 target range: 9.757282 and range: 9.60 m. 2025-10-27T03:37:43.756Z,1761536263.756 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.692242 2025-10-27T03:37:44.010Z,1761536264.010 [DAT](INFO): DAT read: Rx Time:03:37:45.0722 2025-10-27T03:37:44.010Z,1761536264.010 [DAT](INFO): Rx dataTimestamp_ set to:1761536264.010179 2025-10-27T03:37:44.012Z,1761536264.012 [DAT](INFO): DAT read: Bearing 37.7, -6.0 (Local) 2025-10-27T03:37:44.013Z,1761536264.013 [DAT](INFO): Local bearing/azimuth received: Bearing 37.7, -6.0 (Local) 2025-10-27T03:37:44.016Z,1761536264.016 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4 2025-10-27T03:37:44.025Z,1761536264.025 [DAT](INFO): DAT read: 03:37:45.0722 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 496,-0.06,-2.472, 2.229,-2.105,-2.421, PHS= 0.051,-1.588, 0.272, RAW= 156.3, 14.3, CAL= 156.8, 16.2, ROT= 353.2, -16.2 2025-10-27T03:37:44.026Z,1761536264.026 [DAT](INFO): got valid direction response: 03:37:45.0722 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 496,-0.06,-2.472, 2.229,-2.105,-2.421, PHS= 0.051,-1.588, 0.272, RAW= 156.3, 14.3, CAL= 156.8, 16.2, ROT= 353.2, -16.2 2025-10-27T03:37:44.026Z,1761536264.026 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T03:37:44.028Z,1761536264.028 [DAT](INFO): direction in FSK: [0.953539,-0.113702,0.278991] 2025-10-27T03:37:44.028Z,1761536264.028 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:44.060Z,1761536264.060 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.995487 2025-10-27T03:37:44.074Z,1761536264.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539949,0.834598,0.109089],[-0.840700,-0.541069,-0.021633],[0.040970,-0.103392,0.993797]] 2025-10-27T03:37:44.191Z,1761536264.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.505580 s, deltaX: -0.300000 m, approachRate: -0.593378 m/s, rangeRepo size: 4 2025-10-27T03:37:44.193Z,1761536264.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.259487 m, bearing: 232.173793 deg, lat: 36.779323 deg, lon: -121.859584 deg, deltaT: 1.009444 s, deltaX: -0.497795 m, approachRate: -0.493138 m/s, posRepo size: 4 2025-10-27T03:37:44.194Z,1761536264.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.26 m. 9.76 m. 2025-10-27T03:37:44.198Z,1761536264.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 8.801697 m, bearing: 232.406047 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.218590 deg, new cmd heading: 237.029333 deg. 2025-10-27T03:37:44.207Z,1761536264.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136942 target range: 9.757282 and range: 9.30 m. 2025-10-27T03:37:44.261Z,1761536264.261 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.196537 2025-10-27T03:37:44.472Z,1761536264.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537275,0.835898,0.112298],[-0.842457,-0.538211,-0.024418],[0.040029,-0.107725,0.993375]] 2025-10-27T03:37:44.513Z,1761536264.513 [DAT](INFO): DAT read: Rx Time:03:37:45.5721 2025-10-27T03:37:44.513Z,1761536264.513 [DAT](INFO): Rx dataTimestamp_ set to:1761536264.512766 2025-10-27T03:37:44.514Z,1761536264.514 [DAT](INFO): DAT read: Bearing 37.1, -5.7 (Local) 2025-10-27T03:37:44.515Z,1761536264.515 [DAT](INFO): Local bearing/azimuth received: Bearing 37.1, -5.7 (Local) 2025-10-27T03:37:44.517Z,1761536264.517 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 2025-10-27T03:37:44.521Z,1761536264.521 [DAT](INFO): DAT read: 03:37:45.5721 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 511, 0.30, 0.473,-1.134, 0.831, 0.501, PHS= 0.074,-1.589, 0.286, RAW= 155.9, 13.7, CAL= 156.3, 15.6, ROT= 353.7, -15.6 2025-10-27T03:37:44.522Z,1761536264.522 [DAT](INFO): got valid direction response: 03:37:45.5721 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 511, 0.30, 0.473,-1.134, 0.831, 0.501, PHS= 0.074,-1.589, 0.286, RAW= 155.9, 13.7, CAL= 156.3, 15.6, ROT= 353.7, -15.6 2025-10-27T03:37:44.523Z,1761536264.523 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T03:37:44.524Z,1761536264.524 [DAT](INFO): direction in FSK: [0.957346,-0.105692,0.268920] 2025-10-27T03:37:44.524Z,1761536264.524 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:44.544Z,1761536264.544 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.479816 2025-10-27T03:37:44.549Z,1761536264.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502587 s, deltaX: -0.100000 m, approachRate: -0.198971 m/s, rangeRepo size: 4 2025-10-27T03:37:44.556Z,1761536264.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.159915 m, bearing: 232.871387 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 1.512031 s, deltaX: -0.597367 m, approachRate: -0.395076 m/s, posRepo size: 4 2025-10-27T03:37:44.557Z,1761536264.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.16 m. 9.76 m. 2025-10-27T03:37:44.563Z,1761536264.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 8.636209 m, bearing: 232.574893 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.029339 deg, new cmd heading: 236.881268 deg. 2025-10-27T03:37:44.564Z,1761536264.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134358 target range: 9.757282 and range: 9.20 m. 2025-10-27T03:37:44.765Z,1761536264.765 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.700638 2025-10-27T03:37:44.865Z,1761536264.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534673,0.837337,0.113983],[-0.844183,-0.535377,-0.026950],[0.038458,-0.110632,0.993117]] 2025-10-27T03:37:44.883Z,1761536264.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:44.916Z,1761536264.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:44.941Z,1761536264.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 8.461365 m, bearing: 232.756499 deg, approach rate: -0.486753 m/s, LOS rate: 0.516028 deg/s, cmd heading: 236.881260 deg, new cmd heading: 237.437320 deg. 2025-10-27T03:37:44.948Z,1761536264.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144063 target range: 9.757282 and range: 9.20 m. 2025-10-27T03:37:45.018Z,1761536265.018 [DAT](INFO): DAT read: Rx Time:03:37:46.0719 2025-10-27T03:37:45.018Z,1761536265.018 [DAT](INFO): Rx dataTimestamp_ set to:1761536265.017781 2025-10-27T03:37:45.021Z,1761536265.020 [DAT](INFO): DAT read: Bearing 36.9, -5.9 (Local) 2025-10-27T03:37:45.021Z,1761536265.021 [DAT](INFO): Local bearing/azimuth received: Bearing 36.9, -5.9 (Local) 2025-10-27T03:37:45.023Z,1761536265.023 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 2025-10-27T03:37:45.027Z,1761536265.027 [DAT](INFO): DAT read: 03:37:46.0719 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 509,-0.15,-2.966, 1.700,-2.599,-2.943, PHS= 0.079,-1.595, 0.300, RAW= 156.1, 13.5, CAL= 156.5, 15.3, ROT= 353.5, -15.3 2025-10-27T03:37:45.029Z,1761536265.029 [DAT](INFO): got valid direction response: 03:37:46.0719 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 509,-0.15,-2.966, 1.700,-2.599,-2.943, PHS= 0.079,-1.595, 0.300, RAW= 156.1, 13.5, CAL= 156.5, 15.3, ROT= 353.5, -15.3 2025-10-27T03:37:45.029Z,1761536265.029 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T03:37:45.030Z,1761536265.030 [DAT](INFO): direction in FSK: [0.958357,-0.109191,0.263873] 2025-10-27T03:37:45.030Z,1761536265.030 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:45.034Z,1761536265.034 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.969631 2025-10-27T03:37:45.268Z,1761536265.268 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.203739 2025-10-27T03:37:45.353Z,1761536265.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.505015 s, deltaX: -0.300000 m, approachRate: -0.594042 m/s, rangeRepo size: 4 2025-10-27T03:37:45.355Z,1761536265.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.861284 m, bearing: 232.864896 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 2.017046 s, deltaX: -0.895998 m, approachRate: -0.444213 m/s, posRepo size: 4 2025-10-27T03:37:45.356Z,1761536265.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.86 m. 9.76 m. 2025-10-27T03:37:45.359Z,1761536265.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 8.260506 m, bearing: 233.000999 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.437320 deg, new cmd heading: 237.257870 deg. 2025-10-27T03:37:45.360Z,1761536265.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140931 target range: 9.757282 and range: 8.90 m. 2025-10-27T03:37:45.521Z,1761536265.521 [DAT](INFO): DAT read: Rx Time:03:37:46.5717 2025-10-27T03:37:45.521Z,1761536265.521 [DAT](INFO): Rx dataTimestamp_ set to:1761536265.520789 2025-10-27T03:37:45.522Z,1761536265.522 [DAT](INFO): DAT read: Bearing 36.3, -5.8 (Local) 2025-10-27T03:37:45.523Z,1761536265.523 [DAT](INFO): Local bearing/azimuth received: Bearing 36.3, -5.8 (Local) 2025-10-27T03:37:45.525Z,1761536265.525 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4 2025-10-27T03:37:45.530Z,1761536265.530 [DAT](INFO): DAT read: 03:37:46.5717 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 507, 0.16,-0.744,-2.378,-0.382,-0.742, PHS= 0.100,-1.591, 0.316, RAW= 156.0, 12.9, CAL= 156.3, 14.6, ROT= 353.7, -14.6 2025-10-27T03:37:45.531Z,1761536265.531 [DAT](INFO): got valid direction response: 03:37:46.5717 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 507, 0.16,-0.744,-2.378,-0.382,-0.742, PHS= 0.100,-1.591, 0.316, RAW= 156.0, 12.9, CAL= 156.3, 14.6, ROT= 353.7, -14.6 2025-10-27T03:37:45.531Z,1761536265.531 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T03:37:45.532Z,1761536265.532 [DAT](INFO): direction in FSK: [0.961865,-0.106191,0.252069] 2025-10-27T03:37:45.532Z,1761536265.532 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:45.544Z,1761536265.544 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.480255 2025-10-27T03:37:45.688Z,1761536265.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529569,0.839912,0.118761],[-0.847575,-0.529579,-0.034092],[0.034259,-0.118713,0.992337]] 2025-10-27T03:37:45.731Z,1761536265.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503008 s, deltaX: -0.299999 m, approachRate: -0.596410 m/s, rangeRepo size: 4 2025-10-27T03:37:45.733Z,1761536265.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.562591 m, bearing: 233.469763 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 2.520054 s, deltaX: -1.194692 m, approachRate: -0.474074 m/s, posRepo size: 4 2025-10-27T03:37:45.734Z,1761536265.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.56 m. 9.76 m. 2025-10-27T03:37:45.741Z,1761536265.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 8.081244 m, bearing: 233.220973 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.257877 deg, new cmd heading: 237.105429 deg. 2025-10-27T03:37:45.742Z,1761536265.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138270 target range: 9.757282 and range: 8.60 m. 2025-10-27T03:37:45.772Z,1761536265.772 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.707901 2025-10-27T03:37:46.025Z,1761536266.025 [DAT](INFO): DAT read: Rx Time:03:37:47.0715 2025-10-27T03:37:46.026Z,1761536266.026 [DAT](INFO): Rx dataTimestamp_ set to:1761536266.025516 2025-10-27T03:37:46.027Z,1761536266.027 [DAT](INFO): DAT read: Bearing 36.9, -6.1 (Local) 2025-10-27T03:37:46.027Z,1761536266.027 [DAT](INFO): Local bearing/azimuth received: Bearing 36.9, -6.1 (Local) 2025-10-27T03:37:46.029Z,1761536266.029 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 2025-10-27T03:37:46.034Z,1761536266.034 [DAT](INFO): DAT read: 03:37:47.0715 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 505,-0.28, 2.606, 0.965, 2.970, 2.621, PHS= 0.087,-1.612, 0.304, .9, 13.4, CAL= 156.3, 15.1, ROT= 353.7, -15.1 2025-10-27T03:37:46.035Z,1761536266.035 [DAT](INFO): unknown deviceResponse_: 03:37:47.0715 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 505,-0.28, 2.606, 0.965, 2.970, 2.621, PHS= 0.087,-1.612, 0.304, .9, 13.4, CAL= 156.3, 15.1, ROT= 353.7, -15.1 2025-10-27T03:37:46.035Z,1761536266.035 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-27T03:37:46.036Z,1761536266.036 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.972210 2025-10-27T03:37:46.192Z,1761536266.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525651,0.842486,0.117935],[-0.850211,-0.524978,-0.039241],[0.028853,-0.120896,0.992246]] 2025-10-27T03:37:46.247Z,1761536266.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504727 s, deltaX: -0.300000 m, approachRate: -0.594381 m/s, rangeRepo size: 4 2025-10-27T03:37:46.248Z,1761536266.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:46.250Z,1761536266.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 7.835957 m, bearing: 233.476034 deg, approach rate: -0.475337 m/s, LOS rate: 0.509749 deg/s, cmd heading: 237.105427 deg, new cmd heading: 237.894509 deg. 2025-10-27T03:37:46.252Z,1761536266.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152042 target range: 9.757282 and range: 8.30 m. 2025-10-27T03:37:46.276Z,1761536266.276 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.211990 2025-10-27T03:37:46.529Z,1761536266.529 [DAT](INFO): DAT read: Rx Time:03:37:47.5714 2025-10-27T03:37:46.529Z,1761536266.529 [DAT](INFO): Rx dataTimestamp_ set to:1761536266.528694 2025-10-27T03:37:46.530Z,1761536266.530 [DAT](INFO): DAT read: Bearing 36.8, -5.8 (Local) 2025-10-27T03:37:46.531Z,1761536266.531 [DAT](INFO): Local bearing/azimuth received: Bearing 36.8, -5.8 (Local) 2025-10-27T03:37:46.533Z,1761536266.533 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 2025-10-27T03:37:46.550Z,1761536266.550 [DAT](INFO): DAT read: 03:37:47.5714 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 504, 0.07,-0.469,-2.127,-0.120,-0.465, PHS= 0.098,-1.617, 0.301, RAW= 155.5, 13.3, CAL= 155.9, 15.0, ROT= 354.1, -15.0 2025-10-27T03:37:46.551Z,1761536266.551 [DAT](INFO): got valid direction response: 03:37:47.5714 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 504, 0.07,-0.469,-2.127,-0.120,-0.465, PHS= 0.098,-1.617, 0.301, RAW= 155.5, 13.3, CAL= 155.9, 15.0, ROT= 354.1, -15.0 2025-10-27T03:37:46.552Z,1761536266.552 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T03:37:46.552Z,1761536266.552 [DAT](INFO): direction in FSK: [0.960809,-0.099290,0.258819] 2025-10-27T03:37:46.553Z,1761536266.553 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:46.595Z,1761536266.595 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.531204 2025-10-27T03:37:46.613Z,1761536266.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523074,0.843908,0.119214],[-0.851906,-0.521884,-0.043514],[0.025494,-0.124320,0.991915]] 2025-10-27T03:37:46.690Z,1761536266.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503178 s, deltaX: -0.200000 m, approachRate: -0.397473 m/s, rangeRepo size: 4 2025-10-27T03:37:46.698Z,1761536266.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.065086 m, bearing: 234.470962 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 3.527959 s, deltaX: -1.692196 m, approachRate: -0.479653 m/s, posRepo size: 4 2025-10-27T03:37:46.704Z,1761536266.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.07 m. 9.76 m. 2025-10-27T03:37:46.712Z,1761536266.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 7.641635 m, bearing: 233.684986 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.894505 deg, new cmd heading: 237.715624 deg. 2025-10-27T03:37:46.713Z,1761536266.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.148921 target range: 9.757282 and range: 8.10 m. 2025-10-27T03:37:46.780Z,1761536266.780 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.716084 2025-10-27T03:37:47.022Z,1761536267.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:47.032Z,1761536267.032 [DAT](INFO): DAT read: Rx Time:03:37:48.0712 2025-10-27T03:37:47.033Z,1761536267.033 [DAT](INFO): Rx dataTimestamp_ set to:1761536267.032638 2025-10-27T03:37:47.034Z,1761536267.034 [DAT](INFO): DAT read: Bearing 37.6, -6.2 (Local) 2025-10-27T03:37:47.034Z,1761536267.034 [DAT](INFO): Local bearing/azimuth received: Bearing 37.6, -6.2 (Local) 2025-10-27T03:37:47.037Z,1761536267.037 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-27T03:37:47.042Z,1761536267.042 [DAT](INFO): DAT read: 03:37:48.0712 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 502,-0.34,-3.000, 1.626,-2.649,-2.976, PHS= 0.078,-1.636, 0.283, RAW= 155.6, 13.9, CAL= 156.0, 15.7, ROT= 354.0, -15.7 2025-10-27T03:37:47.043Z,1761536267.043 [DAT](INFO): got valid direction response: 03:37:48.0712 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 502,-0.34,-3.000, 1.626,-2.649,-2.976, PHS= 0.078,-1.636, 0.283, RAW= 155.6, 13.9, CAL= 156.0, 15.7, ROT= 354.0, -15.7 2025-10-27T03:37:47.043Z,1761536267.043 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T03:37:47.044Z,1761536267.044 [DAT](INFO): direction in FSK: [0.957418,-0.100629,0.270600] 2025-10-27T03:37:47.045Z,1761536267.045 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:47.048Z,1761536267.048 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.984093 2025-10-27T03:37:47.056Z,1761536267.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503944 s, deltaX: -0.300000 m, approachRate: -0.595305 m/s, rangeRepo size: 4 2025-10-27T03:37:47.057Z,1761536267.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:47.064Z,1761536267.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 7.472057 m, bearing: 233.876310 deg, approach rate: -0.462214 m/s, LOS rate: 0.533322 deg/s, cmd heading: 237.715636 deg, new cmd heading: 238.302613 deg. 2025-10-27T03:37:47.065Z,1761536267.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159165 target range: 9.757282 and range: 7.80 m. 2025-10-27T03:37:47.284Z,1761536267.284 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.220016 2025-10-27T03:37:47.505Z,1761536267.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:47.507Z,1761536267.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 7.229418 m, bearing: 234.034191 deg, approach rate: -0.541047 m/s, LOS rate: 0.363863 deg/s, cmd heading: 238.302623 deg, new cmd heading: 238.792149 deg. 2025-10-27T03:37:47.508Z,1761536267.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167709 target range: 9.757282 and range: 7.80 m. 2025-10-27T03:37:47.537Z,1761536267.537 [DAT](INFO): DAT read: Rx Time:03:37:48.5711 2025-10-27T03:37:47.538Z,1761536267.538 [DAT](INFO): Rx dataTimestamp_ set to:1761536267.537134 2025-10-27T03:37:47.540Z,1761536267.540 [DAT](INFO): DAT read: Bearing 37.2, -6.0 (Local) 2025-10-27T03:37:47.540Z,1761536267.540 [DAT](INFO): Local bearing/azimuth received: Bearing 37.2, -6.0 (Local) 2025-10-27T03:37:47.544Z,1761536267.544 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 2025-10-27T03:37:47.550Z,1761536267.550 [DAT](INFO): DAT read: 03:37:48.5711 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 501, 0.12,-0.215,-1.885, 0.126,-0.208, PHS= 0.095,-1.633, 0.290, RAW= 155.3, 13.5, CAL= 155.6, 15.3, ROT= 354.4, -15.3 2025-10-27T03:37:47.553Z,1761536267.553 [DAT](INFO): got valid direction response: 03:37:48.5711 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 501, 0.12,-0.215,-1.885, 0.126,-0.208, PHS= 0.095,-1.633, 0.290, RAW= 155.3, 13.5, CAL= 155.6, 15.3, ROT= 354.4, -15.3 2025-10-27T03:37:47.553Z,1761536267.553 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T03:37:47.555Z,1761536267.555 [DAT](INFO): direction in FSK: [0.959954,-0.094124,0.263873] 2025-10-27T03:37:47.555Z,1761536267.555 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:47.568Z,1761536267.568 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.504196 2025-10-27T03:37:47.788Z,1761536267.788 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.723866 2025-10-27T03:37:47.814Z,1761536267.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519390,0.846165,0.119326],[-0.854404,-0.516683,-0.055065],[0.015059,-0.130553,0.991327]] 2025-10-27T03:37:47.837Z,1761536267.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504496 s, deltaX: -0.100000 m, approachRate: -0.198218 m/s, rangeRepo size: 4 2025-10-27T03:37:47.839Z,1761536267.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.666665 m, bearing: 235.180135 deg, lat: 36.779322 deg, lon: -121.859586 deg, deltaT: 4.536399 s, deltaX: -2.090617 m, approachRate: -0.460854 m/s, posRepo size: 4 2025-10-27T03:37:47.856Z,1761536267.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.67 m. 9.76 m. 2025-10-27T03:37:47.858Z,1761536267.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 7.059846 m, bearing: 234.144735 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.792156 deg, new cmd heading: 238.658216 deg. 2025-10-27T03:37:47.863Z,1761536267.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165372 target range: 9.757282 and range: 7.70 m. 2025-10-27T03:37:48.041Z,1761536268.041 [DAT](INFO): DAT read: Rx Time:03:37:49.0709 2025-10-27T03:37:48.041Z,1761536268.041 [DAT](INFO): Rx dataTimestamp_ set to:1761536268.040699 2025-10-27T03:37:48.042Z,1761536268.042 [DAT](INFO): DAT read: Bearing 38.1, -6.6 (Local) 2025-10-27T03:37:48.043Z,1761536268.043 [DAT](INFO): Local bearing/azimuth received: Bearing 38.1, -6.6 (Local) 2025-10-27T03:37:48.050Z,1761536268.050 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T03:37:48.057Z,1761536268.057 [DAT](INFO): DAT read: 03:37:49.0709 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 499,-0.25, 2.329, 0.654, 2.674, 2.360, PHS= 0.071,-1.661, 0.270, RAW= 155.4, 14.2, CAL= 155.9, 16.2, ROT= 354.1, -16.2 2025-10-27T03:37:48.058Z,1761536268.058 [DAT](INFO): got valid direction response: 03:37:49.0709 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 499,-0.25, 2.329, 0.654, 2.674, 2.360, PHS= 0.071,-1.661, 0.270, RAW= 155.4, 14.2, CAL= 155.9, 16.2, ROT= 354.1, -16.2 2025-10-27T03:37:48.076Z,1761536268.076 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T03:37:48.077Z,1761536268.077 [DAT](INFO): direction in FSK: [0.955207,-0.098711,0.278991] 2025-10-27T03:37:48.077Z,1761536268.077 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:48.100Z,1761536268.100 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.022663 2025-10-27T03:37:48.224Z,1761536268.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518668,0.846493,0.120140],[-0.854896,-0.515395,-0.059333],[0.011695,-0.133482,0.990982]] 2025-10-27T03:37:48.270Z,1761536268.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503565 s, deltaX: -0.300000 m, approachRate: -0.595752 m/s, rangeRepo size: 4 2025-10-27T03:37:48.288Z,1761536268.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.367964 m, bearing: 235.112410 deg, lat: 36.779322 deg, lon: -121.859587 deg, deltaT: 5.039964 s, deltaX: -2.389318 m, approachRate: -0.474074 m/s, posRepo size: 4 2025-10-27T03:37:48.289Z,1761536268.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.37 m. 9.76 m. 2025-10-27T03:37:48.292Z,1761536268.292 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.227982 2025-10-27T03:37:48.296Z,1761536268.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 6.825622 m, bearing: 234.094022 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.658230 deg, new cmd heading: 238.483349 deg. 2025-10-27T03:37:48.297Z,1761536268.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162320 target range: 9.757282 and range: 7.40 m. 2025-10-27T03:37:48.546Z,1761536268.546 [DAT](INFO): DAT read: Rx Time:03:37:49.5708 2025-10-27T03:37:48.546Z,1761536268.546 [DAT](INFO): Rx dataTimestamp_ set to:1761536268.545819 2025-10-27T03:37:48.548Z,1761536268.548 [DAT](INFO): DAT read: Bearing 37.4, -6.4 (Local) 2025-10-27T03:37:48.549Z,1761536268.549 [DAT](INFO): Local bearing/azimuth received: Bearing 37.4, -6.4 (Local) 2025-10-27T03:37:48.552Z,1761536268.552 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 2025-10-27T03:37:48.557Z,1761536268.557 [DAT](INFO): DAT read: 03:37:49.5708 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 497, 0.20,-2.307, 2.296,-1.970,-2.299, PHS= 0.094,-1.643, 0.285, RAW= 155.2, 13.7, CAL= 155.5, 15.4, ROT= 354.5, -15.4 2025-10-27T03:37:48.558Z,1761536268.558 [DAT](INFO): got valid direction response: 03:37:49.5708 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 497, 0.20,-2.307, 2.296,-1.970,-2.299, PHS= 0.094,-1.643, 0.285, RAW= 155.2, 13.7, CAL= 155.5, 15.4, ROT= 354.5, -15.4 2025-10-27T03:37:48.558Z,1761536268.558 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T03:37:48.560Z,1761536268.560 [DAT](INFO): direction in FSK: [0.959657,-0.092405,0.265556] 2025-10-27T03:37:48.560Z,1761536268.560 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:48.564Z,1761536268.564 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.499969 2025-10-27T03:37:48.619Z,1761536268.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518309,0.846579,0.121081],[-0.855143,-0.514595,-0.062632],[0.009285,-0.136005,0.990665]] 2025-10-27T03:37:48.702Z,1761536268.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.505120 s, deltaX: -0.300000 m, approachRate: -0.593919 m/s, rangeRepo size: 4 2025-10-27T03:37:48.709Z,1761536268.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.069114 m, bearing: 235.465058 deg, lat: 36.779322 deg, lon: -121.859588 deg, deltaT: 5.545084 s, deltaX: -2.688168 m, approachRate: -0.484784 m/s, posRepo size: 4 2025-10-27T03:37:48.715Z,1761536268.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.07 m. 9.76 m. 2025-10-27T03:37:48.727Z,1761536268.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 6.602432 m, bearing: 234.041669 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.483350 deg, new cmd heading: 238.309066 deg. 2025-10-27T03:37:48.728Z,1761536268.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159278 target range: 9.757282 and range: 7.10 m. 2025-10-27T03:37:48.797Z,1761536268.797 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.732796 2025-10-27T03:37:49.022Z,1761536269.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518981,0.846316,0.120036],[-0.854754,-0.515030,-0.064336],[0.007373,-0.135991,0.990683]] 2025-10-27T03:37:49.049Z,1761536269.049 [DAT](INFO): DAT read: Rx Time:03:37:50.0706 2025-10-27T03:37:49.049Z,1761536269.049 [DAT](INFO): Rx dataTimestamp_ set to:1761536269.048802 2025-10-27T03:37:49.050Z,1761536269.050 [DAT](INFO): DAT read: Bearing 38.2, -7.1 (Local) 2025-10-27T03:37:49.051Z,1761536269.051 [DAT](INFO): Local bearing/azimuth received: Bearing 38.2, -7.1 (Local) 2025-10-27T03:37:49.053Z,1761536269.053 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 2025-10-27T03:37:49.058Z,1761536269.058 [DAT](INFO): DAT read: 03:37:50.0706 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 511,-0.27, 2.104, 0.426, 2.450, 2.136, PHS= 0.069,-1.666, 0.270, RAW= 155.4, 14.3, CAL= 155.9, 16.2, ROT= 354.1, -16.2 2025-10-27T03:37:49.059Z,1761536269.059 [DAT](INFO): got valid direction response: 03:37:50.0706 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 511,-0.27, 2.104, 0.426, 2.450, 2.136, PHS= 0.069,-1.666, 0.270, RAW= 155.4, 14.3, CAL= 155.9, 16.2, ROT= 354.1, -16.2 2025-10-27T03:37:49.060Z,1761536269.060 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T03:37:49.061Z,1761536269.061 [DAT](INFO): direction in FSK: [0.955207,-0.098711,0.278991] 2025-10-27T03:37:49.061Z,1761536269.061 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:49.065Z,1761536269.065 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.000462 2025-10-27T03:37:49.079Z,1761536269.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.502983 s, deltaX: -0.300000 m, approachRate: -0.596441 m/s, rangeRepo size: 4 2025-10-27T03:37:49.081Z,1761536269.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.770420 m, bearing: 235.141608 deg, lat: 36.779322 deg, lon: -121.859588 deg, deltaT: 6.048067 s, deltaX: -2.986863 m, approachRate: -0.493854 m/s, posRepo size: 4 2025-10-27T03:37:49.082Z,1761536269.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.77 m. 9.76 m. 2025-10-27T03:37:49.084Z,1761536269.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 6.398553 m, bearing: 233.992073 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 238.309070 deg, new cmd heading: 238.156688 deg. 2025-10-27T03:37:49.085Z,1761536269.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156618 target range: 9.757282 and range: 6.80 m. 2025-10-27T03:37:49.300Z,1761536269.300 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.236057 2025-10-27T03:37:49.463Z,1761536269.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519896,0.846174,0.117041],[-0.854213,-0.515826,-0.065135],[0.005257,-0.133841,0.990989]] 2025-10-27T03:37:49.505Z,1761536269.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:49.507Z,1761536269.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:49.510Z,1761536269.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 6.137858 m, bearing: 233.754312 deg, approach rate: -0.607902 m/s, LOS rate: -0.577971 deg/s, cmd heading: 238.156675 deg, new cmd heading: 237.413140 deg. 2025-10-27T03:37:49.511Z,1761536269.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143641 target range: 9.757282 and range: 6.80 m. 2025-10-27T03:37:49.553Z,1761536269.553 [DAT](INFO): DAT read: Rx Time:03:37:50.5705 2025-10-27T03:37:49.554Z,1761536269.554 [DAT](INFO): Rx dataTimestamp_ set to:1761536269.553233 2025-10-27T03:37:49.556Z,1761536269.556 [DAT](INFO): DAT read: Bearing 37.4, -7.0 (Local) 2025-10-27T03:37:49.556Z,1761536269.556 [DAT](INFO): Local bearing/azimuth received: Bearing 37.4, -7.0 (Local) 2025-10-27T03:37:49.559Z,1761536269.559 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.4 2025-10-27T03:37:49.566Z,1761536269.566 [DAT](INFO): DAT read: 03:37:50.5705 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510,-0.05,-0.556,-2.238,-0.210,-0.547, PHS= 0.093,-1.646, 0.293, RAW= 155.4, 13.6, CAL= 155.8, 15.3, ROT= 354.2, -15.3 2025-10-27T03:37:49.567Z,1761536269.567 [DAT](INFO): got valid direction response: 03:37:50.5705 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510,-0.05,-0.556,-2.238,-0.210,-0.547, PHS= 0.093,-1.646, 0.293, RAW= 155.4, 13.6, CAL= 155.8, 15.3, ROT= 354.2, -15.3 2025-10-27T03:37:49.568Z,1761536269.568 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T03:37:49.569Z,1761536269.569 [DAT](INFO): direction in FSK: [0.959620,-0.097475,0.263873] 2025-10-27T03:37:49.569Z,1761536269.569 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:49.573Z,1761536269.573 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:37:49.573Z,1761536269.573 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:37:49.574Z,1761536269.574 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:49.804Z,1761536269.804 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:49.841Z,1761536269.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521194,0.845707,0.114616],[-0.853430,-0.517049,-0.065704],[0.003696,-0.132061,0.991235]] 2025-10-27T03:37:49.937Z,1761536269.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504431 s, deltaX: -0.200000 m, approachRate: -0.396487 m/s, rangeRepo size: 4 2025-10-27T03:37:49.945Z,1761536269.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.571088 m, bearing: 234.900280 deg, lat: 36.779322 deg, lon: -121.859588 deg, deltaT: 6.552498 s, deltaX: -3.186194 m, approachRate: -0.486256 m/s, posRepo size: 4 2025-10-27T03:37:49.951Z,1761536269.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.57 m. 9.76 m. 2025-10-27T03:37:49.953Z,1761536269.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 5.922696 m, bearing: 233.545267 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.413141 deg, new cmd heading: 237.242214 deg. 2025-10-27T03:37:49.954Z,1761536269.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140658 target range: 9.757282 and range: 6.60 m. 2025-10-27T03:37:50.058Z,1761536270.058 [DAT](INFO): DAT read: Rx Time:03:37:51.0702 2025-10-27T03:37:50.058Z,1761536270.058 [DAT](INFO): Rx dataTimestamp_ set to:1761536270.057861 2025-10-27T03:37:50.060Z,1761536270.060 [DAT](INFO): DAT read: Bearing 36.9, -7.0 (Local) 2025-10-27T03:37:50.061Z,1761536270.061 [DAT](INFO): Local bearing/azimuth received: Bearing 36.9, -7.0 (Local) 2025-10-27T03:37:50.063Z,1761536270.063 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-27T03:37:50.068Z,1761536270.068 [DAT](INFO): DAT read: 03:37:51.0702 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.14, 1.367,-0.330, 1.712, 1.360, PHS= 0.110,-1.645, 0.308, RAW= 155.3, 13.1, CAL= 155.6, 14.8, ROT= 354.4, -14.8 2025-10-27T03:37:50.069Z,1761536270.069 [DAT](INFO): got valid direction response: 03:37:51.0702 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.14, 1.367,-0.330, 1.712, 1.360, PHS= 0.110,-1.645, 0.308, RAW= 155.3, 13.1, CAL= 155.6, 14.8, ROT= 354.4, -14.8 2025-10-27T03:37:50.070Z,1761536270.070 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:50.071Z,1761536270.071 [DAT](INFO): direction in FSK: [0.962209,-0.094346,0.255446] 2025-10-27T03:37:50.071Z,1761536270.071 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:50.074Z,1761536270.074 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:50.078Z,1761536270.078 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:50.269Z,1761536270.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523160,0.844902,0.111558],[-0.852232,-0.519004,-0.065847],[0.002265,-0.129522,0.991574]] 2025-10-27T03:37:50.308Z,1761536270.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:50.319Z,1761536270.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504628 s, deltaX: -0.400000 m, approachRate: -0.792663 m/s, rangeRepo size: 4 2025-10-27T03:37:50.321Z,1761536270.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.172840 m, bearing: 234.857482 deg, lat: 36.779322 deg, lon: -121.859588 deg, deltaT: 7.057126 s, deltaX: -3.584442 m, approachRate: -0.507918 m/s, posRepo size: 4 2025-10-27T03:37:50.322Z,1761536270.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.76 m. 2025-10-27T03:37:50.325Z,1761536270.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 5.647981 m, bearing: 233.111967 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.242222 deg, new cmd heading: 237.085498 deg. 2025-10-27T03:37:50.326Z,1761536270.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.137923 target range: 9.757282 and range: 6.20 m. 2025-10-27T03:37:50.560Z,1761536270.560 [DAT](INFO): DAT read: Rx Time:03:37:51.5701 2025-10-27T03:37:50.561Z,1761536270.561 [DAT](INFO): Rx dataTimestamp_ set to:1761536270.560679 2025-10-27T03:37:50.562Z,1761536270.562 [DAT](INFO): DAT read: Bearing 38.4, -6.8 (Local) 2025-10-27T03:37:50.563Z,1761536270.563 [DAT](INFO): Local bearing/azimuth received: Bearing 38.4, -6.8 (Local) 2025-10-27T03:37:50.565Z,1761536270.565 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-27T03:37:50.569Z,1761536270.569 [DAT](INFO): DAT read: 03:37:51.5701 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506, 0.49, 2.424, 0.730, 2.740, 2.440, PHS= 0.086,-1.665, 0.256, RAW= 154.6, 14.2, CAL= 155.0, 16.1, ROT= 355.0, -16.1 2025-10-27T03:37:50.570Z,1761536270.570 [DAT](INFO): got valid direction response: 03:37:51.5701 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 506, 0.49, 2.424, 0.730, 2.740, 2.440, PHS= 0.086,-1.665, 0.256, RAW= 154.6, 14.2, CAL= 155.0, 16.1, ROT= 355.0, -16.1 2025-10-27T03:37:50.571Z,1761536270.571 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:50.572Z,1761536270.572 [DAT](INFO): direction in FSK: [0.957123,-0.083737,0.277315] 2025-10-27T03:37:50.572Z,1761536270.572 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:50.576Z,1761536270.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:50.576Z,1761536270.576 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:50.646Z,1761536270.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525010,0.843926,0.110245],[-0.851095,-0.520799,-0.066377],[0.001399,-0.128678,0.991686]] 2025-10-27T03:37:50.731Z,1761536270.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.502818 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:50.733Z,1761536270.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.172816 m, bearing: 235.497294 deg, lat: 36.779322 deg, lon: -121.859589 deg, deltaT: 7.559944 s, deltaX: -3.584466 m, approachRate: -0.474139 m/s, posRepo size: 4 2025-10-27T03:37:50.734Z,1761536270.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.76 m. 2025-10-27T03:37:50.741Z,1761536270.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 5.408629 m, bearing: 232.703627 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 237.085510 deg, new cmd heading: 236.920827 deg. 2025-10-27T03:37:50.741Z,1761536270.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135048 target range: 9.757282 and range: 6.20 m. 2025-10-27T03:37:50.812Z,1761536270.812 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:51.050Z,1761536271.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527271,0.842450,0.110741],[-0.849697,-0.522946,-0.067403],[0.001128,-0.129636,0.991561]] 2025-10-27T03:37:51.064Z,1761536271.064 [DAT](INFO): DAT read: Rx Time:03:37:52.0699 2025-10-27T03:37:51.065Z,1761536271.065 [DAT](INFO): Rx dataTimestamp_ set to:1761536271.064494 2025-10-27T03:37:51.066Z,1761536271.066 [DAT](INFO): DAT read: Bearing 40.7, -8.3 (Local) 2025-10-27T03:37:51.066Z,1761536271.066 [DAT](INFO): Local bearing/azimuth received: Bearing 40.7, -8.3 (Local) 2025-10-27T03:37:51.068Z,1761536271.068 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.5 2025-10-27T03:37:51.074Z,1761536271.074 [DAT](INFO): DAT read: 03:37:52.0699 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 504,-0.29,-0.087,-1.742, 0.258, 0.008, PHS= 0.007,-1.705, 0.206, RAW= 155.4, 16.2, CAL= 156.2, 18.6, ROT= 353.8, -18.6 2025-10-27T03:37:51.075Z,1761536271.075 [DAT](INFO): got valid direction response: 03:37:52.0699 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 504,-0.29,-0.087,-1.742, 0.258, 0.008, PHS= 0.007,-1.705, 0.206, RAW= 155.4, 16.2, CAL= 156.2, 18.6, ROT= 353.8, -18.6 2025-10-27T03:37:51.075Z,1761536271.075 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:51.076Z,1761536271.076 [DAT](INFO): direction in FSK: [0.942225,-0.102358,0.318959] 2025-10-27T03:37:51.076Z,1761536271.076 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:51.080Z,1761536271.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:51.080Z,1761536271.080 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:51.166Z,1761536271.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503815 s, deltaX: -0.300000 m, approachRate: -0.595456 m/s, rangeRepo size: 4 2025-10-27T03:37:51.176Z,1761536271.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.874132 m, bearing: 234.524856 deg, lat: 36.779322 deg, lon: -121.859590 deg, deltaT: 8.063759 s, deltaX: -3.883151 m, approachRate: -0.481556 m/s, posRepo size: 4 2025-10-27T03:37:51.177Z,1761536271.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.76 m. 2025-10-27T03:37:51.184Z,1761536271.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 5.131456 m, bearing: 232.191049 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 236.920821 deg, new cmd heading: 236.744774 deg. 2025-10-27T03:37:51.185Z,1761536271.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131976 target range: 9.757282 and range: 5.90 m. 2025-10-27T03:37:51.316Z,1761536271.316 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:51.519Z,1761536271.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530019,0.840640,0.111377],[-0.847985,-0.525627,-0.068104],[0.001292,-0.130542,0.991442]] 2025-10-27T03:37:51.569Z,1761536271.569 [DAT](INFO): DAT read: Rx Time:03:37:52.5698 2025-10-27T03:37:51.569Z,1761536271.569 [DAT](INFO): Rx dataTimestamp_ set to:1761536271.568799 2025-10-27T03:37:51.570Z,1761536271.570 [DAT](INFO): DAT read: Bearing 41.2, -9.2 (Local) 2025-10-27T03:37:51.571Z,1761536271.571 [DAT](INFO): Local bearing/azimuth received: Bearing 41.2, -9.2 (Local) 2025-10-27T03:37:51.573Z,1761536271.573 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.5 2025-10-27T03:37:51.577Z,1761536271.577 [DAT](INFO): DAT read: 03:37:52.5698 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 503,-0.25, 1.403,-0.239, 1.772, 1.524, PHS=-0.019,-1.718, 0.203, RAW= 156.1, 16.6, CAL= 157.0, 19.2, ROT= 353.0, -19.2 2025-10-27T03:37:51.578Z,1761536271.578 [DAT](INFO): got valid direction response: 03:37:52.5698 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 503,-0.25, 1.403,-0.239, 1.772, 1.524, PHS=-0.019,-1.718, 0.203, RAW= 156.1, 16.6, CAL= 157.0, 19.2, ROT= 353.0, -19.2 2025-10-27T03:37:51.579Z,1761536271.579 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:51.580Z,1761536271.580 [DAT](INFO): direction in FSK: [0.937337,-0.115091,0.328867] 2025-10-27T03:37:51.580Z,1761536271.580 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:51.596Z,1761536271.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:51.596Z,1761536271.596 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:51.609Z,1761536271.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.504305 s, deltaX: -0.200000 m, approachRate: -0.396586 m/s, rangeRepo size: 4 2025-10-27T03:37:51.615Z,1761536271.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.674977 m, bearing: 233.648909 deg, lat: 36.779322 deg, lon: -121.859590 deg, deltaT: 8.568064 s, deltaX: -4.082305 m, approachRate: -0.476456 m/s, posRepo size: 4 2025-10-27T03:37:51.616Z,1761536271.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.76 m. 2025-10-27T03:37:51.619Z,1761536271.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 4.863436 m, bearing: 231.522110 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 236.744766 deg, new cmd heading: 236.564578 deg. 2025-10-27T03:37:51.624Z,1761536271.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128831 target range: 9.757282 and range: 5.70 m. 2025-10-27T03:37:51.824Z,1761536271.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:51.952Z,1761536271.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532891,0.838296,0.115265],[-0.846181,-0.528236,-0.070314],[0.001943,-0.135005,0.990843]] 2025-10-27T03:37:51.979Z,1761536271.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:51.981Z,1761536271.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:51.984Z,1761536271.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 4.615532 m, bearing: 230.843597 deg, approach rate: -0.664989 m/s, LOS rate: -1.917792 deg/s, cmd heading: 236.564585 deg, new cmd heading: 234.420768 deg. 2025-10-27T03:37:51.985Z,1761536271.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091414 target range: 9.757282 and range: 5.70 m. 2025-10-27T03:37:52.077Z,1761536272.077 [DAT](INFO): DAT read: Rx Time:03:37:53.0695 2025-10-27T03:37:52.077Z,1761536272.077 [DAT](INFO): Rx dataTimestamp_ set to:1761536272.077086 2025-10-27T03:37:52.079Z,1761536272.079 [DAT](INFO): DAT read: Bearing 41.0, -9.9 (Local) 2025-10-27T03:37:52.079Z,1761536272.079 [DAT](INFO): Local bearing/azimuth received: Bearing 41.0, -9.9 (Local) 2025-10-27T03:37:52.081Z,1761536272.081 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.5 2025-10-27T03:37:52.086Z,1761536272.086 [DAT](INFO): DAT read: 03:37:53.0695 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 500,-0.24, 0.179,-1.453, 0.569, 0.307, PHS=-0.026,-1.715, 0.217, RAW= 156.6, 16.5, CAL= 157.6, 19.1, ROT= 352.4, -19.1 2025-10-27T03:37:52.087Z,1761536272.087 [DAT](INFO): got valid direction response: 03:37:53.0695 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 500,-0.24, 0.179,-1.453, 0.569, 0.307, PHS=-0.026,-1.715, 0.217, RAW= 156.6, 16.5, CAL= 157.6, 19.1, ROT= 352.4, -19.1 2025-10-27T03:37:52.087Z,1761536272.087 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:52.088Z,1761536272.088 [DAT](INFO): direction in FSK: [0.936648,-0.124975,0.327218] 2025-10-27T03:37:52.089Z,1761536272.089 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:52.092Z,1761536272.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:52.093Z,1761536272.093 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:52.328Z,1761536272.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:52.340Z,1761536272.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536037,0.835958,0.117639],[-0.844190,-0.531245,-0.071565],[0.002670,-0.137671,0.990474]] 2025-10-27T03:37:52.459Z,1761536272.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.508287 s, deltaX: -0.400000 m, approachRate: -0.786956 m/s, rangeRepo size: 4 2025-10-27T03:37:52.461Z,1761536272.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.276731 m, bearing: 232.775825 deg, lat: 36.779322 deg, lon: -121.859591 deg, deltaT: 9.076351 s, deltaX: -4.480552 m, approachRate: -0.493651 m/s, posRepo size: 4 2025-10-27T03:37:52.462Z,1761536272.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.28 m. 9.76 m. 2025-10-27T03:37:52.469Z,1761536272.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 4.376734 m, bearing: 230.201877 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 234.420780 deg, new cmd heading: 234.229671 deg. 2025-10-27T03:37:52.470Z,1761536272.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088079 target range: 9.757282 and range: 5.30 m. 2025-10-27T03:37:52.581Z,1761536272.581 [DAT](INFO): DAT read: Rx Time:03:37:53.5692 2025-10-27T03:37:52.581Z,1761536272.581 [DAT](INFO): Rx dataTimestamp_ set to:1761536272.580766 2025-10-27T03:37:52.582Z,1761536272.582 [DAT](INFO): DAT read: Bearing 41.6, -10.4 (Local) 2025-10-27T03:37:52.583Z,1761536272.583 [DAT](INFO): Local bearing/azimuth received: Bearing 41.6, -10.4 (Local) 2025-10-27T03:37:52.585Z,1761536272.585 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.6 2025-10-27T03:37:52.589Z,1761536272.589 [DAT](INFO): DAT read: 03:37:53.5692 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 498,-0.39, 1.286,-0.322, 1.682, 1.439, PHS=-0.050,-1.715, 0.199, RAW= 156.9, 17.1, CAL= 157.9, 19.9, ROT= 352.1, -19.9 2025-10-27T03:37:52.590Z,1761536272.590 [DAT](INFO): got valid direction response: 03:37:53.5692 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 498,-0.39, 1.286,-0.322, 1.682, 1.439, PHS=-0.050,-1.715, 0.199, RAW= 156.9, 17.1, CAL= 157.9, 19.9, ROT= 352.1, -19.9 2025-10-27T03:37:52.591Z,1761536272.591 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:52.592Z,1761536272.592 [DAT](INFO): direction in FSK: [0.931364,-0.129238,0.340380] 2025-10-27T03:37:52.593Z,1761536272.593 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:52.600Z,1761536272.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:52.600Z,1761536272.600 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:52.742Z,1761536272.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539356,0.833545,0.119578],[-0.842072,-0.534424,-0.072839],[0.003191,-0.139979,0.990149]] 2025-10-27T03:37:52.782Z,1761536272.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503680 s, deltaX: -0.500000 m, approachRate: -0.992694 m/s, rangeRepo size: 4 2025-10-27T03:37:52.788Z,1761536272.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.778925 m, bearing: 232.425159 deg, lat: 36.779322 deg, lon: -121.859591 deg, deltaT: 9.580031 s, deltaX: -4.978357 m, approachRate: -0.519660 m/s, posRepo size: 4 2025-10-27T03:37:52.789Z,1761536272.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.76 m. 2025-10-27T03:37:52.796Z,1761536272.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 4.148483 m, bearing: 229.530674 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 234.229672 deg, new cmd heading: 234.097750 deg. 2025-10-27T03:37:52.797Z,1761536272.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085776 target range: 9.757282 and range: 4.80 m. 2025-10-27T03:37:52.836Z,1761536272.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:53.088Z,1761536273.088 [DAT](INFO): DAT read: Rx Time:03:37:54.0689 2025-10-27T03:37:53.089Z,1761536273.089 [DAT](INFO): Rx dataTimestamp_ set to:1761536273.088663 2025-10-27T03:37:53.090Z,1761536273.090 [DAT](INFO): DAT read: Bearing 39.9, -10.7 (Local) 2025-10-27T03:37:53.091Z,1761536273.091 [DAT](INFO): Local bearing/azimuth received: Bearing 39.9, -10.7 (Local) 2025-10-27T03:37:53.093Z,1761536273.093 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.6 2025-10-27T03:37:53.098Z,1761536273.098 [DAT](INFO): DAT read: 03:37:54.0689 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 510, 0.46, 0.793,-0.821, 1.207, 0.919, PHS=-0.024,-1.695, 0.244, RAW= 157.3, 16.0, CAL= 158.2, 18.6, ROT= 351.8, -18.6 2025-10-27T03:37:53.099Z,1761536273.099 [DAT](INFO): got valid direction response: 03:37:54.0689 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 510, 0.46, 0.793,-0.821, 1.207, 0.919, PHS=-0.024,-1.695, 0.244, RAW= 157.3, 16.0, CAL= 158.2, 18.6, ROT= 351.8, -18.6 2025-10-27T03:37:53.099Z,1761536273.099 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:53.100Z,1761536273.100 [DAT](INFO): direction in FSK: [0.938079,-0.135179,0.318959] 2025-10-27T03:37:53.101Z,1761536273.101 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:53.104Z,1761536273.104 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:53.105Z,1761536273.105 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:53.157Z,1761536273.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542861,0.830712,0.123369],[-0.839815,-0.537582,-0.075604],[0.003516,-0.144650,0.989477]] 2025-10-27T03:37:53.202Z,1761536273.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.507897 s, deltaX: -0.400000 m, approachRate: -0.787561 m/s, rangeRepo size: 4 2025-10-27T03:37:53.208Z,1761536273.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.380682 m, bearing: 231.778270 deg, lat: 36.779322 deg, lon: -121.859590 deg, deltaT: 10.087928 s, deltaX: -5.376601 m, approachRate: -0.532974 m/s, posRepo size: 4 2025-10-27T03:37:53.209Z,1761536273.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.38 m. 9.76 m. 2025-10-27T03:37:53.216Z,1761536273.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 3.899346 m, bearing: 228.721827 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 234.097740 deg, new cmd heading: 233.928129 deg. 2025-10-27T03:37:53.217Z,1761536273.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082816 target range: 9.757282 and range: 4.40 m. 2025-10-27T03:37:53.340Z,1761536273.340 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:53.549Z,1761536273.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546251,0.827766,0.128115],[-0.837612,-0.540568,-0.078693],[0.004115,-0.150297,0.988632]] 2025-10-27T03:37:53.593Z,1761536273.593 [DAT](INFO): DAT read: Rx Time:03:37:54.5688 2025-10-27T03:37:53.593Z,1761536273.593 [DAT](INFO): Rx dataTimestamp_ set to:1761536273.592771 2025-10-27T03:37:53.594Z,1761536273.594 [DAT](INFO): DAT read: Bearing 38.4, -10.7 (Local) 2025-10-27T03:37:53.595Z,1761536273.595 [DAT](INFO): Local bearing/azimuth received: Bearing 38.4, -10.7 (Local) 2025-10-27T03:37:53.597Z,1761536273.597 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.5 2025-10-27T03:37:53.601Z,1761536273.601 [DAT](INFO): DAT read: 03:37:54.5688 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 509, 0.27, 2.336, 0.731, 2.751, 2.434, PHS= 0.004,-1.658, 0.274, RAW= 157.4, 15.1, CAL= 158.2, 17.4, ROT= 351.8, -17.4 2025-10-27T03:37:53.602Z,1761536273.602 [DAT](INFO): got valid direction response: 03:37:54.5688 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 509, 0.27, 2.336, 0.731, 2.751, 2.434, PHS= 0.004,-1.658, 0.274, RAW= 157.4, 15.1, CAL= 158.2, 17.4, ROT= 351.8, -17.4 2025-10-27T03:37:53.603Z,1761536273.603 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:53.604Z,1761536273.604 [DAT](INFO): direction in FSK: [0.944484,-0.136103,0.299041] 2025-10-27T03:37:53.604Z,1761536273.604 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:53.612Z,1761536273.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:53.613Z,1761536273.613 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:53.659Z,1761536273.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504108 s, deltaX: -0.200000 m, approachRate: -0.396741 m/s, rangeRepo size: 4 2025-10-27T03:37:53.669Z,1761536273.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.181569 m, bearing: 231.462125 deg, lat: 36.779322 deg, lon: -121.859589 deg, deltaT: 10.592036 s, deltaX: -5.575714 m, approachRate: -0.526406 m/s, posRepo size: 4 2025-10-27T03:37:53.670Z,1761536273.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.76 m. 2025-10-27T03:37:53.673Z,1761536273.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 3.644409 m, bearing: 228.089957 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 233.928132 deg, new cmd heading: 233.743661 deg. 2025-10-27T03:37:53.674Z,1761536273.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079597 target range: 9.757282 and range: 4.20 m. 2025-10-27T03:37:53.844Z,1761536273.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:54.007Z,1761536274.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549499,0.825041,0.131748],[-0.835483,-0.543435,-0.081528],[0.004333,-0.154873,0.987925]] 2025-10-27T03:37:54.023Z,1761536274.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:54.026Z,1761536274.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:54.056Z,1761536274.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 3.413498 m, bearing: 227.449627 deg, approach rate: -0.628464 m/s, LOS rate: -1.860619 deg/s, cmd heading: 233.743663 deg, new cmd heading: 231.693641 deg. 2025-10-27T03:37:54.057Z,1761536274.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.043817 target range: 9.757282 and range: 4.20 m. 2025-10-27T03:37:54.097Z,1761536274.097 [DAT](INFO): DAT read: Rx Time:03:37:55.0685 2025-10-27T03:37:54.097Z,1761536274.097 [DAT](INFO): Rx dataTimestamp_ set to:1761536274.096794 2025-10-27T03:37:54.098Z,1761536274.098 [DAT](INFO): DAT read: Bearing 39.4, -10.5 (Local) 2025-10-27T03:37:54.100Z,1761536274.100 [DAT](INFO): Local bearing/azimuth received: Bearing 39.4, -10.5 (Local) 2025-10-27T03:37:54.102Z,1761536274.102 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.5 2025-10-27T03:37:54.109Z,1761536274.109 [DAT](INFO): DAT read: 03:37:55.0685 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 506, 0.21, 0.481,-1.102, 0.870, 0.601, PHS=-0.018,-1.658, 0.225, RAW= 156.8, 16.1, CAL= 157.7, 18.7, ROT= 352.3, -18.7 2025-10-27T03:37:54.110Z,1761536274.110 [DAT](INFO): got valid direction response: 03:37:55.0685 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 506, 0.21, 0.481,-1.102, 0.870, 0.601, PHS=-0.018,-1.658, 0.225, RAW= 156.8, 16.1, CAL= 157.7, 18.7, ROT= 352.3, -18.7 2025-10-27T03:37:54.124Z,1761536274.124 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:54.125Z,1761536274.125 [DAT](INFO): direction in FSK: [0.938669,-0.126913,0.320613] 2025-10-27T03:37:54.125Z,1761536274.125 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:54.160Z,1761536274.160 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:54.161Z,1761536274.161 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T03:37:54.348Z,1761536274.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:37:54.415Z,1761536274.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551784,0.822876,0.135683],[-0.833977,-0.545218,-0.084970],[0.004057,-0.160042,0.987102]] 2025-10-27T03:37:54.498Z,1761536274.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504023 s, deltaX: -0.400000 m, approachRate: -0.793614 m/s, rangeRepo size: 4 2025-10-27T03:37:54.501Z,1761536274.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.783353 m, bearing: 231.998122 deg, lat: 36.779322 deg, lon: -121.859589 deg, deltaT: 11.096059 s, deltaX: -5.973929 m, approachRate: -0.538383 m/s, posRepo size: 4 2025-10-27T03:37:54.502Z,1761536274.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.76 m. 2025-10-27T03:37:54.504Z,1761536274.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 3.155127 m, bearing: 226.943055 deg, approach rate: 0.000000 m/s, LOS rate: -0.134602 deg/s, cmd heading: 231.693650 deg, new cmd heading: 231.502896 deg. 2025-10-27T03:37:54.505Z,1761536274.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.040488 target range: 9.757282 and range: 3.80 m. 2025-10-27T03:37:54.600Z,1761536274.600 [DAT](INFO): DAT read: user:408> 2025-10-27T03:37:54.601Z,1761536274.601 [DAT](INFO): DAT read: Tx time:03:37:55.9630 2025-10-27T03:37:54.601Z,1761536274.601 [DAT](INFO): Ping request sent. 2025-10-27T03:37:54.601Z,1761536274.601 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:37:54.601Z,1761536274.601 [DAT](INFO): publishing transmit ping time 2025-10-27T03:37:54.602Z,1761536274.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T03:37:54.814Z,1761536274.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553822,0.820440,0.141984],[-0.832626,-0.546514,-0.089757],[0.003956,-0.167929,0.985791]] 2025-10-27T03:37:54.841Z,1761536274.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:54.852Z,1761536274.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250438 2025-10-27T03:37:54.872Z,1761536274.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 2.963541 m, bearing: 226.517052 deg, approach rate: -0.559313 m/s, LOS rate: -1.324049 deg/s, cmd heading: 231.502896 deg, new cmd heading: 230.142536 deg. 2025-10-27T03:37:54.873Z,1761536274.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.016745 target range: 9.757282 and range: 3.80 m. 2025-10-27T03:37:55.104Z,1761536275.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502910 2025-10-27T03:37:55.106Z,1761536275.106 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:37:55.218Z,1761536275.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555535,0.818263,0.147740],[-0.831487,-0.547374,-0.094922],[0.003197,-0.175576,0.984461]] 2025-10-27T03:37:55.259Z,1761536275.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:55.262Z,1761536275.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 2.745332 m, bearing: 225.965806 deg, approach rate: -0.526371 m/s, LOS rate: -1.435404 deg/s, cmd heading: 230.142541 deg, new cmd heading: 228.357961 deg. 2025-10-27T03:37:55.267Z,1761536275.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.985598 target range: 9.757282 and range: 3.80 m. 2025-10-27T03:37:55.356Z,1761536275.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754662 2025-10-27T03:37:55.608Z,1761536275.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006485 2025-10-27T03:37:55.629Z,1761536275.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556932,0.816620,0.151519],[-0.830554,-0.548115,-0.098737],[0.002420,-0.180835,0.983510]] 2025-10-27T03:37:55.708Z,1761536275.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:55.712Z,1761536275.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 2.515865 m, bearing: 225.909126 deg, approach rate: -0.508199 m/s, LOS rate: -0.136977 deg/s, cmd heading: 228.357963 deg, new cmd heading: 228.172416 deg. 2025-10-27T03:37:55.713Z,1761536275.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.982360 target range: 9.757282 and range: 3.80 m. 2025-10-27T03:37:55.860Z,1761536275.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258567 2025-10-27T03:37:56.054Z,1761536276.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558476,0.815238,0.153270],[-0.829520,-0.549197,-0.101392],[0.001517,-0.183766,0.982969]] 2025-10-27T03:37:56.087Z,1761536276.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:56.089Z,1761536276.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:56.092Z,1761536276.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 2.325572 m, bearing: 225.860650 deg, approach rate: -0.497253 m/s, LOS rate: -0.137038 deg/s, cmd heading: 228.172414 deg, new cmd heading: 228.015086 deg. 2025-10-27T03:37:56.093Z,1761536276.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.979614 target range: 9.757282 and range: 3.80 m. 2025-10-27T03:37:56.107Z,1761536276.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:37:56.112Z,1761536276.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510848 2025-10-27T03:37:56.366Z,1761536276.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764687 2025-10-27T03:37:56.457Z,1761536276.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560458,0.813772,0.153822],[-0.828182,-0.550851,-0.103330],[0.000646,-0.185304,0.982681]] 2025-10-27T03:37:56.550Z,1761536276.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:56.554Z,1761536276.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 2.118546 m, bearing: 226.268545 deg, approach rate: -0.453259 m/s, LOS rate: 0.980300 deg/s, cmd heading: 228.015087 deg, new cmd heading: 229.358094 deg. 2025-10-27T03:37:56.556Z,1761536276.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.003054 target range: 9.757282 and range: 3.80 m. 2025-10-27T03:37:56.622Z,1761536276.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020228 2025-10-27T03:37:56.858Z,1761536276.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562883,0.811714,0.155827],[-0.826536,-0.552753,-0.106311],[-0.000161,-0.188638,0.982047]] 2025-10-27T03:37:56.872Z,1761536276.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270556 2025-10-27T03:37:56.908Z,1761536276.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.76 m. 2025-10-27T03:37:56.919Z,1761536276.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.757282 m, nav range: 1.955389 m, bearing: 226.662607 deg, approach rate: -0.455530 m/s, LOS rate: 1.192005 deg/s, cmd heading: 229.358107 deg, new cmd heading: 230.638712 deg. 2025-10-27T03:37:56.923Z,1761536276.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.025405 target range: 9.757282 and range: 3.80 m. 2025-10-27T03:37:57.125Z,1761536277.125 [DAT](INFO): DAT read: Rx Time:03:37:58.0953 2025-10-27T03:37:57.125Z,1761536277.125 [DAT](INFO): Rx dataTimestamp_ set to:1761536277.124740 2025-10-27T03:37:57.126Z,1761536277.126 [DAT](INFO): DAT read: Bearing 33.2, -18.3 (Local) 2025-10-27T03:37:57.127Z,1761536277.127 [DAT](INFO): Local bearing/azimuth received: Bearing 33.2, -18.3 (Local) 2025-10-27T03:37:57.129Z,1761536277.129 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.4 2025-10-27T03:37:57.133Z,1761536277.133 [DAT](INFO): DAT read: 03:37:58.0953 LVL= 32752, 32753, 32498, 32755, AGC= 46, IDX= 236, 0.07,-2.827, 1.977,-2.097,-2.617, PHS=-0.108,-1.644, 0.476, RAW= 165.5, 13.4, CAL= 165.9, 15.8, ROT= 344.1, -15.8 2025-10-27T03:37:57.135Z,1761536277.135 [DAT](INFO): got valid direction response: 03:37:58.0953 LVL= 32752, 32753, 32498, 32755, AGC= 46, IDX= 236, 0.07,-2.827, 1.977,-2.097,-2.617, PHS=-0.108,-1.644, 0.476, RAW= 165.5, 13.4, CAL= 165.9, 15.8, ROT= 344.1, -15.8 2025-10-27T03:37:57.145Z,1761536277.145 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:37:57.146Z,1761536277.146 [DAT](INFO): direction in FSK: [0.925405,-0.263608,0.272280] 2025-10-27T03:37:57.147Z,1761536277.147 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:57.150Z,1761536277.150 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.548828 2025-10-27T03:37:57.261Z,1761536277.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566639,0.808628,0.158246],[-0.823966,-0.555915,-0.109723],[-0.000754,-0.192562,0.981284]] 2025-10-27T03:37:57.376Z,1761536277.376 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.774952 2025-10-27T03:37:57.380Z,1761536277.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 3.027946 s, deltaX: -1.500000 m, approachRate: -0.495385 m/s, rangeRepo size: 4 2025-10-27T03:37:57.382Z,1761536277.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.289898 m, bearing: 222.922855 deg, lat: 36.779322 deg, lon: -121.859589 deg, deltaT: 14.124005 s, deltaX: -7.467384 m, approachRate: -0.528702 m/s, posRepo size: 4 2025-10-27T03:37:57.387Z,1761536277.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.30 m. 2025-10-27T03:37:57.387Z,1761536277.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T03:37:57.629Z,1761536277.629 [DAT](INFO): DAT read: Rx Time:03:37:58.5952 2025-10-27T03:37:57.629Z,1761536277.629 [DAT](INFO): Rx dataTimestamp_ set to:1761536277.628885 2025-10-27T03:37:57.630Z,1761536277.630 [DAT](INFO): DAT read: Bearing 29.9, -24.6 (Local) 2025-10-27T03:37:57.631Z,1761536277.631 [DAT](INFO): Local bearing/azimuth received: Bearing 29.9, -24.6 (Local) 2025-10-27T03:37:57.634Z,1761536277.634 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.4 2025-10-27T03:37:57.640Z,1761536277.640 [DAT](INFO): DAT read: 03:37:58.5952 LVL= 32752, 30865, 19490, 32755, AGC= 44, IDX= 507,-0.16, 0.850,-0.456, 1.857, 1.166, PHS=-0.214,-1.577, 0.647, RAW= 172.6, 11.8, CAL= 172.6, 14.0, ROT= 337.4, -14.0 2025-10-27T03:37:57.641Z,1761536277.641 [DAT](INFO): got valid direction response: 03:37:58.5952 LVL= 32752, 30865, 19490, 32755, AGC= 44, IDX= 507,-0.16, 0.850,-0.456, 1.857, 1.166, PHS=-0.214,-1.577, 0.647, RAW= 172.6, 11.8, CAL= 172.6, 14.0, ROT= 337.4, -14.0 2025-10-27T03:37:57.641Z,1761536277.641 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T03:37:57.642Z,1761536277.642 [DAT](INFO): direction in FSK: [0.895787,-0.372880,0.241922] 2025-10-27T03:37:57.642Z,1761536277.642 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:57.689Z,1761536277.689 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.087284 2025-10-27T03:37:57.780Z,1761536277.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575700,0.800975,0.164342],[-0.817658,-0.563454,-0.118129],[-0.002019,-0.202382,0.979305]] 2025-10-27T03:37:57.866Z,1761536277.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504145 s, deltaX: -0.200000 m, approachRate: -0.396711 m/s, rangeRepo size: 4 2025-10-27T03:37:57.873Z,1761536277.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.090749 m, bearing: 215.421363 deg, lat: 36.779322 deg, lon: -121.859588 deg, deltaT: 0.504145 s, deltaX: -0.199149 m, approachRate: -0.395024 m/s, posRepo size: 4 2025-10-27T03:37:57.880Z,1761536277.880 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.278624 2025-10-27T03:37:58.133Z,1761536278.133 [DAT](INFO): DAT read: Rx Time:03:37:59.0950 2025-10-27T03:37:58.133Z,1761536278.133 [DAT](INFO): Rx dataTimestamp_ set to:1761536278.133188 2025-10-27T03:37:58.135Z,1761536278.135 [DAT](INFO): DAT read: Bearing 40.4, -22.2 (Local) 2025-10-27T03:37:58.135Z,1761536278.135 [DAT](INFO): Local bearing/azimuth received: Bearing 40.4, -22.2 (Local) 2025-10-27T03:37:58.137Z,1761536278.137 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.4 2025-10-27T03:37:58.142Z,1761536278.142 [DAT](INFO): DAT read: 03:37:59.0950 LVL= 31632, 31729, 19858, 32755, AGC= 40, IDX= 505,-0.46,-0.660,-1.915, 0.107,-0.262, PHS=-0.297,-1.608, 0.325, RAW= 168.4, 18.1, CAL= 169.2, 24.1, ROT= 340.8, -24.1 2025-10-27T03:37:58.163Z,1761536278.163 [DAT](INFO): got valid direction response: 03:37:59.0950 LVL= 31632, 31729, 19858, 32755, AGC= 40, IDX= 505,-0.46,-0.660,-1.915, 0.107,-0.262, PHS=-0.297,-1.608, 0.325, RAW= 168.4, 18.1, CAL= 169.2, 24.1, ROT= 340.8, -24.1 2025-10-27T03:37:58.163Z,1761536278.163 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T03:37:58.164Z,1761536278.164 [DAT](INFO): direction in FSK: [0.862059,-0.300201,0.408330] 2025-10-27T03:37:58.165Z,1761536278.165 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:58.168Z,1761536278.168 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.566937 2025-10-27T03:37:58.222Z,1761536278.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580484,0.796472,0.169322],[-0.814269,-0.567282,-0.123116],[-0.002005,-0.209341,0.977841]] 2025-10-27T03:37:58.368Z,1761536278.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504303 s, deltaX: -0.300000 m, approachRate: -0.594880 m/s, rangeRepo size: 4 2025-10-27T03:37:58.370Z,1761536278.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.792070 m, bearing: 220.959782 deg, lat: 36.779319 deg, lon: -121.859587 deg, deltaT: 0.504303 s, deltaX: -0.298678 m, approachRate: -0.592260 m/s, posRepo size: 4 2025-10-27T03:37:58.384Z,1761536278.384 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.782693 2025-10-27T03:37:58.637Z,1761536278.636 [DAT](INFO): DAT read: Rx Time:03:37:59.5950 2025-10-27T03:37:58.637Z,1761536278.637 [DAT](INFO): Rx dataTimestamp_ set to:1761536278.636687 2025-10-27T03:37:58.638Z,1761536278.638 [DAT](INFO): DAT read: Bearing 65.8, 3.0 (Local) 2025-10-27T03:37:58.639Z,1761536278.639 [DAT](INFO): Local bearing/azimuth received: Bearing 65.8, 3.0 (Local) 2025-10-27T03:37:58.641Z,1761536278.641 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.4 2025-10-27T03:37:58.645Z,1761536278.645 [DAT](INFO): DAT read: 03:37:59.5950 LVL= 23504, 24673, 14450, 32755, AGC= 39, IDX= 504, 0.44,-1.062,-2.504,-1.457,-0.785, PHS=-0.175,-1.674,-0.716, RAW= 129.1, 34.6, CAL= 133.1, 45.2, ROT= 16.9, -45.2 2025-10-27T03:37:58.646Z,1761536278.646 [DAT](INFO): got valid direction response: 03:37:59.5950 LVL= 23504, 24673, 14450, 32755, AGC= 39, IDX= 504, 0.44,-1.062,-2.504,-1.457,-0.785, PHS=-0.175,-1.674,-0.716, RAW= 129.1, 34.6, CAL= 133.1, 45.2, ROT= 16.9, -45.2 2025-10-27T03:37:58.647Z,1761536278.647 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T03:37:58.652Z,1761536278.652 [DAT](INFO): direction in FSK: [0.674204,0.204839,0.709571] 2025-10-27T03:37:58.653Z,1761536278.653 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:58.659Z,1761536278.659 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.056988 2025-10-27T03:37:58.740Z,1761536278.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585503,0.791884,0.173510],[-0.810669,-0.571654,-0.126599],[-0.001064,-0.214783,0.976661]] 2025-10-27T03:37:58.836Z,1761536278.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503499 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:37:58.837Z,1761536278.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.792094 m, bearing: 261.737147 deg, lat: 36.779319 deg, lon: -121.859587 deg, deltaT: 0.503499 s, deltaX: 0.000024 m, approachRate: 0.000048 m/s, posRepo size: 4 2025-10-27T03:37:58.889Z,1761536278.889 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.287091 2025-10-27T03:37:59.141Z,1761536279.141 [DAT](INFO): DAT read: Rx Time:03:38:00.0949 2025-10-27T03:37:59.141Z,1761536279.141 [DAT](INFO): Rx dataTimestamp_ set to:1761536279.140816 2025-10-27T03:37:59.142Z,1761536279.142 [DAT](INFO): DAT read: Bearing 34.9, -4.5 (Local) 2025-10-27T03:37:59.143Z,1761536279.143 [DAT](INFO): Local bearing/azimuth received: Bearing 34.9, -4.5 (Local) 2025-10-27T03:37:59.145Z,1761536279.145 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.4 2025-10-27T03:37:59.149Z,1761536279.149 [DAT](INFO): DAT read: 03:38:00.0949 LVL= 18416, 28657, 17186, 22419, AGC= 36, IDX= 502,-0.32,-2.215, 2.106,-2.049,-2.237, PHS= 0.124,-1.896, 0.144, RAW= 150.5, 15.8, CAL= 150.8, 17.7, ROT= 359.2, -17.7 2025-10-27T03:37:59.151Z,1761536279.151 [DAT](INFO): got valid direction response: 03:38:00.0949 LVL= 18416, 28657, 17186, 22419, AGC= 36, IDX= 502,-0.32,-2.215, 2.106,-2.049,-2.237, PHS= 0.124,-1.896, 0.144, RAW= 150.5, 15.8, CAL= 150.8, 17.7, ROT= 359.2, -17.7 2025-10-27T03:37:59.151Z,1761536279.151 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T03:37:59.152Z,1761536279.152 [DAT](INFO): direction in FSK: [0.952569,-0.013301,0.304033] 2025-10-27T03:37:59.152Z,1761536279.152 [DAT](INFO): publishing direction and range info 2025-10-27T03:37:59.156Z,1761536279.156 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.554745 2025-10-27T03:37:59.215Z,1761536279.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504129 s, deltaX: -0.100000 m, approachRate: -0.198362 m/s, rangeRepo size: 4 2025-10-27T03:37:59.217Z,1761536279.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.692534 m, bearing: 237.303624 deg, lat: 36.779319 deg, lon: -121.859587 deg, deltaT: 0.504129 s, deltaX: -0.099561 m, approachRate: -0.197491 m/s, posRepo size: 4 2025-10-27T03:37:59.393Z,1761536279.393 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.791799 2025-10-27T03:37:59.574Z,1761536279.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:37:59.644Z,1761536279.644 [DAT](INFO): DAT read: Rx Time:03:38:00.5948 2025-10-27T03:37:59.645Z,1761536279.645 [DAT](INFO): Rx dataTimestamp_ set to:1761536279.644365 2025-10-27T03:37:59.646Z,1761536279.646 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.3 2025-10-27T03:37:59.646Z,1761536279.646 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-10-27T03:37:59.647Z,1761536279.647 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.046091 2025-10-27T03:37:59.896Z,1761536279.896 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.294549 2025-10-27T03:37:59.946Z,1761536279.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597469,0.782761,0.174114],[-0.801884,-0.584205,-0.125247],[0.003680,-0.214450,0.976728]] 2025-10-27T03:37:59.965Z,1761536279.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503549 s, deltaX: -0.200000 m, approachRate: -0.397181 m/s, rangeRepo size: 4 2025-10-27T03:38:00.148Z,1761536280.148 [DAT](INFO): DAT read: Rx Time:03:38:01.0945 2025-10-27T03:38:00.149Z,1761536280.149 [DAT](INFO): Rx dataTimestamp_ set to:1761536280.148233 2025-10-27T03:38:00.152Z,1761536280.152 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.1 2025-10-27T03:38:00.155Z,1761536280.155 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-10-27T03:38:00.156Z,1761536280.156 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.554561 2025-10-27T03:38:00.357Z,1761536280.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600690,0.780995,0.170931],[-0.799466,-0.588140,-0.122251],[0.005054,-0.210089,0.977669]] 2025-10-27T03:38:00.407Z,1761536280.407 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.804454 2025-10-27T03:38:00.451Z,1761536280.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503868 s, deltaX: -0.400000 m, approachRate: -0.793859 m/s, rangeRepo size: 4 2025-10-27T03:38:00.656Z,1761536280.656 [DAT](INFO): DAT read: Rx Time:03:38:01.5945 2025-10-27T03:38:00.657Z,1761536280.657 [DAT](INFO): Rx dataTimestamp_ set to:1761536280.656296 2025-10-27T03:38:00.658Z,1761536280.658 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.1 2025-10-27T03:38:00.658Z,1761536280.658 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-27T03:38:00.659Z,1761536280.659 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.058031 2025-10-27T03:38:00.740Z,1761536280.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596597,0.788379,0.150103],[-0.802529,-0.587077,-0.106242],[0.004364,-0.183846,0.982945]] 2025-10-27T03:38:00.787Z,1761536280.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.508063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:00.913Z,1761536280.913 [DAT](INFO): DAT read: Rx Time:03:38:02.0942 2025-10-27T03:38:00.914Z,1761536280.914 [DAT](INFO): Rx dataTimestamp_ set to:1761536280.913437 2025-10-27T03:38:00.917Z,1761536280.917 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.314975 2025-10-27T03:38:01.161Z,1761536281.161 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 2025-10-27T03:38:01.161Z,1761536281.161 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-27T03:38:01.162Z,1761536281.162 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.560981 2025-10-27T03:38:01.237Z,1761536281.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.503330 s, deltaX: -0.500000 m, approachRate: -0.993384 m/s, rangeRepo size: 4 2025-10-27T03:38:01.417Z,1761536281.417 [DAT](INFO): DAT read: Rx Time:03:38:02.5944 2025-10-27T03:38:01.419Z,1761536281.419 [DAT](INFO): Rx dataTimestamp_ set to:1761536281.417761 2025-10-27T03:38:01.421Z,1761536281.421 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.819411 2025-10-27T03:38:01.586Z,1761536281.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526818,0.843994,0.100685],[-0.849864,-0.521092,-0.078711],[-0.013965,-0.127034,0.991800]] 2025-10-27T03:38:01.627Z,1761536281.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:01.665Z,1761536281.665 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:01.666Z,1761536281.666 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-27T03:38:01.668Z,1761536281.668 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.066514 2025-10-27T03:38:01.920Z,1761536281.920 [DAT](INFO): DAT read: Rx Time:03:38:03.0946 2025-10-27T03:38:01.921Z,1761536281.921 [DAT](INFO): Rx dataTimestamp_ set to:1761536281.920523 2025-10-27T03:38:01.923Z,1761536281.923 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-27T03:38:01.925Z,1761536281.925 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-27T03:38:01.926Z,1761536281.926 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.324224 2025-10-27T03:38:02.056Z,1761536282.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480108,0.876688,0.030230],[-0.876927,-0.478794,-0.041908],[-0.022266,-0.046630,0.998664]] 2025-10-27T03:38:02.080Z,1761536282.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.760897 s, deltaX: 0.600000 m, approachRate: 0.788543 m/s, rangeRepo size: 4 2025-10-27T03:38:02.168Z,1761536282.168 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.566607 2025-10-27T03:38:02.422Z,1761536282.422 [DAT](INFO): DAT read: Rx Time:03:38:03.5947 2025-10-27T03:38:02.424Z,1761536282.424 [DAT](INFO): Rx dataTimestamp_ set to:1761536282.422565 2025-10-27T03:38:02.425Z,1761536282.425 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2025-10-27T03:38:02.426Z,1761536282.426 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-27T03:38:02.429Z,1761536282.429 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.827654 2025-10-27T03:38:02.466Z,1761536282.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439147,0.897695,-0.035973],[-0.898002,-0.439807,-0.012736],[-0.027255,0.026711,0.999272]] 2025-10-27T03:38:02.541Z,1761536282.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.502042 s, deltaX: 0.200000 m, approachRate: 0.398373 m/s, rangeRepo size: 4 2025-10-27T03:38:02.541Z,1761536282.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.40 m. 2025-10-27T03:38:02.672Z,1761536282.672 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.071021 2025-10-27T03:38:02.861Z,1761536282.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410537,0.909113,-0.070520],[-0.911474,-0.411345,0.003333],[-0.025978,0.065645,0.997505]] 2025-10-27T03:38:02.934Z,1761536282.934 [DAT](INFO): DAT read: Rx Time:03:38:04.0946 2025-10-27T03:38:02.936Z,1761536282.936 [DAT](INFO): Rx dataTimestamp_ set to:1761536282.935057 2025-10-27T03:38:02.940Z,1761536282.940 [DAT](INFO): DAT read: Bearing 146.1, -18.4 (Local) 2025-10-27T03:38:02.942Z,1761536282.942 [DAT](INFO): Local bearing/azimuth received: Bearing 146.1, -18.4 (Local) 2025-10-27T03:38:02.957Z,1761536282.957 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-27T03:38:02.969Z,1761536282.969 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-27T03:38:02.971Z,1761536282.971 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.369245 2025-10-27T03:38:03.180Z,1761536283.180 [DAT](INFO): DAT read: 03:38:04.0946 LVL= 22144, 29553, 32754, 32755, AGC= 38, IDX= 500,-0.21,-1.212, 0.044,-0.152, 0.877, PHS=-1.986,-0.787,-1.073, RAW= 283.2, 51.4, CAL= 285.7, 56.3, ROT= 224.3, -56.3 2025-10-27T03:38:03.181Z,1761536283.181 [DAT](INFO): got valid direction response: 03:38:04.0946 LVL= 22144, 29553, 32754, 32755, AGC= 38, IDX= 500,-0.21,-1.212, 0.044,-0.152, 0.877, PHS=-1.986,-0.787,-1.073, RAW= 283.2, 51.4, CAL= 285.7, 56.3, ROT= 224.3, -56.3 2025-10-27T03:38:03.181Z,1761536283.181 [DAT](INFO): #Rx 14: Read direction message, but no range. 2025-10-27T03:38:03.182Z,1761536283.182 [DAT](INFO): direction in FSK: [-0.397098,-0.387512,0.831954] 2025-10-27T03:38:03.186Z,1761536283.186 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.584192 2025-10-27T03:38:03.265Z,1761536283.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393365,0.914502,-0.094605],[-0.919173,-0.393385,0.019233],[-0.019627,0.094524,0.995329]] 2025-10-27T03:38:03.323Z,1761536283.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.512492 s, deltaX: -0.200000 m, approachRate: -0.390250 m/s, rangeRepo size: 4 2025-10-27T03:38:03.328Z,1761536283.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.194697 m, bearing: 117.431434 deg, lat: 36.779319 deg, lon: -121.859586 deg, deltaT: 3.794241 s, deltaX: -0.497837 m, approachRate: -0.131208 m/s, posRepo size: 4 2025-10-27T03:38:03.467Z,1761536283.467 [DAT](INFO): DAT read: Rx Time:03:38:04.5947 2025-10-27T03:38:03.467Z,1761536283.467 [DAT](INFO): Rx dataTimestamp_ set to:1761536283.466987 2025-10-27T03:38:03.469Z,1761536283.469 [DAT](INFO): DAT read: Bearing 141.7, 3.3 (Local) 2025-10-27T03:38:03.469Z,1761536283.469 [DAT](INFO): Local bearing/azimuth received: Bearing 141.7, 3.3 (Local) 2025-10-27T03:38:03.472Z,1761536283.472 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2025-10-27T03:38:03.476Z,1761536283.476 [DAT](INFO): DAT read: 03:38:04.5947 LVL= 19984, 23521, 30546, 32755, AGC= 36, IDX= 501,-0.26, 3.018,-2.600,-3.039,-1.566, PHS=-1.598,-0.989,-1.518, RAW= 323.0, 68.5, CAL= 323.0, 70.6, ROT= 187.0, -70.6 2025-10-27T03:38:03.477Z,1761536283.477 [DAT](INFO): got valid direction response: 03:38:04.5947 LVL= 19984, 23521, 30546, 32755, AGC= 36, IDX= 501,-0.26, 3.018,-2.600,-3.039,-1.566, PHS=-1.598,-0.989,-1.518, RAW= 323.0, 68.5, CAL= 323.0, 70.6, ROT= 187.0, -70.6 2025-10-27T03:38:03.478Z,1761536283.478 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T03:38:03.479Z,1761536283.479 [DAT](INFO): direction in FSK: [-0.329685,-0.040480,0.943223] 2025-10-27T03:38:03.479Z,1761536283.479 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:03.483Z,1761536283.483 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.881832 2025-10-27T03:38:03.721Z,1761536283.721 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.119433 2025-10-27T03:38:03.784Z,1761536283.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360465,0.929142,-0.082224],[-0.932773,-0.359112,0.031208],[-0.000531,0.087945,0.996125]] 2025-10-27T03:38:03.833Z,1761536283.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.531930 s, deltaX: 0.200000 m, approachRate: 0.375989 m/s, rangeRepo size: 4 2025-10-27T03:38:03.835Z,1761536283.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.393822 m, bearing: 89.401321 deg, lat: 36.779319 deg, lon: -121.859589 deg, deltaT: 0.531930 s, deltaX: 0.199125 m, approachRate: 0.374344 m/s, posRepo size: 4 2025-10-27T03:38:03.836Z,1761536283.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.40 m. 2025-10-27T03:38:03.973Z,1761536283.973 [DAT](INFO): DAT read: Rx Time:03:38:05.0946 2025-10-27T03:38:03.973Z,1761536283.973 [DAT](INFO): Rx dataTimestamp_ set to:1761536283.972929 2025-10-27T03:38:03.974Z,1761536283.974 [DAT](INFO): DAT read: Bearing 141.8, 3.5 (Local) 2025-10-27T03:38:03.975Z,1761536283.975 [DAT](INFO): Local bearing/azimuth received: Bearing 141.8, 3.5 (Local) 2025-10-27T03:38:03.978Z,1761536283.978 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-27T03:38:03.989Z,1761536283.989 [DAT](INFO): DAT read: 03:38:05.0946 LVL= 20240, 26241, 32754, 32755, AGC= 37, IDX= 500,-0.13, 1.757, 2.359, 1.949,-2.874, PHS=-1.550,-1.005,-1.504, RAW= 325.7, 70.0, CAL= 325.5, 72.0, ROT= 184.5, -72.0 2025-10-27T03:38:03.990Z,1761536283.990 [DAT](INFO): got valid direction response: 03:38:05.0946 LVL= 20240, 26241, 32754, 32755, AGC= 37, IDX= 500,-0.13, 1.757, 2.359, 1.949,-2.874, PHS=-1.550,-1.005,-1.504, RAW= 325.7, 70.0, CAL= 325.5, 72.0, ROT= 184.5, -72.0 2025-10-27T03:38:03.991Z,1761536283.991 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T03:38:04.002Z,1761536284.002 [DAT](INFO): direction in FSK: [-0.308064,-0.024245,0.951057] 2025-10-27T03:38:04.003Z,1761536284.003 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:04.013Z,1761536284.013 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.411670 2025-10-27T03:38:04.182Z,1761536284.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344263,0.937641,-0.048086],[-0.938783,-0.343068,0.031471],[0.013012,0.055977,0.998347]] 2025-10-27T03:38:04.216Z,1761536284.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.505942 s, deltaX: -0.200000 m, approachRate: -0.395302 m/s, rangeRepo size: 4 2025-10-27T03:38:04.218Z,1761536284.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.194705 m, bearing: 83.451534 deg, lat: 36.779320 deg, lon: -121.859591 deg, deltaT: 0.505942 s, deltaX: -0.199117 m, approachRate: -0.393558 m/s, posRepo size: 4 2025-10-27T03:38:04.219Z,1761536284.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.20 m. 2025-10-27T03:38:04.224Z,1761536284.224 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.622689 2025-10-27T03:38:04.477Z,1761536284.477 [DAT](INFO): DAT read: Rx Time:03:38:05.5946 2025-10-27T03:38:04.477Z,1761536284.477 [DAT](INFO): Rx dataTimestamp_ set to:1761536284.476732 2025-10-27T03:38:04.478Z,1761536284.478 [DAT](INFO): DAT read: Bearing 149.3, -7.7 (Local) 2025-10-27T03:38:04.479Z,1761536284.479 [DAT](INFO): Local bearing/azimuth received: Bearing 149.3, -7.7 (Local) 2025-10-27T03:38:04.481Z,1761536284.481 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-27T03:38:04.493Z,1761536284.493 [DAT](INFO): DAT read: 03:38:05.5946 LVL= 28960, 26257, 32754, 32755, AGC= 41, IDX= 500,-0.03, 0.725, 1.680, 1.244, 2.569, PHS=-1.742,-0.844,-1.370, RAW= 305.6, 60.8, CAL= 306.6, 63.7, ROT= 203.4, -63.7 2025-10-27T03:38:04.495Z,1761536284.495 [DAT](INFO): got valid direction response: 03:38:05.5946 LVL= 28960, 26257, 32754, 32755, AGC= 41, IDX= 500,-0.03, 0.725, 1.680, 1.244, 2.569, PHS=-1.742,-0.844,-1.370, RAW= 305.6, 60.8, CAL= 306.6, 63.7, ROT= 203.4, -63.7 2025-10-27T03:38:04.495Z,1761536284.495 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T03:38:04.496Z,1761536284.496 [DAT](INFO): direction in FSK: [-0.406631,-0.175965,0.896486] 2025-10-27T03:38:04.496Z,1761536284.496 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:04.501Z,1761536284.501 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.899403 2025-10-27T03:38:04.586Z,1761536284.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327532,0.944836,-0.002556],[-0.944415,-0.327303,0.030861],[0.028322,0.012521,0.999520]] 2025-10-27T03:38:04.662Z,1761536284.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503803 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:04.668Z,1761536284.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.194707 m, bearing: 94.309485 deg, lat: 36.779320 deg, lon: -121.859589 deg, deltaT: 0.503803 s, deltaX: 0.000002 m, approachRate: 0.000004 m/s, posRepo size: 4 2025-10-27T03:38:04.728Z,1761536284.728 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.126746 2025-10-27T03:38:04.980Z,1761536284.980 [DAT](INFO): DAT read: Rx Time:03:38:06.0945 2025-10-27T03:38:04.981Z,1761536284.981 [DAT](INFO): Rx dataTimestamp_ set to:1761536284.980355 2025-10-27T03:38:04.982Z,1761536284.982 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:04.982Z,1761536284.982 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-27T03:38:04.983Z,1761536284.983 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.382065 2025-10-27T03:38:05.025Z,1761536285.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311154,0.949344,0.043929],[-0.949333,-0.312633,0.032046],[0.044157,-0.031732,0.998521]] 2025-10-27T03:38:05.054Z,1761536285.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:05.061Z,1761536285.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503623 s, deltaX: -0.100000 m, approachRate: -0.198561 m/s, rangeRepo size: 4 2025-10-27T03:38:05.232Z,1761536285.232 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.630585 2025-10-27T03:38:05.398Z,1761536285.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292536,0.952298,0.086898],[-0.954529,-0.296256,0.033254],[0.057412,-0.073219,0.995662]] 2025-10-27T03:38:05.484Z,1761536285.484 [DAT](INFO): DAT read: Rx Time:03:38:06.5945 2025-10-27T03:38:05.485Z,1761536285.485 [DAT](INFO): Rx dataTimestamp_ set to:1761536285.484304 2025-10-27T03:38:05.486Z,1761536285.486 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:05.486Z,1761536285.486 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-27T03:38:05.487Z,1761536285.487 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.886029 2025-10-27T03:38:05.514Z,1761536285.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503949 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:05.736Z,1761536285.736 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.134555 2025-10-27T03:38:05.797Z,1761536285.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273070,0.954162,0.122507],[-0.959583,-0.279178,0.035488],[0.068062,-0.107865,0.991833]] 2025-10-27T03:38:05.988Z,1761536285.988 [DAT](INFO): DAT read: Rx Time:03:38:07.0944 2025-10-27T03:38:05.989Z,1761536285.989 [DAT](INFO): Rx dataTimestamp_ set to:1761536285.988331 2025-10-27T03:38:05.990Z,1761536285.990 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:05.990Z,1761536285.990 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-27T03:38:05.991Z,1761536285.991 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.390058 2025-10-27T03:38:06.202Z,1761536286.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252209,0.956513,0.146535],[-0.964760,-0.260291,0.038560],[0.075025,-0.131646,0.988454]] 2025-10-27T03:38:06.228Z,1761536286.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504027 s, deltaX: -0.200000 m, approachRate: -0.396804 m/s, rangeRepo size: 4 2025-10-27T03:38:06.251Z,1761536286.251 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.649179 2025-10-27T03:38:06.504Z,1761536286.504 [DAT](INFO): DAT read: Rx Time:03:38:07.5944 2025-10-27T03:38:06.504Z,1761536286.504 [DAT](INFO): Rx dataTimestamp_ set to:1761536286.504152 2025-10-27T03:38:06.506Z,1761536286.506 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:06.506Z,1761536286.506 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-27T03:38:06.507Z,1761536286.507 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.905897 2025-10-27T03:38:06.624Z,1761536286.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232793,0.960385,0.153192],[-0.969302,-0.241941,0.043803],[0.079131,-0.138292,0.987225]] 2025-10-27T03:38:06.734Z,1761536286.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.515821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:06.756Z,1761536286.756 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.154726 2025-10-27T03:38:07.009Z,1761536287.009 [DAT](INFO): DAT read: Rx Time:03:38:08.0944 2025-10-27T03:38:07.009Z,1761536287.009 [DAT](INFO): Rx dataTimestamp_ set to:1761536287.009104 2025-10-27T03:38:07.011Z,1761536287.011 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:07.012Z,1761536287.012 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-10-27T03:38:07.014Z,1761536287.014 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.412277 2025-10-27T03:38:07.065Z,1761536287.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215529,0.966171,0.141636],[-0.973201,-0.224438,0.050074],[0.080168,-0.127048,0.988652]] 2025-10-27T03:38:07.097Z,1761536287.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:07.104Z,1761536287.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:07.262Z,1761536287.262 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.660529 2025-10-27T03:38:07.513Z,1761536287.513 [DAT](INFO): DAT read: Rx Time:03:38:08.5945 2025-10-27T03:38:07.514Z,1761536287.514 [DAT](INFO): Rx dataTimestamp_ set to:1761536287.513353 2025-10-27T03:38:07.515Z,1761536287.515 [DAT](INFO): DAT read: Bearing 166.0, 3.0 (Local) 2025-10-27T03:38:07.515Z,1761536287.515 [DAT](INFO): Local bearing/azimuth received: Bearing 166.0, 3.0 (Local) 2025-10-27T03:38:07.517Z,1761536287.517 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:07.522Z,1761536287.522 [DAT](INFO): DAT read: 03:38:08.5945 LVL= 32752, 29553, 32754, 32755, AGC= 44, IDX= 507, 0.01, 0.323, 0.959, 0.142, 1.429, PHS=-1.005,-0.425,-1.332, RAW= 350.9, 50.9, CAL= 349.7, 54.6, ROT= 160.3, -54.6 2025-10-27T03:38:07.523Z,1761536287.523 [DAT](INFO): got valid direction response: 03:38:08.5945 LVL= 32752, 29553, 32754, 32755, AGC= 44, IDX= 507, 0.01, 0.323, 0.959, 0.142, 1.429, PHS=-1.005,-0.425,-1.332, RAW= 350.9, 50.9, CAL= 349.7, 54.6, ROT= 160.3, -54.6 2025-10-27T03:38:07.524Z,1761536287.524 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T03:38:07.525Z,1761536287.525 [DAT](INFO): direction in FSK: [-0.545376,0.195273,0.815128] 2025-10-27T03:38:07.525Z,1761536287.525 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:07.529Z,1761536287.529 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.927344 2025-10-27T03:38:07.600Z,1761536287.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200142,0.973183,0.113396],[-0.976543,-0.207524,0.057424],[0.079417,-0.099243,0.991889]] 2025-10-27T03:38:07.700Z,1761536287.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504249 s, deltaX: 0.200000 m, approachRate: 0.396630 m/s, rangeRepo size: 4 2025-10-27T03:38:07.708Z,1761536287.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.095137 m, bearing: 53.992238 deg, lat: 36.779320 deg, lon: -121.859589 deg, deltaT: 3.036621 s, deltaX: -0.099569 m, approachRate: -0.032790 m/s, posRepo size: 4 2025-10-27T03:38:07.765Z,1761536287.765 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.162827 2025-10-27T03:38:08.016Z,1761536288.016 [DAT](INFO): DAT read: Rx Time:03:38:09.0945 2025-10-27T03:38:08.017Z,1761536288.017 [DAT](INFO): Rx dataTimestamp_ set to:1761536288.016514 2025-10-27T03:38:08.018Z,1761536288.018 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:08.019Z,1761536288.019 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-27T03:38:08.020Z,1761536288.020 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.418218 2025-10-27T03:38:08.168Z,1761536288.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171851,0.984068,0.045579],[-0.982384,-0.174638,0.066508],[0.073408,-0.033346,0.996744]] 2025-10-27T03:38:08.190Z,1761536288.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503161 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:08.268Z,1761536288.268 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.666683 2025-10-27T03:38:08.521Z,1761536288.521 [DAT](INFO): DAT read: Rx Time:03:38:09.5945 2025-10-27T03:38:08.521Z,1761536288.521 [DAT](INFO): Rx dataTimestamp_ set to:1761536288.520999 2025-10-27T03:38:08.522Z,1761536288.522 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:08.523Z,1761536288.523 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-27T03:38:08.524Z,1761536288.524 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.922746 2025-10-27T03:38:08.600Z,1761536288.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157744,0.987183,0.024232],[-0.985004,-0.159038,0.066889],[0.069886,-0.013317,0.997466]] 2025-10-27T03:38:08.641Z,1761536288.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504485 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:08.772Z,1761536288.772 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.170551 2025-10-27T03:38:08.975Z,1761536288.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144522,0.989386,0.015096],[-0.987221,-0.145208,0.065651],[0.067146,-0.005415,0.997728]] 2025-10-27T03:38:09.024Z,1761536289.024 [DAT](INFO): DAT read: Rx Time:03:38:10.0944 2025-10-27T03:38:09.025Z,1761536289.025 [DAT](INFO): Rx dataTimestamp_ set to:1761536289.024337 2025-10-27T03:38:09.026Z,1761536289.026 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:09.026Z,1761536289.026 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-27T03:38:09.028Z,1761536289.028 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.426184 2025-10-27T03:38:09.096Z,1761536289.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503338 s, deltaX: -0.200000 m, approachRate: -0.397347 m/s, rangeRepo size: 4 2025-10-27T03:38:09.276Z,1761536289.276 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.674607 2025-10-27T03:38:09.380Z,1761536289.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132185,0.991089,0.016404],[-0.989030,-0.132975,0.064315],[0.065923,-0.007723,0.997795]] 2025-10-27T03:38:09.445Z,1761536289.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:09.455Z,1761536289.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 0.90 m. 2025-10-27T03:38:09.455Z,1761536289.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present. 2025-10-27T03:38:09.532Z,1761536289.532 [DAT](INFO): DAT read: Rx Time:03:38:10.5945 2025-10-27T03:38:09.534Z,1761536289.534 [DAT](INFO): Rx dataTimestamp_ set to:1761536289.532820 2025-10-27T03:38:09.538Z,1761536289.538 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:09.540Z,1761536289.540 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-27T03:38:09.542Z,1761536289.542 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.940642 2025-10-27T03:38:09.780Z,1761536289.780 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.178620 2025-10-27T03:38:09.840Z,1761536289.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120758,0.992400,0.023680],[-0.990522,-0.122034,0.063045],[0.065456,-0.015842,0.997730]] 2025-10-27T03:38:09.885Z,1761536289.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.508483 s, deltaX: 0.200000 m, approachRate: 0.393327 m/s, rangeRepo size: 4 2025-10-27T03:38:09.902Z,1761536289.902 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:38:10.033Z,1761536290.033 [DAT](INFO): DAT read: Rx Time:03:38:11.0945 2025-10-27T03:38:10.033Z,1761536290.033 [DAT](INFO): Rx dataTimestamp_ set to:1761536290.032821 2025-10-27T03:38:10.034Z,1761536290.034 [DAT](INFO): DAT read: Bearing 131.1, -20.2 (Local) 2025-10-27T03:38:10.035Z,1761536290.035 [DAT](INFO): Local bearing/azimuth received: Bearing 131.1, -20.2 (Local) 2025-10-27T03:38:10.037Z,1761536290.037 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:10.041Z,1761536290.041 [DAT](INFO): DAT read: 03:38:11.0945 LVL= 12080, 13953, 32738, 29347, AGC= 39, IDX= 499, 0.49, 3.005,-2.926,-2.220,-1.095, PHS=-2.081,-1.786,-1.168, RAW= 228.5, 65.6, CAL= 229.5, 70.1, ROT= 280.5, -70.1 2025-10-27T03:38:10.043Z,1761536290.043 [DAT](INFO): got valid direction response: 03:38:11.0945 LVL= 12080, 13953, 32738, 29347, AGC= 39, IDX= 499, 0.49, 3.005,-2.926,-2.220,-1.095, PHS=-2.081,-1.786,-1.168, RAW= 228.5, 65.6, CAL= 229.5, 70.1, ROT= 280.5, -70.1 2025-10-27T03:38:10.044Z,1761536290.044 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T03:38:10.045Z,1761536290.045 [DAT](INFO): direction in FSK: [0.062029,-0.334680,0.940288] 2025-10-27T03:38:10.045Z,1761536290.045 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:10.049Z,1761536290.049 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.447576 2025-10-27T03:38:10.242Z,1761536290.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109031,0.993146,0.042118],[-0.991901,-0.111476,0.060865],[0.065143,-0.035141,0.997257]] 2025-10-27T03:38:10.266Z,1761536290.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.500001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:10.268Z,1761536290.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.095160 m, bearing: 173.710855 deg, lat: 36.779320 deg, lon: -121.859589 deg, deltaT: 2.519468 s, deltaX: 0.000023 m, approachRate: 0.000009 m/s, posRepo size: 4 2025-10-27T03:38:10.284Z,1761536290.284 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.682586 2025-10-27T03:38:10.541Z,1761536290.541 [DAT](INFO): DAT read: Rx Time:03:38:11.5946 2025-10-27T03:38:10.542Z,1761536290.542 [DAT](INFO): Rx dataTimestamp_ set to:1761536290.541351 2025-10-27T03:38:10.544Z,1761536290.544 [DAT](INFO): DAT read: Bearing 148.3, -20.5 (Local) 2025-10-27T03:38:10.544Z,1761536290.544 [DAT](INFO): Local bearing/azimuth received: Bearing 148.3, -20.5 (Local) 2025-10-27T03:38:10.548Z,1761536290.548 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-27T03:38:10.571Z,1761536290.571 [DAT](INFO): DAT read: 03:38:11.5946 LVL= 14032, 13665, 32754, 30323, AGC= 39, IDX= 501,-0.33, 3.079,-2.442,-2.399,-1.264, PHS=-1.838,-1.133,-1.179, RAW= 273.3, 65.0, CAL= 274.6, 68.7, ROT= 235.4, -68.7 2025-10-27T03:38:10.572Z,1761536290.572 [DAT](INFO): got valid direction response: 03:38:11.5946 LVL= 14032, 13665, 32754, 30323, AGC= 39, IDX= 501,-0.33, 3.079,-2.442,-2.399,-1.264, PHS=-1.838,-1.133,-1.179, RAW= 273.3, 65.0, CAL= 274.6, 68.7, ROT= 235.4, -68.7 2025-10-27T03:38:10.572Z,1761536290.572 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T03:38:10.573Z,1761536290.573 [DAT](INFO): direction in FSK: [-0.206270,-0.299005,0.931691] 2025-10-27T03:38:10.573Z,1761536290.573 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:10.597Z,1761536290.597 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.995892 2025-10-27T03:38:10.646Z,1761536290.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096720,0.993090,0.066466],[-0.993217,-0.100631,0.058254],[0.064540,-0.060380,0.996087]] 2025-10-27T03:38:10.755Z,1761536290.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.508530 s, deltaX: 0.100000 m, approachRate: 0.196645 m/s, rangeRepo size: 4 2025-10-27T03:38:10.757Z,1761536290.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.194703 m, bearing: 126.632997 deg, lat: 36.779320 deg, lon: -121.859589 deg, deltaT: 0.508530 s, deltaX: 0.099542 m, approachRate: 0.195746 m/s, posRepo size: 4 2025-10-27T03:38:10.788Z,1761536290.788 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.186663 2025-10-27T03:38:11.041Z,1761536291.041 [DAT](INFO): DAT read: Rx Time:03:38:12.0945 2025-10-27T03:38:11.041Z,1761536291.041 [DAT](INFO): Rx dataTimestamp_ set to:1761536291.040698 2025-10-27T03:38:11.042Z,1761536291.042 [DAT](INFO): DAT read: Bearing 159.4, -23.3 (Local) 2025-10-27T03:38:11.043Z,1761536291.043 [DAT](INFO): Local bearing/azimuth received: Bearing 159.4, -23.3 (Local) 2025-10-27T03:38:11.045Z,1761536291.045 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:11.049Z,1761536291.049 [DAT](INFO): DAT read: 03:38:12.0945 LVL= 17840, 13665, 31186, 31571, AGC= 39, IDX= 500,-0.20, 1.905, 2.916, 2.708,-2.481, PHS=-1.795,-0.841,-1.138, RAW= 287.7, 57.6, CAL= 289.9, 61.220.1, -61.4 2025-10-27T03:38:11.050Z,1761536291.050 [DAT](INFO): unknown deviceResponse_: 03:38:12.0945 LVL= 17840, 13665, 31186, 31571, AGC= 39, IDX= 500,-0.20, 1.905, 2.916, 2.708,-2.481, PHS=-1.795,-0.841,-1.138, RAW= 287.7, 57.6, CAL= 289.9, 61.220.1, -61.4 2025-10-27T03:38:11.051Z,1761536291.051 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T03:38:11.052Z,1761536291.052 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.450291 2025-10-27T03:38:11.177Z,1761536291.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.499347 s, deltaX: -0.100000 m, approachRate: -0.200262 m/s, rangeRepo size: 4 2025-10-27T03:38:11.292Z,1761536291.292 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.690622 2025-10-27T03:38:11.536Z,1761536291.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075702,0.994009,0.078832],[-0.995129,-0.080321,0.057163],[0.063152,-0.074121,0.995248]] 2025-10-27T03:38:11.552Z,1761536291.552 [DAT](INFO): DAT read: Rx Time:03:38:12.5946 2025-10-27T03:38:11.554Z,1761536291.554 [DAT](INFO): Rx dataTimestamp_ set to:1761536291.552632 2025-10-27T03:38:11.558Z,1761536291.558 [DAT](INFO): DAT read: Bearing 161.1, -20.0 (Local) 2025-10-27T03:38:11.559Z,1761536291.559 [DAT](INFO): Local bearing/azimuth received: Bearing 161.1, -20.0 (Local) 2025-10-27T03:38:11.592Z,1761536291.592 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-27T03:38:11.608Z,1761536291.608 [DAT](INFO): DAT read: 03:38:12.5946 LVL= 18032, 11745, 24690, 25267, AGC= 37, IDX= 500,-0.22,-2.918,-1.995,-2.291,-1.153, PHS=-1.663,-0.797,-1.182, RAW= 296.4, 59.7, CAL= 298.0, 62.9, ROT= 212.0, -62.9 2025-10-27T03:38:11.610Z,1761536291.610 [DAT](INFO): got valid direction response: 03:38:12.5946 LVL= 18032, 11745, 24690, 25267, AGC= 37, IDX= 500,-0.22,-2.918,-1.995,-2.291,-1.153, PHS=-1.663,-0.797,-1.182, RAW= 296.4, 59.7, CAL= 298.0, 62.9, ROT= 212.0, -62.9 2025-10-27T03:38:11.610Z,1761536291.610 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T03:38:11.623Z,1761536291.623 [DAT](INFO): direction in FSK: [-0.386324,-0.241402,0.890213] 2025-10-27T03:38:11.624Z,1761536291.624 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:11.641Z,1761536291.641 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.039391 2025-10-27T03:38:11.715Z,1761536291.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.511934 s, deltaX: 0.100000 m, approachRate: 0.195338 m/s, rangeRepo size: 4 2025-10-27T03:38:11.718Z,1761536291.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.194704 m, bearing: 107.174007 deg, lat: 36.779319 deg, lon: -121.859588 deg, deltaT: 1.011281 s, deltaX: 0.000001 m, approachRate: 0.000001 m/s, posRepo size: 4 2025-10-27T03:38:11.800Z,1761536291.800 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.198578 2025-10-27T03:38:12.034Z,1761536292.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068247,0.995516,0.065496],[-0.995693,-0.072094,0.058288],[0.062748,-0.061236,0.996149]] 2025-10-27T03:38:12.050Z,1761536292.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:12.053Z,1761536292.053 [DAT](INFO): DAT read: Rx Time:03:38:13.0945 2025-10-27T03:38:12.053Z,1761536292.053 [DAT](INFO): Rx dataTimestamp_ set to:1761536292.052847 2025-10-27T03:38:12.054Z,1761536292.054 [DAT](INFO): DAT read: Bearing 121.8, 6.5 (Local) 2025-10-27T03:38:12.055Z,1761536292.055 [DAT](INFO): Local bearing/azimuth received: Bearing 121.8, 6.5 (Local) 2025-10-27T03:38:12.057Z,1761536292.057 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:12.062Z,1761536292.062 [DAT](INFO): DAT read: 03:38:13.0945 LVL= 21152, 17953, 22642, 25523, AGC= 37, IDX= 498, 0.46, 1.562, 0.770, 1.321, 2.804, PHS=-1.140,-1.989,-1.527, RAW= 122.9, 65.9, CAL= 122.9, 70.1, ROT= 27.1, -70.1 2025-10-27T03:38:12.063Z,1761536292.063 [DAT](INFO): got valid direction response: 03:38:13.0945 LVL= 21152, 17953, 22642, 25523, AGC= 37, IDX= 498, 0.46, 1.562, 0.770, 1.321, 2.804, PHS=-1.140,-1.989,-1.527, RAW= 122.9, 65.9, CAL= 122.9, 70.1, ROT= 27.1, -70.1 2025-10-27T03:38:12.064Z,1761536292.064 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T03:38:12.065Z,1761536292.065 [DAT](INFO): direction in FSK: [0.303010,0.155058,0.940288] 2025-10-27T03:38:12.065Z,1761536292.065 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:12.069Z,1761536292.069 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.467255 2025-10-27T03:38:12.072Z,1761536292.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.500215 s, deltaX: -0.100000 m, approachRate: -0.199914 m/s, rangeRepo size: 4 2025-10-27T03:38:12.308Z,1761536292.308 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.706434 2025-10-27T03:38:12.472Z,1761536292.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062929,0.996671,0.051831],[-0.996069,-0.065965,0.059113],[0.062336,-0.047907,0.996905]] 2025-10-27T03:38:12.561Z,1761536292.561 [DAT](INFO): DAT read: Rx Time:03:38:13.5944 2025-10-27T03:38:12.564Z,1761536292.564 [DAT](INFO): Rx dataTimestamp_ set to:1761536292.562135 2025-10-27T03:38:12.569Z,1761536292.569 [DAT](INFO): DAT read: Bearing 116.5, 19.4 (Local) 2025-10-27T03:38:12.570Z,1761536292.570 [DAT](INFO): Local bearing/azimuth received: Bearing 116.5, 19.4 (Local) 2025-10-27T03:38:12.573Z,1761536292.573 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:12.585Z,1761536292.585 [DAT](INFO): DAT read: 03:38:13.5944 LVL= 21328, 18929, 24178, 27219, AGC= 37, IDX= 499, 0.19, 0.885,-0.383, 0.174, 1.734, PHS=-0.747,-2.073,-1.605, RAW= 110.4, 53.3, CAL= 108.4, 58.3, ROT= 41.6, -58.3 2025-10-27T03:38:12.587Z,1761536292.587 [DAT](INFO): got valid direction response: 03:38:13.5944 LVL= 21328, 18929, 24178, 27219, AGC= 37, IDX= 499, 0.19, 0.885,-0.383, 0.174, 1.734, PHS=-0.747,-2.073,-1.605, RAW= 110.4, 53.3, CAL= 108.4, 58.3, ROT= 41.6, -58.3 2025-10-27T03:38:12.596Z,1761536292.596 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T03:38:12.598Z,1761536292.598 [DAT](INFO): direction in FSK: [0.392947,0.348874,0.850811] 2025-10-27T03:38:12.598Z,1761536292.598 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:12.606Z,1761536292.606 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.004692 2025-10-27T03:38:12.808Z,1761536292.808 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.206623 2025-10-27T03:38:12.837Z,1761536292.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060341,0.997213,0.043882],[-0.996255,-0.062894,0.059338],[0.061933,-0.040137,0.997273]] 2025-10-27T03:38:12.927Z,1761536292.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.509288 s, deltaX: -0.200000 m, approachRate: -0.392705 m/s, rangeRepo size: 4 2025-10-27T03:38:12.944Z,1761536292.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896028 m, bearing: 314.888893 deg, lat: 36.779319 deg, lon: -121.859589 deg, deltaT: 1.009503 s, deltaX: -0.298675 m, approachRate: -0.295864 m/s, posRepo size: 4 2025-10-27T03:38:13.061Z,1761536293.061 [DAT](INFO): DAT read: Rx Time:03:38:14.0943 2025-10-27T03:38:13.061Z,1761536293.061 [DAT](INFO): Rx dataTimestamp_ set to:1761536293.060821 2025-10-27T03:38:13.063Z,1761536293.063 [DAT](INFO): DAT read: Bearing 121.1, 19.0 (Local) 2025-10-27T03:38:13.064Z,1761536293.064 [DAT](INFO): Local bearing/azimuth received: Bearing 121.1, 19.0 (Local) 2025-10-27T03:38:13.067Z,1761536293.067 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:13.074Z,1761536293.074 [DAT](INFO): DAT read: 03:38:14.0943 LVL= 20464, 15857, 23922, 23763, AGC= 36, IDX= 498, 0.24,-0.334,-1.370,-0.984, 0.581, PHS=-0.813,-1.906,-1.609, RAW= 105.2, 57.4, CAL= 103.7, 61.8, ROT= 46.3, -61.8 2025-10-27T03:38:13.076Z,1761536293.076 [DAT](INFO): got valid direction response: 03:38:14.0943 LVL= 20464, 15857, 23922, 23763, AGC= 36, IDX= 498, 0.24,-0.334,-1.370,-0.984, 0.581, PHS=-0.813,-1.906,-1.609, RAW= 105.2, 57.4, CAL= 103.7, 61.8, ROT= 46.3, -61.8 2025-10-27T03:38:13.076Z,1761536293.076 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T03:38:13.077Z,1761536293.077 [DAT](INFO): direction in FSK: [0.326477,0.341639,0.881303] 2025-10-27T03:38:13.077Z,1761536293.077 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:13.082Z,1761536293.082 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.480270 2025-10-27T03:38:13.241Z,1761536293.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058396,0.996976,0.051277],[-0.996470,-0.061316,0.057346],[0.060317,-0.047747,0.997037]] 2025-10-27T03:38:13.278Z,1761536293.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.498686 s, deltaX: -0.100000 m, approachRate: -0.200527 m/s, rangeRepo size: 4 2025-10-27T03:38:13.281Z,1761536293.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796470 m, bearing: 321.117163 deg, lat: 36.779323 deg, lon: -121.859591 deg, deltaT: 0.498686 s, deltaX: -0.099559 m, approachRate: -0.199642 m/s, posRepo size: 4 2025-10-27T03:38:13.312Z,1761536293.312 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.710840 2025-10-27T03:38:13.569Z,1761536293.569 [DAT](INFO): DAT read: Rx Time:03:38:14.5944 2025-10-27T03:38:13.570Z,1761536293.570 [DAT](INFO): Rx dataTimestamp_ set to:1761536293.569206 2025-10-27T03:38:13.586Z,1761536293.586 [DAT](INFO): DAT read: Bearing 122.1, 17.9 (Local) 2025-10-27T03:38:13.588Z,1761536293.588 [DAT](INFO): Local bearing/azimuth received: Bearing 122.1, 17.9 (Local) 2025-10-27T03:38:13.594Z,1761536293.594 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:13.607Z,1761536293.607 [DAT](INFO): DAT read: 03:38:14.5944 LVL= 20864, 16001, 24338, 26339, AGC= 37, IDX= 499, 0.44,-0.677,-1.664,-1.294, 0.260, PHS=-0.835,-1.879,-1.598, RAW= 105.1, 58.5, CAL= 103.6, 62.7, ROT= 46.4, -62.7 2025-10-27T03:38:13.608Z,1761536293.608 [DAT](INFO): got valid direction response: 03:38:14.5944 LVL= 20864, 16001, 24338, 26339, AGC= 37, IDX= 499, 0.44,-0.677,-1.664,-1.294, 0.260, PHS=-0.835,-1.879,-1.598, RAW= 105.1, 58.5, CAL= 103.6, 62.7, ROT= 46.4, -62.7 2025-10-27T03:38:13.609Z,1761536293.609 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T03:38:13.610Z,1761536293.610 [DAT](INFO): direction in FSK: [0.316294,0.332141,0.888617] 2025-10-27T03:38:13.610Z,1761536293.610 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:13.618Z,1761536293.618 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.016535 2025-10-27T03:38:13.646Z,1761536293.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056024,0.997486,0.043399],[-0.996794,-0.058366,0.054724],[0.057119,-0.040194,0.997558]] 2025-10-27T03:38:13.773Z,1761536293.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.508385 s, deltaX: 0.100000 m, approachRate: 0.196701 m/s, rangeRepo size: 4 2025-10-27T03:38:13.779Z,1761536293.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896031 m, bearing: 320.914562 deg, lat: 36.779324 deg, lon: -121.859591 deg, deltaT: 0.508385 s, deltaX: 0.099561 m, approachRate: 0.195838 m/s, posRepo size: 4 2025-10-27T03:38:13.816Z,1761536293.816 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.214790 2025-10-27T03:38:14.069Z,1761536294.069 [DAT](INFO): DAT read: Rx Time:03:38:15.0943 2025-10-27T03:38:14.069Z,1761536294.069 [DAT](INFO): Rx dataTimestamp_ set to:1761536294.069017 2025-10-27T03:38:14.071Z,1761536294.071 [DAT](INFO): DAT read: Bearing 117.6, 21.8 (Local) 2025-10-27T03:38:14.071Z,1761536294.071 [DAT](INFO): Local bearing/azimuth received: Bearing 117.6, 21.8 (Local) 2025-10-27T03:38:14.073Z,1761536294.073 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:14.078Z,1761536294.078 [DAT](INFO): DAT read: 03:38:15.0943 LVL= 17424, 14161, 24274, 22675, AGC= 36, IDX= 498, 0.33, 1.049,-0.124, 0.362, 1.815, PHS=-0.664,-1.894,-1.497, RAW= 108.4, 52.8, CAL= 106.5, 57.8, ROT= 43.5, -57.8 2025-10-27T03:38:14.079Z,1761536294.079 [DAT](INFO): got valid direction response: 03:38:15.0943 LVL= 17424, 14161, 24274, 22675, AGC= 36, IDX= 498, 0.33, 1.049,-0.124, 0.362, 1.815, PHS=-0.664,-1.894,-1.497, RAW= 108.4, 52.8, CAL= 106.5, 57.8, ROT= 43.5, -57.8 2025-10-27T03:38:14.079Z,1761536294.079 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T03:38:14.080Z,1761536294.080 [DAT](INFO): direction in FSK: [0.386535,0.366808,0.846193] 2025-10-27T03:38:14.080Z,1761536294.080 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:14.084Z,1761536294.084 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.482889 2025-10-27T03:38:14.101Z,1761536294.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053736,0.998519,0.008499],[-0.997164,-0.054108,0.052304],[0.052687,-0.005664,0.998595]] 2025-10-27T03:38:14.174Z,1761536294.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.499811 s, deltaX: -0.100000 m, approachRate: -0.200076 m/s, rangeRepo size: 4 2025-10-27T03:38:14.190Z,1761536294.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796472 m, bearing: 314.330403 deg, lat: 36.779324 deg, lon: -121.859592 deg, deltaT: 0.499811 s, deltaX: -0.099559 m, approachRate: -0.199193 m/s, posRepo size: 4 2025-10-27T03:38:14.320Z,1761536294.320 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.718864 2025-10-27T03:38:14.509Z,1761536294.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049978,0.998607,-0.016904],[-0.997518,-0.049069,0.050496],[0.049596,0.019386,0.998581]] 2025-10-27T03:38:14.534Z,1761536294.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:14.576Z,1761536294.576 [DAT](INFO): DAT read: Rx Time:03:38:15.5944 2025-10-27T03:38:14.578Z,1761536294.578 [DAT](INFO): Rx dataTimestamp_ set to:1761536294.576823 2025-10-27T03:38:14.582Z,1761536294.582 [DAT](INFO): DAT read: Bearing 114.4, 23.8 (Local) 2025-10-27T03:38:14.584Z,1761536294.584 [DAT](INFO): Local bearing/azimuth received: Bearing 114.4, 23.8 (Local) 2025-10-27T03:38:14.594Z,1761536294.594 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:14.616Z,1761536294.616 [DAT](INFO): DAT read: 03:38:15.5944 LVL= 16336, 14977, 23474, 20179, AGC= 36, IDX= 499, 0.24,-1.156,-2.421,-1.834,-0.472, PHS=-0.581,-1.904,-1.406, RAW= 111.9, 49.9, CAL= 109.7, 55.4, ROT= 40.3, -55.4 2025-10-27T03:38:14.617Z,1761536294.617 [DAT](INFO): got valid direction response: 03:38:15.5944 LVL= 16336, 14977, 23474, 20179, AGC= 36, IDX= 499, 0.24,-1.156,-2.421,-1.834,-0.472, PHS=-0.581,-1.904,-1.406, RAW= 111.9, 49.9, CAL= 109.7, 55.4, ROT= 40.3, -55.4 2025-10-27T03:38:14.617Z,1761536294.617 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T03:38:14.618Z,1761536294.618 [DAT](INFO): direction in FSK: [0.433076,0.367275,0.823136] 2025-10-27T03:38:14.618Z,1761536294.618 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:14.630Z,1761536294.630 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.028719 2025-10-27T03:38:14.824Z,1761536294.824 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.222527 2025-10-27T03:38:15.018Z,1761536295.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507806 s, deltaX: 0.100000 m, approachRate: 0.196926 m/s, rangeRepo size: 4 2025-10-27T03:38:15.036Z,1761536295.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896035 m, bearing: 309.037423 deg, lat: 36.779325 deg, lon: -121.859592 deg, deltaT: 0.507806 s, deltaX: 0.099563 m, approachRate: 0.196066 m/s, posRepo size: 4 2025-10-27T03:38:15.077Z,1761536295.077 [DAT](INFO): DAT read: Rx Time:03:38:16.0943 2025-10-27T03:38:15.077Z,1761536295.077 [DAT](INFO): Rx dataTimestamp_ set to:1761536295.076886 2025-10-27T03:38:15.079Z,1761536295.079 [DAT](INFO): DAT read: Bearing 114.4, 22.9 (Local) 2025-10-27T03:38:15.079Z,1761536295.079 [DAT](INFO): Local bearing/azimuth received: Bearing 114.4, 22.9 (Local) 2025-10-27T03:38:15.082Z,1761536295.082 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:15.089Z,1761536295.089 [DAT](INFO): DAT read: 03:38:16.0943 LVL= 18736, 15073, 21538, 21475, AGC= 37, IDX= 498, 0.44, 2.527, 1.204, 1.836,-3.060, PHS=-0.594,-1.974,-1.432, RAW= 113.0, 49.6, CAL= 110.8, 55.2, ROT= 39.2, -55.2 2025-10-27T03:38:15.090Z,1761536295.090 [DAT](INFO): got valid direction response: 03:38:16.0943 LVL= 18736, 15073, 21538, 21475, AGC= 37, IDX= 498, 0.44, 2.527, 1.204, 1.836,-3.060, PHS=-0.594,-1.974,-1.432, RAW= 113.0, 49.6, CAL= 110.8, 55.2, ROT= 39.2, -55.2 2025-10-27T03:38:15.093Z,1761536295.093 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T03:38:15.094Z,1761536295.094 [DAT](INFO): direction in FSK: [0.442271,0.360708,0.821149] 2025-10-27T03:38:15.095Z,1761536295.095 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:15.120Z,1761536295.120 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.518402 2025-10-27T03:38:15.318Z,1761536295.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041052,0.999157,0.000336],[-0.997646,-0.041009,0.054967],[0.054934,0.001922,0.998488]] 2025-10-27T03:38:15.328Z,1761536295.328 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.726681 2025-10-27T03:38:15.377Z,1761536295.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.500063 s, deltaX: -0.100000 m, approachRate: -0.199975 m/s, rangeRepo size: 4 2025-10-27T03:38:15.383Z,1761536295.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796476 m, bearing: 309.815270 deg, lat: 36.779325 deg, lon: -121.859593 deg, deltaT: 0.500063 s, deltaX: -0.099559 m, approachRate: -0.199094 m/s, posRepo size: 4 2025-10-27T03:38:15.590Z,1761536295.590 [DAT](INFO): DAT read: Rx Time:03:38:16.5943 2025-10-27T03:38:15.592Z,1761536295.592 [DAT](INFO): Rx dataTimestamp_ set to:1761536295.590979 2025-10-27T03:38:15.596Z,1761536295.596 [DAT](INFO): DAT read: Bearing 113.7, 21.1 (Local) 2025-10-27T03:38:15.597Z,1761536295.597 [DAT](INFO): Local bearing/azimuth received: Bearing 113.7, 21.1 (Local) 2025-10-27T03:38:15.616Z,1761536295.616 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:15.637Z,1761536295.637 [DAT](INFO): DAT read: 03:38:16.5943 LVL= 18800, 14785, 21298, 23987, AGC= 37, IDX= 499,-0.32, 1.014,-0.401, 0.332, 1.741, PHS=-0.625,-2.097,-1.453, RAW= 115.8, 49.1, CAL= 114.2, 55.2, ROT= 35.8, -55.2 2025-10-27T03:38:15.639Z,1761536295.639 [DAT](INFO): got valid direction response: 03:38:16.5943 LVL= 18800, 14785, 21298, 23987, AGC= 37, IDX= 499,-0.32, 1.014,-0.401, 0.332, 1.741, PHS=-0.625,-2.097,-1.453, RAW= 115.8, 49.1, CAL= 114.2, 55.2, ROT= 35.8, -55.2 2025-10-27T03:38:15.651Z,1761536295.651 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T03:38:15.652Z,1761536295.652 [DAT](INFO): direction in FSK: [0.462885,0.333843,0.821149] 2025-10-27T03:38:15.652Z,1761536295.652 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:15.664Z,1761536295.664 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.062799 2025-10-27T03:38:15.754Z,1761536295.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037524,0.999264,-0.008022],[-0.997655,-0.037001,0.057572],[0.057233,0.010163,0.998309]] 2025-10-27T03:38:15.836Z,1761536295.836 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.234644 2025-10-27T03:38:15.841Z,1761536295.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.514093 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:15.848Z,1761536295.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796474 m, bearing: 305.955740 deg, lat: 36.779326 deg, lon: -121.859595 deg, deltaT: 0.514093 s, deltaX: -0.000002 m, approachRate: -0.000003 m/s, posRepo size: 4 2025-10-27T03:38:16.089Z,1761536296.089 [DAT](INFO): DAT read: Rx Time:03:38:17.0942 2025-10-27T03:38:16.089Z,1761536296.089 [DAT](INFO): Rx dataTimestamp_ set to:1761536296.088693 2025-10-27T03:38:16.090Z,1761536296.090 [DAT](INFO): DAT read: Bearing 112.5, 20.8 (Local) 2025-10-27T03:38:16.091Z,1761536296.091 [DAT](INFO): Local bearing/azimuth received: Bearing 112.5, 20.8 (Local) 2025-10-27T03:38:16.093Z,1761536296.093 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 2025-10-27T03:38:16.098Z,1761536296.098 [DAT](INFO): DAT read: 03:38:17.0942 LVL= 16320, 13713, 23666, 20243, AGC= 36, IDX= 498,-0.21,-0.213,-1.720,-0.895, 0.500, PHS=-0.612,-2.175,-1.439, RAW= 118.1, 47.8, CAL= 116.7, 54.4, ROT= 33.3, -54.4 2025-10-27T03:38:16.099Z,1761536296.099 [DAT](INFO): got valid direction response: 03:38:17.0942 LVL= 16320, 13713, 23666, 20243, AGC= 36, IDX= 498,-0.21,-0.213,-1.720,-0.895, 0.500, PHS=-0.612,-2.175,-1.439, RAW= 118.1, 47.8, CAL= 116.7, 54.4, ROT= 33.3, -54.4 2025-10-27T03:38:16.100Z,1761536296.100 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T03:38:16.100Z,1761536296.100 [DAT](INFO): direction in FSK: [0.486543,0.319599,0.813101] 2025-10-27T03:38:16.101Z,1761536296.101 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:16.104Z,1761536296.104 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.503035 2025-10-27T03:38:16.142Z,1761536296.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035071,0.999339,-0.009589],[-0.997489,-0.034412,0.061892],[0.061522,0.011736,0.998037]] 2025-10-27T03:38:16.233Z,1761536296.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.497714 s, deltaX: -0.200000 m, approachRate: -0.401837 m/s, rangeRepo size: 4 2025-10-27T03:38:16.239Z,1761536296.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.597355 m, bearing: 303.440115 deg, lat: 36.779326 deg, lon: -121.859595 deg, deltaT: 0.497714 s, deltaX: -0.199118 m, approachRate: -0.400066 m/s, posRepo size: 4 2025-10-27T03:38:16.347Z,1761536296.347 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.745108 2025-10-27T03:38:16.556Z,1761536296.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033432,0.999439,-0.001834],[-0.997128,-0.033230,0.068055],[0.067956,0.004104,0.997680]] 2025-10-27T03:38:16.596Z,1761536296.596 [DAT](INFO): DAT read: Rx Time:03:38:17.5943 2025-10-27T03:38:16.598Z,1761536296.598 [DAT](INFO): Rx dataTimestamp_ set to:1761536296.596919 2025-10-27T03:38:16.603Z,1761536296.603 [DAT](INFO): DAT read: Bearing 112.6, 19.6 (Local) 2025-10-27T03:38:16.604Z,1761536296.604 [DAT](INFO): Local bearing/azimuth received: Bearing 112.6, 19.6 (Local) 2025-10-27T03:38:16.628Z,1761536296.628 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:16.637Z,1761536296.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:16.648Z,1761536296.648 [DAT](INFO): DAT read: 03:38:17.5943 LVL= 12208, 13041, 17138, 16499, AGC= 40, IDX= 3,-0.03, 0.180,-1.375,-0.492, 0.919, PHS=-0.636,-2.249,-1.455, RAW= 119.5, 47.7, CAL= 118.4, 54.5, ROT= 31.6, -54.5 2025-10-27T03:38:16.649Z,1761536296.649 [DAT](INFO): got valid direction response: 03:38:17.5943 LVL= 12208, 13041, 17138, 16499, AGC= 40, IDX= 3,-0.03, 0.180,-1.375,-0.492, 0.919, PHS=-0.636,-2.249,-1.455, RAW= 119.5, 47.7, CAL= 118.4, 54.5, ROT= 31.6, -54.5 2025-10-27T03:38:16.649Z,1761536296.649 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T03:38:16.650Z,1761536296.650 [DAT](INFO): direction in FSK: [0.494600,0.304280,0.814116] 2025-10-27T03:38:16.650Z,1761536296.650 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:16.662Z,1761536296.662 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.060698 2025-10-27T03:38:16.844Z,1761536296.844 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.242476 2025-10-27T03:38:16.985Z,1761536296.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027462,0.999584,-0.008809],[-0.996778,-0.026718,0.075622],[0.075355,0.010857,0.997098]] 2025-10-27T03:38:17.034Z,1761536297.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.508226 s, deltaX: 0.200000 m, approachRate: 0.393526 m/s, rangeRepo size: 4 2025-10-27T03:38:17.036Z,1761536297.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796479 m, bearing: 302.810584 deg, lat: 36.779326 deg, lon: -121.859595 deg, deltaT: 0.508226 s, deltaX: 0.199123 m, approachRate: 0.391801 m/s, posRepo size: 4 2025-10-27T03:38:17.098Z,1761536297.098 [DAT](INFO): DAT read: Rx Time:03:38:18.0943 2025-10-27T03:38:17.099Z,1761536297.099 [DAT](INFO): Rx dataTimestamp_ set to:1761536297.098516 2025-10-27T03:38:17.101Z,1761536297.101 [DAT](INFO): DAT read: Bearing 113.5, 22.2 (Local) 2025-10-27T03:38:17.102Z,1761536297.102 [DAT](INFO): Local bearing/azimuth received: Bearing 113.5, 22.2 (Local) 2025-10-27T03:38:17.105Z,1761536297.105 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:17.117Z,1761536297.117 [DAT](INFO): DAT read: 03:38:18.0943 LVL= 15936, 13089, 23122, 20803, AGC= 36, IDX= 498, 0.03, 0.459,-1.033,-0.256, 1.136, PHS=-0.575,-2.124,-1.435, RAW= 116.3, 47.4, CAL= 114.7, 53.8, ROT= 35.3, -53.8 2025-10-27T03:38:17.123Z,1761536297.123 [DAT](INFO): got valid direction response: 03:38:18.0943 LVL= 15936, 13089, 23122, 20803, AGC= 36, IDX= 498, 0.03, 0.459,-1.033,-0.256, 1.136, PHS=-0.575,-2.124,-1.435, RAW= 116.3, 47.4, CAL= 114.7, 53.8, ROT= 35.3, -53.8 2025-10-27T03:38:17.123Z,1761536297.123 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T03:38:17.124Z,1761536297.124 [DAT](INFO): direction in FSK: [0.482015,0.341286,0.806960] 2025-10-27T03:38:17.125Z,1761536297.125 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:17.133Z,1761536297.133 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.531223 2025-10-27T03:38:17.348Z,1761536297.348 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.747007 2025-10-27T03:38:17.396Z,1761536297.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027818,0.999607,-0.003385],[-0.996320,-0.027452,0.081194],[0.081069,0.005631,0.996693]] 2025-10-27T03:38:17.492Z,1761536297.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.501597 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:17.494Z,1761536297.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796479 m, bearing: 307.465611 deg, lat: 36.779326 deg, lon: -121.859595 deg, deltaT: 0.501597 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:38:17.605Z,1761536297.605 [DAT](INFO): DAT read: Rx Time:03:38:18.5944 2025-10-27T03:38:17.607Z,1761536297.607 [DAT](INFO): Rx dataTimestamp_ set to:1761536297.605621 2025-10-27T03:38:17.611Z,1761536297.611 [DAT](INFO): DAT read: Bearing 112.9, 24.1 (Local) 2025-10-27T03:38:17.613Z,1761536297.613 [DAT](INFO): Local bearing/azimuth received: Bearing 112.9, 24.1 (Local) 2025-10-27T03:38:17.619Z,1761536297.619 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:17.675Z,1761536297.675 [DAT](INFO): DAT read: 03:38:18.5944 LVL= 18416, 13233, 23090, 23539, AGC= 37, IDX= 499, 0.09, 2.436, 0.876, 1.648, 3.041, PHS=-0.503,-2.120,-1.437, RAW= 114.9, 45.6, CAL= 112.9, 52.0, ROT= 37.1, -52.0 2025-10-27T03:38:17.676Z,1761536297.676 [DAT](INFO): got valid direction response: 03:38:18.5944 LVL= 18416, 13233, 23090, 23539, AGC= 37, IDX= 499, 0.09, 2.436, 0.876, 1.648, 3.041, PHS=-0.503,-2.120,-1.437, RAW= 114.9, 45.6, CAL= 112.9, 52.0, ROT= 37.1, -52.0 2025-10-27T03:38:17.677Z,1761536297.677 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T03:38:17.678Z,1761536297.678 [DAT](INFO): direction in FSK: [0.491042,0.371372,0.788011] 2025-10-27T03:38:17.678Z,1761536297.678 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:17.693Z,1761536297.693 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.090685 2025-10-27T03:38:17.856Z,1761536297.856 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.254866 2025-10-27T03:38:17.986Z,1761536297.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023300,0.999713,-0.005509],[-0.996295,-0.022763,0.082930],[0.082781,0.007421,0.996540]] 2025-10-27T03:38:18.052Z,1761536298.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507105 s, deltaX: 0.100000 m, approachRate: 0.197198 m/s, rangeRepo size: 4 2025-10-27T03:38:18.054Z,1761536298.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896024 m, bearing: 309.428983 deg, lat: 36.779326 deg, lon: -121.859595 deg, deltaT: 0.507105 s, deltaX: 0.099545 m, approachRate: 0.196301 m/s, posRepo size: 4 2025-10-27T03:38:18.110Z,1761536298.110 [DAT](INFO): DAT read: Rx Time:03:38:19.0943 2025-10-27T03:38:18.111Z,1761536298.111 [DAT](INFO): Rx dataTimestamp_ set to:1761536298.110548 2025-10-27T03:38:18.112Z,1761536298.112 [DAT](INFO): DAT read: Bearing 112.0, 25.4 (Local) 2025-10-27T03:38:18.113Z,1761536298.113 [DAT](INFO): Local bearing/azimuth received: Bearing 112.0, 25.4 (Local) 2025-10-27T03:38:18.115Z,1761536298.115 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:18.119Z,1761536298.119 [DAT](INFO): DAT read: 03:38:19.0943 LVL= 19232, 15089, 22594, 23859, AGC= 37, IDX= 498, 0.13, 2.028, 0.390, 1.182, 2.567, PHS=-0.438,-2.133,-1.429, RAW= 114.4, 43.8, CAL= 112.2, 50.4, ROT= 37.8, -50.4 2025-10-27T03:38:18.121Z,1761536298.121 [DAT](INFO): got valid direction response: 03:38:19.0943 LVL= 19232, 15089, 22594, 23859, AGC= 37, IDX= 498, 0.13, 2.028, 0.390, 1.182, 2.567, PHS=-0.438,-2.133,-1.429, RAW= 114.4, 43.8, CAL= 112.2, 50.4, ROT= 37.8, -50.4 2025-10-27T03:38:18.121Z,1761536298.121 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T03:38:18.131Z,1761536298.131 [DAT](INFO): direction in FSK: [0.503664,0.390682,0.770513] 2025-10-27T03:38:18.132Z,1761536298.132 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:18.142Z,1761536298.142 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.540756 2025-10-27T03:38:18.360Z,1761536298.360 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.758514 2025-10-27T03:38:18.435Z,1761536298.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018698,0.999802,-0.006853],[-0.996295,-0.018056,0.084083],[0.083943,0.008399,0.996435]] 2025-10-27T03:38:18.497Z,1761536298.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504927 s, deltaX: -0.100000 m, approachRate: -0.198048 m/s, rangeRepo size: 4 2025-10-27T03:38:18.499Z,1761536298.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796466 m, bearing: 310.248352 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 0.504927 s, deltaX: -0.099558 m, approachRate: -0.197173 m/s, posRepo size: 4 2025-10-27T03:38:18.617Z,1761536298.617 [DAT](INFO): DAT read: Rx Time:03:38:19.5944 2025-10-27T03:38:18.619Z,1761536298.619 [DAT](INFO): Rx dataTimestamp_ set to:1761536298.617703 2025-10-27T03:38:18.623Z,1761536298.623 [DAT](INFO): DAT read: Bearing 112.0, 25.6 (Local) 2025-10-27T03:38:18.624Z,1761536298.624 [DAT](INFO): Local bearing/azimuth received: Bearing 112.0, 25.6 (Local) 2025-10-27T03:38:18.631Z,1761536298.631 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:18.694Z,1761536298.694 [DAT](INFO): DAT read: 03:38:19.5944 LVL= 19632, 16449, 23026, 24531, AGC= 36, IDX= 499, 0.18,-1.519,-3.131,-2.348,-1.001, PHS=-0.416,-2.085,-1.390, RAW= 114.5, 43.4, CAL= 112.3, 50.1, ROT= 37.7, -50.1 2025-10-27T03:38:18.701Z,1761536298.701 [DAT](INFO): got valid direction response: 03:38:19.5944 LVL= 19632, 16449, 23026, 24531, AGC= 36, IDX= 499, 0.18,-1.519,-3.131,-2.348,-1.001, PHS=-0.416,-2.085,-1.390, RAW= 114.5, 43.4, CAL= 112.3, 50.1, ROT= 37.7, -50.1 2025-10-27T03:38:18.701Z,1761536298.701 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T03:38:18.703Z,1761536298.703 [DAT](INFO): direction in FSK: [0.507530,0.392264,0.767165] 2025-10-27T03:38:18.708Z,1761536298.708 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:18.717Z,1761536298.717 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.115990 2025-10-27T03:38:18.748Z,1761536298.748 [DockingStepper](FAULT): Timed out moving from: 12736 to: 14900 response: ÿ 2025-10-27T03:38:18.748Z,1761536298.748 [DockingStepper] Hardware Fault, FailCount= 1 2025-10-27T03:38:18.748Z,1761536298.748 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:38:18.864Z,1761536298.864 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.262671 2025-10-27T03:38:18.978Z,1761536298.978 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:38:19.003Z,1761536299.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009852,0.999944,-0.003823],[-0.996346,-0.009492,0.084882],[0.084841,0.004645,0.996384]] 2025-10-27T03:38:19.069Z,1761536299.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507155 s, deltaX: 0.100000 m, approachRate: 0.197178 m/s, rangeRepo size: 4 2025-10-27T03:38:19.071Z,1761536299.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896033 m, bearing: 310.860252 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 0.507155 s, deltaX: 0.099567 m, approachRate: 0.196325 m/s, posRepo size: 4 2025-10-27T03:38:19.105Z,1761536299.105 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:38:19.105Z,1761536299.105 [DockingStepper](INFO): Powering down 2025-10-27T03:38:19.117Z,1761536299.117 [DAT](INFO): DAT read: Rx Time:03:38:20.0943 2025-10-27T03:38:19.117Z,1761536299.117 [DAT](INFO): Rx dataTimestamp_ set to:1761536299.116813 2025-10-27T03:38:19.118Z,1761536299.118 [DAT](INFO): DAT read: Bearing 111.1, 25.5 (Local) 2025-10-27T03:38:19.119Z,1761536299.119 [DAT](INFO): Local bearing/azimuth received: Bearing 111.1, 25.5 (Local) 2025-10-27T03:38:19.121Z,1761536299.121 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:19.125Z,1761536299.125 [DAT](INFO): DAT read: 03:38:20.0943 LVL= 20272, 17025, 25122, 26819, AGC= 36, IDX= 498, 0.31,-2.615, 1.965, 2.809,-2.127, PHS=-0.386,-2.147,-1.391, RAW= 115.3, 42.2, CAL= 113.2, 49.2, ROT= 36.8, -49.2 2025-10-27T03:38:19.127Z,1761536299.127 [DAT](INFO): got valid direction response: 03:38:20.0943 LVL= 20272, 17025, 25122, 26819, AGC= 36, IDX= 498, 0.31,-2.615, 1.965, 2.809,-2.127, PHS=-0.386,-2.147,-1.391, RAW= 115.3, 42.2, CAL= 113.2, 49.2, ROT= 36.8, -49.2 2025-10-27T03:38:19.127Z,1761536299.127 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T03:38:19.128Z,1761536299.128 [DAT](INFO): direction in FSK: [0.523214,0.391414,0.756995] 2025-10-27T03:38:19.128Z,1761536299.128 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:19.148Z,1761536299.148 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.546618 2025-10-27T03:38:19.368Z,1761536299.368 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.766878 2025-10-27T03:38:19.498Z,1761536299.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.499110 s, deltaX: -0.100000 m, approachRate: -0.200357 m/s, rangeRepo size: 4 2025-10-27T03:38:19.500Z,1761536299.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796474 m, bearing: 309.759654 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 0.499110 s, deltaX: -0.099559 m, approachRate: -0.199473 m/s, posRepo size: 4 2025-10-27T03:38:19.620Z,1761536299.620 [DAT](INFO): DAT read: Rx Time:03:38:20.5943 2025-10-27T03:38:19.621Z,1761536299.621 [DAT](INFO): Rx dataTimestamp_ set to:1761536299.620673 2025-10-27T03:38:19.622Z,1761536299.622 [DAT](INFO): DAT read: Bearing 110.1, 23.3 (Local) 2025-10-27T03:38:19.623Z,1761536299.623 [DAT](INFO): Local bearing/azimuth received: Bearing 110.1, 23.3 (Local) 2025-10-27T03:38:19.626Z,1761536299.626 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:19.648Z,1761536299.648 [DAT](INFO): DAT read: 03:38:20.5943 LVL= 18928, 14769, 22194, 24979, AGC= 35, IDX= 498, 0.46, 3.041, 1.211, 2.207,-2.715, PHS=-0.426,-2.312,-1.406, RAW= 118.7, 41.9, CAL= 117.3, 49.5, ROT= 32.7, -49.5 2025-10-27T03:38:19.680Z,1761536299.680 [DAT](INFO): got valid direction response: 03:38:20.5943 LVL= 18928, 14769, 22194, 24979, AGC= 35, IDX= 498, 0.46, 3.041, 1.211, 2.207,-2.715, PHS=-0.426,-2.312,-1.406, RAW= 118.7, 41.9, CAL= 117.3, 49.5, ROT= 32.7, -49.5 2025-10-27T03:38:19.682Z,1761536299.682 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T03:38:19.691Z,1761536299.691 [DAT](INFO): direction in FSK: [0.546518,0.350858,0.760406] 2025-10-27T03:38:19.700Z,1761536299.700 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:19.710Z,1761536299.710 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.108698 2025-10-27T03:38:19.815Z,1761536299.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002547,0.999926,-0.011899],[-0.996829,-0.001593,0.079554],[0.079529,0.012064,0.996759]] 2025-10-27T03:38:19.872Z,1761536299.872 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.270643 2025-10-27T03:38:19.924Z,1761536299.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503860 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:19.926Z,1761536299.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796477 m, bearing: 305.070998 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 0.503860 s, deltaX: 0.000003 m, approachRate: 0.000007 m/s, posRepo size: 4 2025-10-27T03:38:20.125Z,1761536300.125 [DAT](INFO): DAT read: Rx Time:03:38:21.0943 2025-10-27T03:38:20.125Z,1761536300.125 [DAT](INFO): Rx dataTimestamp_ set to:1761536300.125141 2025-10-27T03:38:20.127Z,1761536300.127 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:20.127Z,1761536300.127 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-27T03:38:20.128Z,1761536300.128 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.526855 2025-10-27T03:38:20.210Z,1761536300.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000796,0.999955,-0.009499],[-0.997115,-0.000073,0.075900],[0.075896,0.009532,0.997070]] 2025-10-27T03:38:20.227Z,1761536300.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:20.230Z,1761536300.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504468 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:20.376Z,1761536300.376 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.774612 2025-10-27T03:38:20.632Z,1761536300.632 [DAT](INFO): DAT read: Rx Time:03:38:21.5944 2025-10-27T03:38:20.633Z,1761536300.633 [DAT](INFO): Rx dataTimestamp_ set to:1761536300.632287 2025-10-27T03:38:20.637Z,1761536300.637 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:20.639Z,1761536300.639 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-27T03:38:20.643Z,1761536300.643 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.040791 2025-10-27T03:38:20.740Z,1761536300.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001246,0.999987,-0.004878],[-0.997428,-0.000893,0.071668],[0.071663,0.004955,0.997417]] 2025-10-27T03:38:20.792Z,1761536300.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507146 s, deltaX: 0.100000 m, approachRate: 0.197182 m/s, rangeRepo size: 4 2025-10-27T03:38:20.880Z,1761536300.880 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.278555 2025-10-27T03:38:21.132Z,1761536301.132 [DAT](INFO): DAT read: Rx Time:03:38:22.0943 2025-10-27T03:38:21.133Z,1761536301.133 [DAT](INFO): Rx dataTimestamp_ set to:1761536301.132299 2025-10-27T03:38:21.134Z,1761536301.134 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:21.134Z,1761536301.134 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-27T03:38:21.135Z,1761536301.135 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.534021 2025-10-27T03:38:21.160Z,1761536301.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.500012 s, deltaX: -0.100000 m, approachRate: -0.199995 m/s, rangeRepo size: 4 2025-10-27T03:38:21.384Z,1761536301.384 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.782619 2025-10-27T03:38:21.529Z,1761536301.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004961,0.999988,0.000125],[-0.998270,-0.004959,0.058587],[0.058587,0.000166,0.998282]] 2025-10-27T03:38:21.636Z,1761536301.636 [DAT](INFO): DAT read: Rx Time:03:38:22.5944 2025-10-27T03:38:21.637Z,1761536301.637 [DAT](INFO): Rx dataTimestamp_ set to:1761536301.636263 2025-10-27T03:38:21.638Z,1761536301.638 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:21.638Z,1761536301.638 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-27T03:38:21.641Z,1761536301.641 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.039562 2025-10-27T03:38:21.890Z,1761536301.890 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.288113 2025-10-27T03:38:21.949Z,1761536301.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007550,0.999970,0.001880],[-0.998715,-0.007635,0.050098],[0.050111,-0.001499,0.998743]] 2025-10-27T03:38:22.007Z,1761536302.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503964 s, deltaX: 0.100000 m, approachRate: 0.198427 m/s, rangeRepo size: 4 2025-10-27T03:38:22.140Z,1761536302.140 [DAT](INFO): DAT read: Rx Time:03:38:23.0943 2025-10-27T03:38:22.141Z,1761536302.141 [DAT](INFO): Rx dataTimestamp_ set to:1761536302.140227 2025-10-27T03:38:22.142Z,1761536302.142 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:22.142Z,1761536302.142 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-27T03:38:22.143Z,1761536302.143 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.541946 2025-10-27T03:38:22.331Z,1761536302.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009520,0.999949,0.003494],[-0.999149,-0.009653,0.040100],[0.040132,-0.003110,0.999190]] 2025-10-27T03:38:22.348Z,1761536302.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:22.351Z,1761536302.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503964 s, deltaX: -0.100000 m, approachRate: -0.198427 m/s, rangeRepo size: 4 2025-10-27T03:38:22.396Z,1761536302.396 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.793953 2025-10-27T03:38:22.645Z,1761536302.645 [DAT](INFO): DAT read: Rx Time:03:38:23.5944 2025-10-27T03:38:22.646Z,1761536302.646 [DAT](INFO): Rx dataTimestamp_ set to:1761536302.645496 2025-10-27T03:38:22.647Z,1761536302.647 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:22.648Z,1761536302.648 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-27T03:38:22.649Z,1761536302.649 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.047497 2025-10-27T03:38:22.747Z,1761536302.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012506,0.999904,0.005943],[-0.999476,-0.012678,0.029781],[0.029853,-0.005568,0.999539]] 2025-10-27T03:38:22.826Z,1761536302.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.505269 s, deltaX: 0.100000 m, approachRate: 0.197914 m/s, rangeRepo size: 4 2025-10-27T03:38:22.897Z,1761536302.897 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.295759 2025-10-27T03:38:23.146Z,1761536303.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015962,0.999843,0.007696],[-0.999688,-0.016106,0.019068],[0.019189,-0.007389,0.999789]] 2025-10-27T03:38:23.148Z,1761536303.148 [DAT](INFO): DAT read: Rx Time:03:38:24.0943 2025-10-27T03:38:23.149Z,1761536303.149 [DAT](INFO): Rx dataTimestamp_ set to:1761536303.148626 2025-10-27T03:38:23.150Z,1761536303.150 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:23.151Z,1761536303.151 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-10-27T03:38:23.152Z,1761536303.152 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.550304 2025-10-27T03:38:23.204Z,1761536303.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503130 s, deltaX: -0.100000 m, approachRate: -0.198756 m/s, rangeRepo size: 4 2025-10-27T03:38:23.404Z,1761536303.404 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.801313 2025-10-27T03:38:23.556Z,1761536303.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020750,0.999764,0.006409],[-0.999745,-0.020806,0.008778],[0.008910,-0.006225,0.999941]] 2025-10-27T03:38:23.652Z,1761536303.652 [DAT](INFO): DAT read: Rx Time:03:38:24.5944 2025-10-27T03:38:23.653Z,1761536303.653 [DAT](INFO): Rx dataTimestamp_ set to:1761536303.652242 2025-10-27T03:38:23.654Z,1761536303.654 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:23.654Z,1761536303.654 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-27T03:38:23.655Z,1761536303.655 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.053934 2025-10-27T03:38:23.908Z,1761536303.908 [DAT](INFO): DAT read: Rx Time:03:38:25.0943 2025-10-27T03:38:23.910Z,1761536303.910 [DAT](INFO): Rx dataTimestamp_ set to:1761536303.908894 2025-10-27T03:38:23.914Z,1761536303.914 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.311787 2025-10-27T03:38:23.992Z,1761536303.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026328,0.999645,0.004005],[-0.999653,-0.026327,-0.000499],[-0.000393,-0.004017,0.999992]] 2025-10-27T03:38:24.082Z,1761536304.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503616 s, deltaX: 0.100000 m, approachRate: 0.198564 m/s, rangeRepo size: 4 2025-10-27T03:38:24.161Z,1761536304.161 [DAT](INFO): DAT read: Bearing 113.9, 19.6 (Local) 2025-10-27T03:38:24.161Z,1761536304.161 [DAT](INFO): Local bearing/azimuth received: Bearing 113.9, 19.6 (Local) 2025-10-27T03:38:24.163Z,1761536304.163 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:24.168Z,1761536304.168 [DAT](INFO): DAT read: 03:38:25.0943 LVL= 15984, 10609, 21154, 21299, AGC= 34, IDX= 498,-0.42,-0.389,-1.812,-1.092, 0.363, PHS=-0.650,-2.131,-1.500, RAW= 115.1, 49.6, CAL= 113.4, 55.5, ROT= 36.6, -55.5 2025-10-27T03:38:24.169Z,1761536304.169 [DAT](INFO): got valid direction response: 03:38:25.0943 LVL= 15984, 10609, 21154, 21299, AGC= 34, IDX= 498,-0.42,-0.389,-1.812,-1.092, 0.363, PHS=-0.650,-2.131,-1.500, RAW= 115.1, 49.6, CAL= 113.4, 55.5, ROT= 36.6, -55.5 2025-10-27T03:38:24.169Z,1761536304.169 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T03:38:24.170Z,1761536304.170 [DAT](INFO): direction in FSK: [0.454721,0.337705,0.824126] 2025-10-27T03:38:24.171Z,1761536304.171 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:24.177Z,1761536304.177 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.574324 2025-10-27T03:38:24.348Z,1761536304.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032096,0.999483,0.002082],[-0.999454,-0.032078,-0.007974],[-0.007903,-0.002336,0.999966]] 2025-10-27T03:38:24.390Z,1761536304.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.507143 s, deltaX: -0.100000 m, approachRate: -0.197183 m/s, rangeRepo size: 4 2025-10-27T03:38:24.395Z,1761536304.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796479 m, bearing: 304.527999 deg, lat: 36.779327 deg, lon: -121.859595 deg, deltaT: 4.538712 s, deltaX: 0.000002 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:38:24.427Z,1761536304.427 [DAT](INFO): DAT read: Rx Time:03:38:25.5944 2025-10-27T03:38:24.429Z,1761536304.429 [DAT](INFO): Rx dataTimestamp_ set to:1761536304.427903 2025-10-27T03:38:24.433Z,1761536304.433 [DAT](INFO): DAT read: Bearing 121.4, 17.0 (Local) 2025-10-27T03:38:24.434Z,1761536304.434 [DAT](INFO): Local bearing/azimuth received: Bearing 121.4, 17.0 (Local) 2025-10-27T03:38:24.441Z,1761536304.441 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:24.460Z,1761536304.460 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-27T03:38:24.462Z,1761536304.462 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.860186 2025-10-27T03:38:24.680Z,1761536304.680 [DAT](INFO): DAT read: 03:38:25.5944 LVL= 17872, 11649, 21682, 25427, AGC= 34, IDX= 499,-0.25,-0.360,-1.341,-0.879, 0.588, PHS=-0.846,-1.885,-1.511, RAW= 110.8, 58.7, CAL= 109.1, 63.0, ROT= 40.9, -63.0 2025-10-27T03:38:24.681Z,1761536304.681 [DAT](INFO): got valid direction response: 03:38:25.5944 LVL= 17872, 11649, 21682, 25427, AGC= 34, IDX= 499,-0.25,-0.360,-1.341,-0.879, 0.588, PHS=-0.846,-1.885,-1.511, RAW= 110.8, 58.7, CAL= 109.1, 63.0, ROT= 40.9, -63.0 2025-10-27T03:38:24.681Z,1761536304.681 [DAT](INFO): #Rx 58: Read direction message, but no range. 2025-10-27T03:38:24.682Z,1761536304.682 [DAT](INFO): direction in FSK: [0.343150,0.297246,0.891007] 2025-10-27T03:38:24.705Z,1761536304.704 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.102377 2025-10-27T03:38:24.789Z,1761536304.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037477,0.999296,0.001534],[-0.999209,-0.037453,-0.013368],[-0.013301,-0.002033,0.999909]] 2025-10-27T03:38:24.872Z,1761536304.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.268518 s, deltaX: 0.100000 m, approachRate: 0.372414 m/s, rangeRepo size: 4 2025-10-27T03:38:24.874Z,1761536304.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896042 m, bearing: 307.966279 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.268518 s, deltaX: 0.099563 m, approachRate: 0.370787 m/s, posRepo size: 4 2025-10-27T03:38:24.933Z,1761536304.933 [DAT](INFO): DAT read: Rx Time:03:38:26.0943 2025-10-27T03:38:24.935Z,1761536304.935 [DAT](INFO): Rx dataTimestamp_ set to:1761536304.934160 2025-10-27T03:38:24.941Z,1761536304.941 [DAT](INFO): DAT read: Bearing 131.5, 11.9 (Local) 2025-10-27T03:38:24.942Z,1761536304.942 [DAT](INFO): Local bearing/azimuth received: Bearing 131.5, 11.9 (Local) 2025-10-27T03:38:24.949Z,1761536304.949 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:24.956Z,1761536304.956 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-27T03:38:24.960Z,1761536304.960 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.357702 2025-10-27T03:38:25.184Z,1761536305.184 [DAT](INFO): DAT read: 03:38:26.0943 LVL= 23152, 14609, 26690, 29139, AGC= 35, IDX= 498,-0.08,-2.025,-2.509,-2.305,-0.888, PHS=-1.036,-1.577,-1.461, RAW= 101.7, 71.1, CAL= 100.9, 73.6, ROT= 49.1, -73.6 2025-10-27T03:38:25.185Z,1761536305.185 [DAT](INFO): got valid direction response: 03:38:26.0943 LVL= 23152, 14609, 26690, 29139, AGC= 35, IDX= 498,-0.08,-2.025,-2.509,-2.305,-0.888, PHS=-1.036,-1.577,-1.461, RAW= 101.7, 71.1, CAL= 100.9, 73.6, ROT= 49.1, -73.6 2025-10-27T03:38:25.185Z,1761536305.185 [DAT](INFO): #Rx 60: Read direction message, but no range. 2025-10-27T03:38:25.186Z,1761536305.186 [DAT](INFO): direction in FSK: [0.184860,0.213409,0.959314] 2025-10-27T03:38:25.190Z,1761536305.190 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.588268 2025-10-27T03:38:25.206Z,1761536305.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042417,0.999099,0.001423],[-0.998966,-0.042388,-0.016433],[-0.016358,-0.002119,0.999864]] 2025-10-27T03:38:25.266Z,1761536305.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.506257 s, deltaX: -0.100000 m, approachRate: -0.197528 m/s, rangeRepo size: 4 2025-10-27T03:38:25.273Z,1761536305.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796481 m, bearing: 314.622894 deg, lat: 36.779324 deg, lon: -121.859591 deg, deltaT: 0.506257 s, deltaX: -0.099560 m, approachRate: -0.196659 m/s, posRepo size: 4 2025-10-27T03:38:25.438Z,1761536305.438 [DAT](INFO): DAT read: Rx Time:03:38:26.5944 2025-10-27T03:38:25.441Z,1761536305.441 [DAT](INFO): Rx dataTimestamp_ set to:1761536305.439666 2025-10-27T03:38:25.453Z,1761536305.453 [DAT](INFO): DAT read: Bearing 138.0, 12.4 (Local) 2025-10-27T03:38:25.454Z,1761536305.454 [DAT](INFO): Local bearing/azimuth received: Bearing 138.0, 12.4 (Local) 2025-10-27T03:38:25.462Z,1761536305.462 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:25.480Z,1761536305.480 [DAT](INFO): DAT read: 03:38:26.5944 LVL= 18592, 11873, 22946, 21235, AGC= 35, IDX= 499,-0.01,-0.366,-0.655,-0.648, 0.780, PHS=-1.043,-1.390,-1.471, RAW= 79.7, 74.1, CAL= 78.8, 76.5, ROT= 71.2, -76.5 2025-10-27T03:38:25.481Z,1761536305.481 [DAT](INFO): got valid direction response: 03:38:26.5944 LVL= 18592, 11873, 22946, 21235, AGC= 35, IDX= 499,-0.01,-0.366,-0.655,-0.648, 0.780, PHS=-1.043,-1.390,-1.471, RAW= 79.7, 74.1, CAL= 78.8, 76.5, ROT= 71.2, -76.5 2025-10-27T03:38:25.482Z,1761536305.482 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T03:38:25.483Z,1761536305.483 [DAT](INFO): direction in FSK: [0.075231,0.220991,0.972370] 2025-10-27T03:38:25.487Z,1761536305.487 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:25.495Z,1761536305.495 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.889385 2025-10-27T03:38:25.610Z,1761536305.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046193,0.998932,0.000689],[-0.998784,-0.046174,-0.017259],[-0.017209,-0.001486,0.999851]] 2025-10-27T03:38:25.660Z,1761536305.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.505506 s, deltaX: 0.100000 m, approachRate: 0.197822 m/s, rangeRepo size: 4 2025-10-27T03:38:25.662Z,1761536305.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896039 m, bearing: 334.893247 deg, lat: 36.779324 deg, lon: -121.859590 deg, deltaT: 0.505506 s, deltaX: 0.099558 m, approachRate: 0.196947 m/s, posRepo size: 4 2025-10-27T03:38:25.684Z,1761536305.684 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.082697 2025-10-27T03:38:25.940Z,1761536305.940 [DAT](INFO): DAT read: Rx Time:03:38:27.0943 2025-10-27T03:38:25.941Z,1761536305.941 [DAT](INFO): Rx dataTimestamp_ set to:1761536305.940013 2025-10-27T03:38:25.944Z,1761536305.944 [DAT](INFO): DAT read: Bearing 141.0, 10.1 (Local) 2025-10-27T03:38:25.945Z,1761536305.945 [DAT](INFO): Local bearing/azimuth received: Bearing 141.0, 10.1 (Local) 2025-10-27T03:38:25.953Z,1761536305.953 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:25.978Z,1761536305.978 [DAT](INFO): DAT read: 03:38:27.0943 LVL= 23168, 13921, 24690, 26323, AGC= 36, IDX= 498, 0.05,-0.276,-0.441,-0.473, 0.945, PHS=-1.120,-1.341,-1.462, RAW= 69.7, 77.8, CAL= 68.6, 79.4, ROT= 81.4, -79.4 2025-10-27T03:38:25.979Z,1761536305.979 [DAT](INFO): got valid direction response: 03:38:27.0943 LVL= 23168, 13921, 24690, 26323, AGC= 36, IDX= 498, 0.05,-0.276,-0.441,-0.473, 0.945, PHS=-1.120,-1.341,-1.462, RAW= 69.7, 77.8, CAL= 68.6, 79.4, ROT= 81.4, -79.4 2025-10-27T03:38:25.979Z,1761536305.979 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T03:38:25.980Z,1761536305.980 [DAT](INFO): direction in FSK: [0.027507,0.181883,0.982935] 2025-10-27T03:38:25.981Z,1761536305.981 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:26.031Z,1761536306.031 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.430021 2025-10-27T03:38:26.033Z,1761536306.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049143,0.998792,-0.000268],[-0.998672,-0.049142,-0.015474],[-0.015468,-0.000493,0.999880]] 2025-10-27T03:38:26.132Z,1761536306.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.500347 s, deltaX: -0.100000 m, approachRate: -0.199861 m/s, rangeRepo size: 4 2025-10-27T03:38:26.134Z,1761536306.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796479 m, bearing: 344.002839 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 0.500347 s, deltaX: -0.099560 m, approachRate: -0.198982 m/s, posRepo size: 4 2025-10-27T03:38:26.189Z,1761536306.189 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.587273 2025-10-27T03:38:26.228Z,1761536306.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:38:26.444Z,1761536306.444 [DAT](INFO): DAT read: Rx Time:03:38:27.5944 2025-10-27T03:38:26.446Z,1761536306.446 [DAT](INFO): Rx dataTimestamp_ set to:1761536306.445032 2025-10-27T03:38:26.450Z,1761536306.450 [DAT](INFO): DAT read: Bearing 142.4, 10.3 (Local) 2025-10-27T03:38:26.451Z,1761536306.451 [DAT](INFO): Local bearing/azimuth received: Bearing 142.4, 10.3 (Local) 2025-10-27T03:38:26.461Z,1761536306.461 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:26.470Z,1761536306.470 [DAT](INFO): DAT read: 03:38:27.5944 LVL= 23472, 14497, 24818, 26467, AGC= 36, IDX= 499, 0.12, 1.578, 1.446, 1.383, 2.794, PHS=-1.114,-1.303,-1.454, RAW= 63.6, 77.8, CAL= 62.6, 79.3, ROT= 87.4, -79.3 2025-10-27T03:38:26.500Z,1761536306.500 [DAT](INFO): got valid direction response: 03:38:27.5944 LVL= 23472, 14497, 24818, 26467, AGC= 36, IDX= 499, 0.12, 1.578, 1.446, 1.383, 2.794, PHS=-1.114,-1.303,-1.454, RAW= 63.6, 77.8, CAL= 62.6, 79.3, ROT= 87.4, -79.3 2025-10-27T03:38:26.500Z,1761536306.500 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T03:38:26.501Z,1761536306.501 [DAT](INFO): direction in FSK: [0.008422,0.185475,0.982613] 2025-10-27T03:38:26.501Z,1761536306.501 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:26.513Z,1761536306.513 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.911709 2025-10-27T03:38:26.594Z,1761536306.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.505019 s, deltaX: 0.100000 m, approachRate: 0.198012 m/s, rangeRepo size: 4 2025-10-27T03:38:26.600Z,1761536306.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896037 m, bearing: 349.944330 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 0.505019 s, deltaX: 0.099558 m, approachRate: 0.197137 m/s, posRepo size: 4 2025-10-27T03:38:26.693Z,1761536306.693 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.091152 2025-10-27T03:38:26.950Z,1761536306.950 [DAT](INFO): DAT read: Rx Time:03:38:28.0943 2025-10-27T03:38:26.952Z,1761536306.952 [DAT](INFO): Rx dataTimestamp_ set to:1761536306.951067 2025-10-27T03:38:26.961Z,1761536306.961 [DAT](INFO): DAT read: Bearing 143.2, 10.2 (Local) 2025-10-27T03:38:26.962Z,1761536306.962 [DAT](INFO): Local bearing/azimuth received: Bearing 143.2, 10.2 (Local) 2025-10-27T03:38:26.997Z,1761536306.997 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:27.006Z,1761536307.006 [DAT](INFO): DAT read: 03:38:28.0943 LVL= 23488, 14321, 24866, 26323, AGC= 35, IDX= 498, 0.23, 0.347, 0.224, 0.158, 1.570, PHS=-1.121,-1.301,-1.457, RAW= 62.4, 78.0, CAL= 61.4, 79.5, ROT= 88.6, -79.5 2025-10-27T03:38:27.011Z,1761536307.011 [DAT](INFO): got valid direction response: 03:38:28.0943 LVL= 23488, 14321, 24866, 26323, AGC= 35, IDX= 498, 0.23, 0.347, 0.224, 0.158, 1.570, PHS=-1.121,-1.301,-1.457, RAW= 62.4, 78.0, CAL= 61.4, 79.5, ROT= 88.6, -79.5 2025-10-27T03:38:27.012Z,1761536307.012 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T03:38:27.013Z,1761536307.013 [DAT](INFO): direction in FSK: [0.004452,0.182181,0.983255] 2025-10-27T03:38:27.013Z,1761536307.013 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:27.017Z,1761536307.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050725,0.998713,-0.000030],[-0.998713,-0.050725,0.000471],[0.000469,0.000054,1.000000]] 2025-10-27T03:38:27.037Z,1761536307.037 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.435471 2025-10-27T03:38:27.133Z,1761536307.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.506035 s, deltaX: -0.100000 m, approachRate: -0.197615 m/s, rangeRepo size: 4 2025-10-27T03:38:27.140Z,1761536307.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796477 m, bearing: 355.837014 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 0.506035 s, deltaX: -0.099560 m, approachRate: -0.196745 m/s, posRepo size: 4 2025-10-27T03:38:27.197Z,1761536307.197 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.595440 2025-10-27T03:38:27.231Z,1761536307.231 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:38:27.420Z,1761536307.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049112,0.998793,-0.000331],[-0.998765,-0.049108,0.007585],[0.007559,0.000703,0.999971]] 2025-10-27T03:38:27.453Z,1761536307.453 [DAT](INFO): DAT read: Rx Time:03:38:28.5943 2025-10-27T03:38:27.459Z,1761536307.459 [DAT](INFO): Rx dataTimestamp_ set to:1761536307.453703 2025-10-27T03:38:27.462Z,1761536307.462 [DAT](INFO): DAT read: Bearing 139.7, 12.8 (Local) 2025-10-27T03:38:27.463Z,1761536307.463 [DAT](INFO): Local bearing/azimuth received: Bearing 139.7, 12.8 (Local) 2025-10-27T03:38:27.465Z,1761536307.465 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:27.469Z,1761536307.469 [DAT](INFO): DAT read: 03:38:28.5943 LVL= 21024, 12753, 21666, 23331, AGC= 35, IDX= 498, 0.33, 0.521, 0.235, 0.235, 1.654, PHS=-1.031,-1.374,-1.464, RAW= 78.7, 73.9, CAL= 77.8, 76.2, ROT= 72.2, -76.2 2025-10-27T03:38:27.470Z,1761536307.470 [DAT](INFO): got valid direction response: 03:38:28.5943 LVL= 21024, 12753, 21666, 23331, AGC= 35, IDX= 498, 0.33, 0.521, 0.235, 0.235, 1.654, PHS=-1.031,-1.374,-1.464, RAW= 78.7, 73.9, CAL= 77.8, 76.2, ROT= 72.2, -76.2 2025-10-27T03:38:27.476Z,1761536307.476 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T03:38:27.477Z,1761536307.477 [DAT](INFO): direction in FSK: [0.072919,0.227115,0.971134] 2025-10-27T03:38:27.477Z,1761536307.477 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:27.489Z,1761536307.489 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.887272 2025-10-27T03:38:27.518Z,1761536307.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.502636 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:27.521Z,1761536307.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796477 m, bearing: 341.033943 deg, lat: 36.779324 deg, lon: -121.859590 deg, deltaT: 0.502636 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:38:27.708Z,1761536307.708 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.106113 2025-10-27T03:38:27.819Z,1761536307.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046355,0.998925,0.000641],[-0.998819,-0.046360,0.014551],[0.014565,0.000034,0.999894]] 2025-10-27T03:38:27.870Z,1761536307.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:27.963Z,1761536307.963 [DAT](INFO): DAT read: Rx Time:03:38:29.0942 2025-10-27T03:38:27.963Z,1761536307.963 [DAT](INFO): Rx dataTimestamp_ set to:1761536307.963005 2025-10-27T03:38:27.965Z,1761536307.965 [DAT](INFO): DAT read: Bearing 134.9, 15.2 (Local) 2025-10-27T03:38:27.965Z,1761536307.965 [DAT](INFO): Local bearing/azimuth received: Bearing 134.9, 15.2 (Local) 2025-10-27T03:38:27.967Z,1761536307.967 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 2025-10-27T03:38:27.972Z,1761536307.972 [DAT](INFO): DAT read: 03:38:29.0942 LVL= 20928, 12721, 20866, 22803, AGC= 34, IDX= 498,-0.48,-1.903,-2.399,-2.284,-0.849, PHS=-0.953,-1.505,-1.480, RAW= 92.4, 68.8, CAL= 91.8, 71.8, ROT= 58.2, -71.8 2025-10-27T03:38:27.973Z,1761536307.973 [DAT](INFO): got valid direction response: 03:38:29.0942 LVL= 20928, 12721, 20866, 22803, AGC= 34, IDX= 498,-0.48,-1.903,-2.399,-2.284,-0.849, PHS=-0.953,-1.505,-1.480, RAW= 92.4, 68.8, CAL= 91.8, 71.8, ROT= 58.2, -71.8 2025-10-27T03:38:27.973Z,1761536307.973 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T03:38:27.974Z,1761536307.974 [DAT](INFO): direction in FSK: [0.164587,0.265451,0.949972] 2025-10-27T03:38:27.974Z,1761536307.974 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:27.986Z,1761536307.986 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.384785 2025-10-27T03:38:28.200Z,1761536308.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041994,0.999116,0.002163],[-0.998902,-0.042030,0.020676],[0.020749,-0.001293,0.999784]] 2025-10-27T03:38:28.212Z,1761536308.212 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.610680 2025-10-27T03:38:28.226Z,1761536308.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.509302 s, deltaX: -0.200000 m, approachRate: -0.392694 m/s, rangeRepo size: 4 2025-10-27T03:38:28.228Z,1761536308.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.597358 m, bearing: 329.084038 deg, lat: 36.779325 deg, lon: -121.859590 deg, deltaT: 0.509302 s, deltaX: -0.199120 m, approachRate: -0.390966 m/s, posRepo size: 4 2025-10-27T03:38:28.464Z,1761536308.464 [DAT](INFO): DAT read: Rx Time:03:38:29.5943 2025-10-27T03:38:28.465Z,1761536308.465 [DAT](INFO): Rx dataTimestamp_ set to:1761536308.464554 2025-10-27T03:38:28.466Z,1761536308.466 [DAT](INFO): DAT read: Bearing 129.9, 16.6 (Local) 2025-10-27T03:38:28.466Z,1761536308.466 [DAT](INFO): Local bearing/azimuth received: Bearing 129.9, 16.6 (Local) 2025-10-27T03:38:28.469Z,1761536308.469 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:28.473Z,1761536308.473 [DAT](INFO): DAT read: 03:38:29.5943 LVL= 9792, 7761, 17506, 16227, AGC= 36, IDX= 3,-0.29,-1.330,-2.055,-1.783,-0.342, PHS=-0.886,-1.668,-1.485, RAW= 102.9, 63.6, CAL= 101.8, 67.1, ROT= 48.2, -67.1 2025-10-27T03:38:28.474Z,1761536308.474 [DAT](INFO): got valid direction response: 03:38:29.5943 LVL= 9792, 7761, 17506, 16227, AGC= 36, IDX= 3,-0.29,-1.330,-2.055,-1.783,-0.342, PHS=-0.886,-1.668,-1.485, RAW= 102.9, 63.6, CAL= 101.8, 67.1, ROT= 48.2, -67.1 2025-10-27T03:38:28.474Z,1761536308.474 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T03:38:28.475Z,1761536308.475 [DAT](INFO): direction in FSK: [0.259364,0.290083,0.921185] 2025-10-27T03:38:28.476Z,1761536308.476 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:28.480Z,1761536308.480 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.878162 2025-10-27T03:38:28.599Z,1761536308.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036583,0.999327,0.002699],[-0.998996,-0.036641,0.025781],[0.025863,-0.001754,0.999664]] 2025-10-27T03:38:28.640Z,1761536308.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.501549 s, deltaX: 0.200000 m, approachRate: 0.398765 m/s, rangeRepo size: 4 2025-10-27T03:38:28.642Z,1761536308.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796477 m, bearing: 318.991461 deg, lat: 36.779325 deg, lon: -121.859591 deg, deltaT: 0.501549 s, deltaX: 0.199119 m, approachRate: 0.397008 m/s, posRepo size: 4 2025-10-27T03:38:28.717Z,1761536308.717 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.115498 2025-10-27T03:38:28.969Z,1761536308.969 [DAT](INFO): DAT read: Rx Time:03:38:30.0943 2025-10-27T03:38:28.970Z,1761536308.970 [DAT](INFO): Rx dataTimestamp_ set to:1761536308.969348 2025-10-27T03:38:28.971Z,1761536308.971 [DAT](INFO): DAT read: Bearing 126.1, 18.7 (Local) 2025-10-27T03:38:28.972Z,1761536308.972 [DAT](INFO): Local bearing/azimuth received: Bearing 126.1, 18.7 (Local) 2025-10-27T03:38:28.974Z,1761536308.974 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:28.978Z,1761536308.978 [DAT](INFO): DAT read: 03:38:30.0943 LVL= 17680, 11665, 18738, 22243, AGC= 33, IDX= 498,-0.17,-2.434, 2.909,-2.987,-1.537, PHS=-0.795,-1.793,-1.494, RAW= 107.0, 58.4, CAL= 105.4, 62.7, ROT= 44.6, -62.7 2025-10-27T03:38:28.982Z,1761536308.982 [DAT](INFO): got valid direction response: 03:38:30.0943 LVL= 17680, 11665, 18738, 22243, AGC= 33, IDX= 498,-0.17,-2.434, 2.909,-2.987,-1.537, PHS=-0.795,-1.793,-1.494, RAW= 107.0, 58.4, CAL= 105.4, 62.7, ROT= 44.6, -62.7 2025-10-27T03:38:28.987Z,1761536308.987 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T03:38:28.988Z,1761536308.988 [DAT](INFO): direction in FSK: [0.326570,0.322042,0.888617] 2025-10-27T03:38:28.988Z,1761536308.988 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:28.993Z,1761536308.993 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.391460 2025-10-27T03:38:29.057Z,1761536309.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030183,0.999541,0.002414],[-0.999111,-0.030241,0.029361],[0.029421,-0.001526,0.999566]] 2025-10-27T03:38:29.170Z,1761536309.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504794 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:29.176Z,1761536309.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796477 m, bearing: 315.390618 deg, lat: 36.779325 deg, lon: -121.859592 deg, deltaT: 0.504794 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:38:29.221Z,1761536309.221 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.619518 2025-10-27T03:38:29.473Z,1761536309.473 [DAT](INFO): DAT read: Rx Time:03:38:30.5944 2025-10-27T03:38:29.473Z,1761536309.473 [DAT](INFO): Rx dataTimestamp_ set to:1761536309.472812 2025-10-27T03:38:29.474Z,1761536309.474 [DAT](INFO): DAT read: Bearing 122.8, 19.4 (Local) 2025-10-27T03:38:29.475Z,1761536309.475 [DAT](INFO): Local bearing/azimuth received: Bearing 122.8, 19.4 (Local) 2025-10-27T03:38:29.477Z,1761536309.477 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:29.481Z,1761536309.481 [DAT](INFO): DAT read: 03:38:30.5944 LVL= 15344, 11057, 19298, 21875, AGC= 32, IDX= 499,-0.07,-0.499,-1.636,-1.104, 0.342, PHS=-0.739,-1.933,-1.491, RAW= 111.5, 54.6, CAL= 109.6, 59.4, ROT= 40.4, -59.4 2025-10-27T03:38:29.483Z,1761536309.483 [DAT](INFO): got valid direction response: 03:38:30.5944 LVL= 15344, 11057, 19298, 21875, AGC= 32, IDX= 499,-0.07,-0.499,-1.636,-1.104, 0.342, PHS=-0.739,-1.933,-1.491, RAW= 111.5, 54.6, CAL= 109.6, 59.4, ROT= 40.4, -59.4 2025-10-27T03:38:29.483Z,1761536309.483 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T03:38:29.484Z,1761536309.484 [DAT](INFO): direction in FSK: [0.387654,0.329920,0.860742] 2025-10-27T03:38:29.484Z,1761536309.484 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:29.492Z,1761536309.492 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.890610 2025-10-27T03:38:29.509Z,1761536309.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023381,0.999724,0.002109],[-0.999225,-0.023436,0.031637],[0.031678,-0.001367,0.999497]] 2025-10-27T03:38:29.571Z,1761536309.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503464 s, deltaX: 0.100000 m, approachRate: 0.198624 m/s, rangeRepo size: 4 2025-10-27T03:38:29.573Z,1761536309.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896037 m, bearing: 311.248322 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.503464 s, deltaX: 0.099560 m, approachRate: 0.197749 m/s, posRepo size: 4 2025-10-27T03:38:29.725Z,1761536309.725 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.123272 2025-10-27T03:38:29.977Z,1761536309.977 [DAT](INFO): DAT read: Rx Time:03:38:31.0943 2025-10-27T03:38:29.977Z,1761536309.977 [DAT](INFO): Rx dataTimestamp_ set to:1761536309.976763 2025-10-27T03:38:29.978Z,1761536309.978 [DAT](INFO): DAT read: Bearing 121.2, 20.1 (Local) 2025-10-27T03:38:29.979Z,1761536309.979 [DAT](INFO): Local bearing/azimuth received: Bearing 121.2, 20.1 (Local) 2025-10-27T03:38:29.981Z,1761536309.981 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:29.986Z,1761536309.986 [DAT](INFO): DAT read: 03:38:31.0943 LVL= 16560, 11601, 19122, 21683, AGC= 33, IDX= 498, 0.02,-0.896,-2.166,-1.558,-0.106, PHS=-0.688,-2.015,-1.496, RAW= 112.9, 52.0, CAL= 110.9, 57.3, ROT= 39.1, -57.3 2025-10-27T03:38:29.987Z,1761536309.987 [DAT](INFO): got valid direction response: 03:38:31.0943 LVL= 16560, 11601, 19122, 21683, AGC= 33, IDX= 498, 0.02,-0.896,-2.166,-1.558,-0.106, PHS=-0.688,-2.015,-1.496, RAW= 112.9, 52.0, CAL= 110.9, 57.3, ROT= 39.1, -57.3 2025-10-27T03:38:29.988Z,1761536309.988 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T03:38:29.988Z,1761536309.989 [DAT](INFO): direction in FSK: [0.419252,0.340716,0.841511] 2025-10-27T03:38:29.989Z,1761536309.989 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:30.001Z,1761536310.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016206,0.999867,0.002000],[-0.999338,-0.016262,0.032534],[0.032562,-0.001472,0.999469]] 2025-10-27T03:38:30.011Z,1761536310.011 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.410122 2025-10-27T03:38:30.112Z,1761536310.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503951 s, deltaX: -0.100000 m, approachRate: -0.198432 m/s, rangeRepo size: 4 2025-10-27T03:38:30.114Z,1761536310.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796472 m, bearing: 310.196054 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.503951 s, deltaX: -0.099564 m, approachRate: -0.197568 m/s, posRepo size: 4 2025-10-27T03:38:30.228Z,1761536310.228 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.626736 2025-10-27T03:38:30.352Z,1761536310.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008905,0.999959,0.001817],[-0.999445,-0.008958,0.032086],[0.032100,-0.001530,0.999483]] 2025-10-27T03:38:30.368Z,1761536310.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:30.481Z,1761536310.481 [DAT](INFO): DAT read: Rx Time:03:38:31.5945 2025-10-27T03:38:30.481Z,1761536310.481 [DAT](INFO): Rx dataTimestamp_ set to:1761536310.480892 2025-10-27T03:38:30.482Z,1761536310.482 [DAT](INFO): DAT read: Bearing 119.4, 20.0 (Local) 2025-10-27T03:38:30.483Z,1761536310.483 [DAT](INFO): Local bearing/azimuth received: Bearing 119.4, 20.0 (Local) 2025-10-27T03:38:30.485Z,1761536310.485 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:30.490Z,1761536310.490 [DAT](INFO): DAT read: 03:38:31.5945 LVL= 16928, 11649, 19186, 21347, AGC= 33, IDX= 500, 0.12, 2.248, 0.826, 1.548, 2.999, PHS=-0.649,-2.129,-1.496, RAW= 115.2, 49.6, CAL= 113.5, 55.5, ROT= 36.5, -55.5 2025-10-27T03:38:30.491Z,1761536310.491 [DAT](INFO): got valid direction response: 03:38:31.5945 LVL= 16928, 11649, 19186, 21347, AGC= 33, IDX= 500, 0.12, 2.248, 0.826, 1.548, 2.999, PHS=-0.649,-2.129,-1.496, RAW= 115.2, 49.6, CAL= 113.5, 55.5, ROT= 36.5, -55.5 2025-10-27T03:38:30.491Z,1761536310.491 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T03:38:30.492Z,1761536310.492 [DAT](INFO): direction in FSK: [0.455310,0.336911,0.824126] 2025-10-27T03:38:30.492Z,1761536310.492 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:30.500Z,1761536310.500 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.898907 2025-10-27T03:38:30.732Z,1761536310.732 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.130558 2025-10-27T03:38:30.754Z,1761536310.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001942,0.999997,0.001635],[-0.999541,-0.001991,0.030225],[0.030228,-0.001576,0.999542]] 2025-10-27T03:38:30.865Z,1761536310.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504129 s, deltaX: 0.300000 m, approachRate: 0.595086 m/s, rangeRepo size: 4 2025-10-27T03:38:30.867Z,1761536310.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.095156 m, bearing: 308.061639 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.504129 s, deltaX: 0.298684 m, approachRate: 0.592475 m/s, posRepo size: 4 2025-10-27T03:38:30.988Z,1761536310.988 [DAT](INFO): DAT read: Rx Time:03:38:32.0944 2025-10-27T03:38:30.989Z,1761536310.989 [DAT](INFO): Rx dataTimestamp_ set to:1761536310.988320 2025-10-27T03:38:30.990Z,1761536310.990 [DAT](INFO): DAT read: Bearing 117.6, 19.8 (Local) 2025-10-27T03:38:30.990Z,1761536310.990 [DAT](INFO): Local bearing/azimuth received: Bearing 117.6, 19.8 (Local) 2025-10-27T03:38:30.992Z,1761536310.992 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:30.997Z,1761536310.997 [DAT](INFO): DAT read: 03:38:32.0944 LVL= 17520, 10881, 19554, 20979, AGC= 31, IDX= 499, 0.25, 0.474,-1.125,-0.282, 1.196, PHS=-0.620,-2.276,-1.522, RAW= 117.1, 47.4, CAL= 115.5, 53.9, ROT= 34.5, -53.9 2025-10-27T03:38:30.998Z,1761536310.998 [DAT](INFO): got valid direction response: 03:38:32.0944 LVL= 17520, 10881, 19554, 20979, AGC= 31, IDX= 499, 0.25, 0.474,-1.125,-0.282, 1.196, PHS=-0.620,-2.276,-1.522, RAW= 117.1, 47.4, CAL= 115.5, 53.9, ROT= 34.5, -53.9 2025-10-27T03:38:30.998Z,1761536310.998 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T03:38:30.000Z,1761536311.000 [DAT](INFO): direction in FSK: [0.485572,0.333724,0.807990] 2025-10-27T03:38:31.000Z,1761536311.000 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:31.009Z,1761536311.009 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.407288 2025-10-27T03:38:31.236Z,1761536311.236 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.634670 2025-10-27T03:38:31.240Z,1761536311.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507428 s, deltaX: -0.200000 m, approachRate: -0.394145 m/s, rangeRepo size: 4 2025-10-27T03:38:31.242Z,1761536311.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896037 m, bearing: 305.897100 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.507428 s, deltaX: -0.199119 m, approachRate: -0.392409 m/s, posRepo size: 4 2025-10-27T03:38:31.489Z,1761536311.489 [DAT](INFO): DAT read: Rx Time:03:38:32.5944 2025-10-27T03:38:31.489Z,1761536311.489 [DAT](INFO): Rx dataTimestamp_ set to:1761536311.488870 2025-10-27T03:38:31.490Z,1761536311.490 [DAT](INFO): DAT read: Bearing 116.5, 20.6 (Local) 2025-10-27T03:38:31.491Z,1761536311.491 [DAT](INFO): Local bearing/azimuth received: Bearing 116.5, 20.6 (Local) 2025-10-27T03:38:31.493Z,1761536311.493 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:31.497Z,1761536311.497 [DAT](INFO): DAT read: 03:38:32.5944 LVL= 16144, 9825, 19026, 18547, AGC= 32, IDX= 499, 0.41, 0.523,-1.188,-0.294, 1.196, PHS=-0.571,-2.339,-1.534, RAW= 117.0, 45.7, CAL= 115.4, 52.5, ROT= 34.6, -52.5 2025-10-27T03:38:31.498Z,1761536311.498 [DAT](INFO): got valid direction response: 03:38:32.5944 LVL= 16144, 9825, 19026, 18547, AGC= 32, IDX= 499, 0.41, 0.523,-1.188,-0.294, 1.196, PHS=-0.571,-2.339,-1.534, RAW= 117.0, 45.7, CAL= 115.4, 52.5, ROT= 34.6, -52.5 2025-10-27T03:38:31.499Z,1761536311.499 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T03:38:31.500Z,1761536311.500 [DAT](INFO): direction in FSK: [0.501094,0.345681,0.793353] 2025-10-27T03:38:31.500Z,1761536311.500 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:31.504Z,1761536311.504 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.902554 2025-10-27T03:38:31.617Z,1761536311.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009612,0.999949,0.003226],[-0.999700,0.009537,0.022566],[0.022534,-0.003442,0.999740]] 2025-10-27T03:38:31.662Z,1761536311.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.500550 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:31.668Z,1761536311.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896037 m, bearing: 306.349028 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 0.500550 s, deltaX: 0.000000 m, approachRate: 0.000001 m/s, posRepo size: 4 2025-10-27T03:38:31.741Z,1761536311.741 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.139400 2025-10-27T03:38:31.992Z,1761536311.992 [DAT](INFO): DAT read: Rx Time:03:38:33.0944 2025-10-27T03:38:31.992Z,1761536311.992 [DAT](INFO): Rx dataTimestamp_ set to:1761536311.992151 2025-10-27T03:38:31.994Z,1761536311.994 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:31.994Z,1761536311.994 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-10-27T03:38:31.995Z,1761536311.995 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.393837 2025-10-27T03:38:32.089Z,1761536312.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503281 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:32.245Z,1761536312.245 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.643780 2025-10-27T03:38:32.474Z,1761536312.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015761,0.999855,0.006480],[-0.999832,0.015699,0.009510],[0.009407,-0.006629,0.999934]] 2025-10-27T03:38:32.496Z,1761536312.496 [DAT](INFO): DAT read: Rx Time:03:38:33.5945 2025-10-27T03:38:32.497Z,1761536312.497 [DAT](INFO): Rx dataTimestamp_ set to:1761536312.496504 2025-10-27T03:38:32.498Z,1761536312.498 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:32.499Z,1761536312.499 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-27T03:38:32.500Z,1761536312.500 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.898186 2025-10-27T03:38:32.512Z,1761536312.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:32.514Z,1761536312.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504353 s, deltaX: 0.200000 m, approachRate: 0.396548 m/s, rangeRepo size: 4 2025-10-27T03:38:32.748Z,1761536312.748 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.146923 2025-10-27T03:38:32.950Z,1761536312.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015934,0.999844,0.007563],[-0.999873,0.015927,0.001021],[0.000901,-0.007578,0.999971]] 2025-10-27T03:38:33.001Z,1761536313.001 [DAT](INFO): DAT read: Rx Time:03:38:34.0944 2025-10-27T03:38:33.001Z,1761536313.001 [DAT](INFO): Rx dataTimestamp_ set to:1761536313.001053 2025-10-27T03:38:33.003Z,1761536313.003 [DAT](INFO): DAT read: Bearing 116.9, 20.5 (Local) 2025-10-27T03:38:33.004Z,1761536313.004 [DAT](INFO): Local bearing/azimuth received: Bearing 116.9, 20.5 (Local) 2025-10-27T03:38:33.006Z,1761536313.006 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:33.018Z,1761536313.018 [DAT](INFO): DAT read: 03:38:34.0944 LVL= 17856, 11153, 18978, 19699, AGC= 32, IDX= 499,-0.10,-2.653, 1.906, 2.777,-1.984, PHS=-0.567,-2.349,-1.566, RAW= 116.0, 45.7, CAL= 114.2, 52.3, ROT= 35.8, -52.3 2025-10-27T03:38:33.020Z,1761536313.020 [DAT](INFO): got valid direction response: 03:38:34.0944 LVL= 17856, 11153, 18978, 19699, AGC= 32, IDX= 499,-0.10,-2.653, 1.906, 2.777,-1.984, PHS=-0.567,-2.349,-1.566, RAW= 116.0, 45.7, CAL= 114.2, 52.3, ROT= 35.8, -52.3 2025-10-27T03:38:33.020Z,1761536313.020 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T03:38:33.021Z,1761536313.021 [DAT](INFO): direction in FSK: [0.495987,0.357717,0.791224] 2025-10-27T03:38:33.021Z,1761536313.021 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:33.029Z,1761536313.029 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.427792 2025-10-27T03:38:33.064Z,1761536313.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504549 s, deltaX: -0.200000 m, approachRate: -0.396394 m/s, rangeRepo size: 4 2025-10-27T03:38:33.066Z,1761536313.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896038 m, bearing: 307.204423 deg, lat: 36.779326 deg, lon: -121.859594 deg, deltaT: 1.512183 s, deltaX: 0.000001 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:38:33.253Z,1761536313.253 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.651695 2025-10-27T03:38:33.340Z,1761536313.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013856,0.999873,0.007846],[-0.999869,0.013920,-0.008235],[-0.008344,-0.007731,0.999935]] 2025-10-27T03:38:33.505Z,1761536313.505 [DAT](INFO): DAT read: Rx Time:03:38:34.5945 2025-10-27T03:38:33.505Z,1761536313.505 [DAT](INFO): Rx dataTimestamp_ set to:1761536313.505142 2025-10-27T03:38:33.507Z,1761536313.507 [DAT](INFO): DAT read: Bearing 119.0, 20.4 (Local) 2025-10-27T03:38:33.507Z,1761536313.507 [DAT](INFO): Local bearing/azimuth received: Bearing 119.0, 20.4 (Local) 2025-10-27T03:38:33.509Z,1761536313.509 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:33.516Z,1761536313.516 [DAT](INFO): DAT read: 03:38:34.5945 LVL= 17264, 10689, 19906, 19923, AGC= 31, IDX= 500,-0.03,-0.695,-2.217,-1.482, 0.029, PHS=-0.621,-2.201,-1.555, RAW= 114.0, 48.4, CAL= 112.0, 54.3, ROT= 38.0, -54.3 2025-10-27T03:38:33.518Z,1761536313.518 [DAT](INFO): got valid direction response: 03:38:34.5945 LVL= 17264, 10689, 19906, 19923, AGC= 31, IDX= 500,-0.03,-0.695,-2.217,-1.482, 0.029, PHS=-0.621,-2.201,-1.555, RAW= 114.0, 48.4, CAL= 112.0, 54.3, ROT= 38.0, -54.3 2025-10-27T03:38:33.518Z,1761536313.518 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T03:38:33.520Z,1761536313.520 [DAT](INFO): direction in FSK: [0.459837,0.359264,0.812084] 2025-10-27T03:38:33.520Z,1761536313.520 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:33.524Z,1761536313.524 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.922855 2025-10-27T03:38:33.742Z,1761536313.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008965,0.999938,0.006639],[-0.999805,0.009081,-0.017563],[-0.017622,-0.006481,0.999824]] 2025-10-27T03:38:33.756Z,1761536313.756 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.154701 2025-10-27T03:38:33.783Z,1761536313.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504089 s, deltaX: 0.200000 m, approachRate: 0.396755 m/s, rangeRepo size: 4 2025-10-27T03:38:33.790Z,1761536313.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.095159 m, bearing: 308.073065 deg, lat: 36.779326 deg, lon: -121.859593 deg, deltaT: 0.504089 s, deltaX: 0.199122 m, approachRate: 0.395013 m/s, posRepo size: 4 2025-10-27T03:38:34.010Z,1761536314.010 [DAT](INFO): DAT read: Rx Time:03:38:35.0944 2025-10-27T03:38:34.010Z,1761536314.010 [DAT](INFO): Rx dataTimestamp_ set to:1761536314.009856 2025-10-27T03:38:34.012Z,1761536314.012 [DAT](INFO): DAT read: Bearing 123.6, 20.1 (Local) 2025-10-27T03:38:34.013Z,1761536314.013 [DAT](INFO): Local bearing/azimuth received: Bearing 123.6, 20.1 (Local) 2025-10-27T03:38:34.020Z,1761536314.020 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:34.050Z,1761536314.050 [DAT](INFO): DAT read: 03:38:35.0944 LVL= 16256, 9857, 19154, 18643, AGC= 33, IDX= 499, 0.01,-0.679,-1.867,-1.363, 0.120, PHS=-0.697,-1.942,-1.527, RAW= 109.1, 53.3, CAL= 107.2, 58.3, ROT= 42.8, -58.3 2025-10-27T03:38:34.056Z,1761536314.056 [DAT](INFO): got valid direction response: 03:38:35.0944 LVL= 16256, 9857, 19154, 18643, AGC= 33, IDX= 499, 0.01,-0.679,-1.867,-1.363, 0.120, PHS=-0.697,-1.942,-1.527, RAW= 109.1, 53.3, CAL= 107.2, 58.3, ROT= 42.8, -58.3 2025-10-27T03:38:34.056Z,1761536314.056 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T03:38:34.057Z,1761536314.057 [DAT](INFO): direction in FSK: [0.385554,0.357027,0.850811] 2025-10-27T03:38:34.058Z,1761536314.058 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:34.069Z,1761536314.069 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.467968 2025-10-27T03:38:34.146Z,1761536314.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001802,0.999982,0.005779],[-0.999652,0.001953,-0.026316],[-0.026326,-0.005730,0.999637]] 2025-10-27T03:38:34.207Z,1761536314.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504714 s, deltaX: -0.200000 m, approachRate: -0.396264 m/s, rangeRepo size: 4 2025-10-27T03:38:34.209Z,1761536314.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896039 m, bearing: 311.692820 deg, lat: 36.779325 deg, lon: -121.859591 deg, deltaT: 0.504714 s, deltaX: -0.199120 m, approachRate: -0.394520 m/s, posRepo size: 4 2025-10-27T03:38:34.261Z,1761536314.261 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.659393 2025-10-27T03:38:34.512Z,1761536314.512 [DAT](INFO): DAT read: Rx Time:03:38:35.5944 2025-10-27T03:38:34.513Z,1761536314.513 [DAT](INFO): Rx dataTimestamp_ set to:1761536314.512680 2025-10-27T03:38:34.514Z,1761536314.514 [DAT](INFO): DAT read: Bearing 131.1, 17.1 (Local) 2025-10-27T03:38:34.515Z,1761536314.515 [DAT](INFO): Local bearing/azimuth received: Bearing 131.1, 17.1 (Local) 2025-10-27T03:38:34.517Z,1761536314.517 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:34.521Z,1761536314.521 [DAT](INFO): DAT read: 03:38:35.5944 LVL= 18160, 11697, 18706, 22339, AGC= 33, IDX= 499, 0.09,-0.321,-1.096,-0.826, 0.644, PHS=-0.863,-1.694,-1.513, RAW= 101.9, 62.2, CAL= 100.8, 65.9, ROT= 49.2, -65.9 2025-10-27T03:38:34.522Z,1761536314.522 [DAT](INFO): got valid direction response: 03:38:35.5944 LVL= 18160, 11697, 18706, 22339, AGC= 33, IDX= 499, 0.09,-0.321,-1.096,-0.826, 0.644, PHS=-0.863,-1.694,-1.513, RAW= 101.9, 62.2, CAL= 100.8, 65.9, ROT= 49.2, -65.9 2025-10-27T03:38:34.523Z,1761536314.523 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T03:38:34.524Z,1761536314.524 [DAT](INFO): direction in FSK: [0.266812,0.309104,0.912834] 2025-10-27T03:38:34.524Z,1761536314.524 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:34.528Z,1761536314.528 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.926399 2025-10-27T03:38:34.603Z,1761536314.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007370,0.999956,0.005722],[-0.999407,-0.007173,-0.033687],[-0.033645,-0.005967,0.999416]] 2025-10-27T03:38:34.646Z,1761536314.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.502824 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:34.653Z,1761536314.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896038 m, bearing: 316.191320 deg, lat: 36.779325 deg, lon: -121.859591 deg, deltaT: 0.502824 s, deltaX: -0.000002 m, approachRate: -0.000003 m/s, posRepo size: 4 2025-10-27T03:38:34.764Z,1761536314.764 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.162861 2025-10-27T03:38:34.973Z,1761536314.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017123,0.999839,0.005299],[-0.999069,-0.016899,-0.039686],[-0.039590,-0.005973,0.999198]] 2025-10-27T03:38:35.017Z,1761536315.017 [DAT](INFO): DAT read: Rx Time:03:38:36.0943 2025-10-27T03:38:35.017Z,1761536315.017 [DAT](INFO): Rx dataTimestamp_ set to:1761536315.016725 2025-10-27T03:38:35.018Z,1761536315.018 [DAT](INFO): DAT read: Bearing 140.6, 14.7 (Local) 2025-10-27T03:38:35.019Z,1761536315.019 [DAT](INFO): Local bearing/azimuth received: Bearing 140.6, 14.7 (Local) 2025-10-27T03:38:35.021Z,1761536315.021 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:35.025Z,1761536315.025 [DAT](INFO): DAT read: 03:38:36.0943 LVL= 20464, 12385, 21074, 23475, AGC= 35, IDX= 498, 0.21,-1.784,-2.177,-2.162,-0.693, PHS=-0.989,-1.440,-1.513, RAW= 82.5, 70.6, CAL= 81.6, 73.5, ROT= 68.4, -73.5 2025-10-27T03:38:35.026Z,1761536315.026 [DAT](INFO): got valid direction response: 03:38:36.0943 LVL= 20464, 12385, 21074, 23475, AGC= 35, IDX= 498, 0.21,-1.784,-2.177,-2.162,-0.693, PHS=-0.989,-1.440,-1.513, RAW= 82.5, 70.6, CAL= 81.6, 73.5, ROT= 68.4, -73.5 2025-10-27T03:38:35.027Z,1761536315.027 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T03:38:35.028Z,1761536315.028 [DAT](INFO): direction in FSK: [0.104553,0.264071,0.958820] 2025-10-27T03:38:35.028Z,1761536315.028 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:35.040Z,1761536315.040 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.438553 2025-10-27T03:38:35.118Z,1761536315.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504045 s, deltaX: -0.100000 m, approachRate: -0.198395 m/s, rangeRepo size: 4 2025-10-27T03:38:35.125Z,1761536315.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796478 m, bearing: 331.198320 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 0.504045 s, deltaX: -0.099560 m, approachRate: -0.197521 m/s, posRepo size: 4 2025-10-27T03:38:35.268Z,1761536315.268 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.666584 2025-10-27T03:38:35.369Z,1761536315.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027774,0.999605,0.004283],[-0.998668,-0.027561,-0.043626],[-0.043491,-0.005489,0.999039]] 2025-10-27T03:38:35.412Z,1761536315.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:35.521Z,1761536315.521 [DAT](INFO): DAT read: Rx Time:03:38:36.5944 2025-10-27T03:38:35.521Z,1761536315.521 [DAT](INFO): Rx dataTimestamp_ set to:1761536315.521177 2025-10-27T03:38:35.523Z,1761536315.523 [DAT](INFO): DAT read: Bearing 149.7, 10.1 (Local) 2025-10-27T03:38:35.523Z,1761536315.523 [DAT](INFO): Local bearing/azimuth received: Bearing 149.7, 10.1 (Local) 2025-10-27T03:38:35.525Z,1761536315.525 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:35.530Z,1761536315.530 [DAT](INFO): DAT read: 03:38:36.5944 LVL= 21216, 12721, 23954, 24051, AGC= 34, IDX= 499, 0.49,-2.252,-2.277,-2.439,-0.984, PHS=-1.165,-1.248,-1.499, RAW= 43.7, 77.7, CAL= 43.1, 79.2, ROT= 106.9, -79.2 2025-10-27T03:38:35.531Z,1761536315.531 [DAT](INFO): got valid direction response: 03:38:36.5944 LVL= 21216, 12721, 23954, 24051, AGC= 34, IDX= 499, 0.49,-2.252,-2.277,-2.439,-0.984, PHS=-1.165,-1.248,-1.499, RAW= 43.7, 77.7, CAL= 43.1, 79.2, ROT= 106.9, -79.2 2025-10-27T03:38:35.531Z,1761536315.531 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T03:38:35.532Z,1761536315.532 [DAT](INFO): direction in FSK: [-0.054472,0.179289,0.982287] 2025-10-27T03:38:35.533Z,1761536315.533 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:35.536Z,1761536315.536 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.935131 2025-10-27T03:38:35.770Z,1761536315.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038951,0.999236,0.003187],[-0.998212,-0.038766,-0.045491],[-0.045333,-0.004953,0.998960]] 2025-10-27T03:38:35.772Z,1761536315.772 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.170639 2025-10-27T03:38:35.817Z,1761536315.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504452 s, deltaX: 0.100000 m, approachRate: 0.198235 m/s, rangeRepo size: 4 2025-10-27T03:38:35.819Z,1761536315.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896036 m, bearing: 0.850923 deg, lat: 36.779324 deg, lon: -121.859588 deg, deltaT: 0.504452 s, deltaX: 0.099558 m, approachRate: 0.197359 m/s, posRepo size: 4 2025-10-27T03:38:36.026Z,1761536316.026 [DAT](INFO): DAT read: Rx Time:03:38:37.0943 2025-10-27T03:38:36.027Z,1761536316.027 [DAT](INFO): Rx dataTimestamp_ set to:1761536316.026487 2025-10-27T03:38:36.029Z,1761536316.029 [DAT](INFO): DAT read: Bearing 149.4, 7.3 (Local) 2025-10-27T03:38:36.029Z,1761536316.029 [DAT](INFO): Local bearing/azimuth received: Bearing 149.4, 7.3 (Local) 2025-10-27T03:38:36.032Z,1761536316.032 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:36.036Z,1761536316.036 [DAT](INFO): DAT read: 03:38:37.0943 LVL= 21456, 12577, 24258, 24019, AGC= 36, IDX= 499,-0.27, 0.468, 0.498, 0.363, 1.836, PHS=-1.266,-1.293,-1.517, RAW= 35.8, 80.6, CAL= 35.3, 81.7, ROT= 114.7, -81.7 2025-10-27T03:38:36.038Z,1761536316.038 [DAT](INFO): got valid direction response: 03:38:37.0943 LVL= 21456, 12577, 24258, 24019, AGC= 36, IDX= 499,-0.27, 0.468, 0.498, 0.363, 1.836, PHS=-1.266,-1.293,-1.517, RAW= 35.8, 80.6, CAL= 35.3, 81.7, ROT= 114.7, -81.7 2025-10-27T03:38:36.038Z,1761536316.038 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T03:38:36.040Z,1761536316.040 [DAT](INFO): direction in FSK: [-0.060322,0.131149,0.989526] 2025-10-27T03:38:36.040Z,1761536316.040 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:36.044Z,1761536316.044 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.442368 2025-10-27T03:38:36.182Z,1761536316.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050376,0.998728,0.002236],[-0.997720,-0.050224,-0.045078],[-0.044908,-0.004501,0.998981]] 2025-10-27T03:38:36.239Z,1761536316.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.505310 s, deltaX: -0.100000 m, approachRate: -0.197898 m/s, rangeRepo size: 4 2025-10-27T03:38:36.241Z,1761536316.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796477 m, bearing: 3.776245 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.505310 s, deltaX: -0.099560 m, approachRate: -0.197027 m/s, posRepo size: 4 2025-10-27T03:38:36.276Z,1761536316.276 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.674519 2025-10-27T03:38:36.528Z,1761536316.528 [DAT](INFO): DAT read: Rx Time:03:38:37.5944 2025-10-27T03:38:36.529Z,1761536316.529 [DAT](INFO): Rx dataTimestamp_ set to:1761536316.528600 2025-10-27T03:38:36.530Z,1761536316.530 [DAT](INFO): DAT read: Bearing 147.7, 8.6 (Local) 2025-10-27T03:38:36.530Z,1761536316.530 [DAT](INFO): Local bearing/azimuth received: Bearing 147.7, 8.6 (Local) 2025-10-27T03:38:36.533Z,1761536316.533 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:36.537Z,1761536316.537 [DAT](INFO): DAT read: 03:38:37.5944 LVL= 19760, 12017, 22642, 21491, AGC= 37, IDX= 500,-0.16, 1.570, 1.545, 1.424, 2.901, PHS=-1.229,-1.311,-1.522, RAW= 45.7, 79.7, CAL= 45.2, 80.9, ROT= 104.8, -80.9 2025-10-27T03:38:36.538Z,1761536316.538 [DAT](INFO): got valid direction response: 03:38:37.5944 LVL= 19760, 12017, 22642, 21491, AGC= 37, IDX= 500,-0.16, 1.570, 1.545, 1.424, 2.901, PHS=-1.229,-1.311,-1.522, RAW= 45.7, 79.7, CAL= 45.2, 80.9, ROT= 104.8, -80.9 2025-10-27T03:38:36.538Z,1761536316.538 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T03:38:36.539Z,1761536316.539 [DAT](INFO): direction in FSK: [-0.040401,0.152911,0.987414] 2025-10-27T03:38:36.540Z,1761536316.540 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:36.543Z,1761536316.543 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.942112 2025-10-27T03:38:36.608Z,1761536316.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073319,0.997308,0.000858],[-0.996579,-0.073233,-0.038303],[-0.038137,-0.003663,0.999266]] 2025-10-27T03:38:36.682Z,1761536316.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.502113 s, deltaX: 0.100000 m, approachRate: 0.199158 m/s, rangeRepo size: 4 2025-10-27T03:38:36.693Z,1761536316.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896019 m, bearing: 356.793642 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.502113 s, deltaX: 0.099543 m, approachRate: 0.198247 m/s, posRepo size: 4 2025-10-27T03:38:36.780Z,1761536316.780 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.178619 2025-10-27T03:38:37.035Z,1761536317.035 [DAT](INFO): DAT read: Rx Time:03:38:38.0943 2025-10-27T03:38:37.036Z,1761536317.036 [DAT](INFO): Rx dataTimestamp_ set to:1761536317.035307 2025-10-27T03:38:37.037Z,1761536317.037 [DAT](INFO): DAT read: Bearing 151.6, 4.3 (Local) 2025-10-27T03:38:37.037Z,1761536317.037 [DAT](INFO): Local bearing/azimuth received: Bearing 151.6, 4.3 (Local) 2025-10-27T03:38:37.039Z,1761536317.039 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:37.045Z,1761536317.045 [DAT](INFO): DAT read: 03:38:38.0943 LVL= 24416, 14305, 25698, 26467, AGC= 36, IDX= 499,-0.00, 0.296, 0.469, 0.298, 1.748, PHS=-1.350,-1.235,-1.495, RAW= 3.7, 81.1, CAL= 3.5, 82.0, ROT= 146.5, -82.0 2025-10-27T03:38:37.046Z,1761536317.046 [DAT](INFO): got valid direction response: 03:38:38.0943 LVL= 24416, 14305, 25698, 26467, AGC= 36, IDX= 499,-0.00, 0.296, 0.469, 0.298, 1.748, PHS=-1.350,-1.235,-1.495, RAW= 3.7, 81.1, CAL= 3.5, 82.0, ROT= 146.5, -82.0 2025-10-27T03:38:37.048Z,1761536317.048 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T03:38:37.049Z,1761536317.049 [DAT](INFO): direction in FSK: [-0.116054,0.076815,0.990268] 2025-10-27T03:38:37.049Z,1761536317.049 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:37.053Z,1761536317.053 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.451702 2025-10-27T03:38:37.171Z,1761536317.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083637,0.996496,0.000823],[-0.995958,-0.083565,-0.032947],[-0.032762,-0.003575,0.999457]] 2025-10-27T03:38:37.225Z,1761536317.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.506707 s, deltaX: -0.100000 m, approachRate: -0.197353 m/s, rangeRepo size: 4 2025-10-27T03:38:37.243Z,1761536317.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796462 m, bearing: 41.318582 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.506707 s, deltaX: -0.099558 m, approachRate: -0.196480 m/s, posRepo size: 4 2025-10-27T03:38:37.286Z,1761536317.286 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.684376 2025-10-27T03:38:37.537Z,1761536317.537 [DAT](INFO): DAT read: Rx Time:03:38:38.5945 2025-10-27T03:38:37.537Z,1761536317.537 [DAT](INFO): Rx dataTimestamp_ set to:1761536317.536927 2025-10-27T03:38:37.538Z,1761536317.538 [DAT](INFO): DAT read: Bearing 151.1, 5.8 (Local) 2025-10-27T03:38:37.539Z,1761536317.539 [DAT](INFO): Local bearing/azimuth received: Bearing 151.1, 5.8 (Local) 2025-10-27T03:38:37.541Z,1761536317.541 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:37.545Z,1761536317.545 [DAT](INFO): DAT read: 03:38:38.5945 LVL= 21936, 12977, 23122, 23795, AGC= 35, IDX= 500, 0.04, 2.909, 3.052, 2.864,-1.986, PHS=-1.286,-1.200,-1.478, RAW= 12.5, 80.0, CAL= 12.1, 81.1, ROT= 137.9, -81.1 2025-10-27T03:38:37.547Z,1761536317.547 [DAT](INFO): got valid direction response: 03:38:38.5945 LVL= 21936, 12977, 23122, 23795, AGC= 35, IDX= 500, 0.04, 2.909, 3.052, 2.864,-1.986, PHS=-1.286,-1.200,-1.478, RAW= 12.5, 80.0, CAL= 12.1, 81.1, ROT= 137.9, -81.1 2025-10-27T03:38:37.547Z,1761536317.547 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T03:38:37.548Z,1761536317.548 [DAT](INFO): direction in FSK: [-0.114791,0.103722,0.987960] 2025-10-27T03:38:37.548Z,1761536317.548 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:37.560Z,1761536317.560 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.958832 2025-10-27T03:38:37.586Z,1761536317.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092812,0.995683,0.000441],[-0.995329,-0.092767,-0.026720],[-0.026564,-0.002919,0.999643]] 2025-10-27T03:38:37.669Z,1761536317.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.501620 s, deltaX: 0.300000 m, approachRate: 0.598062 m/s, rangeRepo size: 4 2025-10-27T03:38:37.670Z,1761536317.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.095126 m, bearing: 34.375550 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.501620 s, deltaX: 0.298665 m, approachRate: 0.595400 m/s, posRepo size: 4 2025-10-27T03:38:37.790Z,1761536317.790 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.187576 2025-10-27T03:38:37.977Z,1761536317.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100680,0.994919,0.000810],[-0.994716,-0.100643,-0.020260],[-0.020075,-0.002845,0.999794]] 2025-10-27T03:38:38.024Z,1761536318.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:38.040Z,1761536318.040 [DAT](INFO): DAT read: Rx Time:03:38:39.0944 2025-10-27T03:38:38.041Z,1761536318.041 [DAT](INFO): Rx dataTimestamp_ set to:1761536318.040655 2025-10-27T03:38:38.042Z,1761536318.042 [DAT](INFO): DAT read: Bearing 150.0, 6.0 (Local) 2025-10-27T03:38:38.043Z,1761536318.043 [DAT](INFO): Local bearing/azimuth received: Bearing 150.0, 6.0 (Local) 2025-10-27T03:38:38.045Z,1761536318.045 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:38.049Z,1761536318.049 [DAT](INFO): DAT read: 03:38:39.0944 LVL= 24352, 14673, 25490, 26451, AGC= 35, IDX= 499, 0.10, 2.469, 2.588, 2.416,-2.450, PHS=-1.263,-1.201,-1.462, RAW= 16.9, 80.3, CAL= 16.6, 81.4, ROT= 133.4, -81.4 2025-10-27T03:38:38.050Z,1761536318.050 [DAT](INFO): got valid direction response: 03:38:39.0944 LVL= 24352, 14673, 25490, 26451, AGC= 35, IDX= 499, 0.10, 2.469, 2.588, 2.416,-2.450, PHS=-1.263,-1.201,-1.462, RAW= 16.9, 80.3, CAL= 16.6, 81.4, ROT= 133.4, -81.4 2025-10-27T03:38:38.051Z,1761536318.051 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T03:38:38.052Z,1761536318.052 [DAT](INFO): direction in FSK: [-0.102744,0.108649,0.988756] 2025-10-27T03:38:38.052Z,1761536318.052 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:38.056Z,1761536318.056 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.454357 2025-10-27T03:38:38.292Z,1761536318.292 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.690617 2025-10-27T03:38:38.380Z,1761536318.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107185,0.994235,0.002725],[-0.994145,-0.107137,-0.014027],[-0.013655,-0.004213,0.999898]] 2025-10-27T03:38:38.477Z,1761536318.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503728 s, deltaX: -0.200000 m, approachRate: -0.397040 m/s, rangeRepo size: 4 2025-10-27T03:38:38.518Z,1761536318.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896012 m, bearing: 32.191643 deg, lat: 36.779323 deg, lon: -121.859587 deg, deltaT: 0.503728 s, deltaX: -0.199114 m, approachRate: -0.395280 m/s, posRepo size: 4 2025-10-27T03:38:38.545Z,1761536318.545 [DAT](INFO): DAT read: Rx Time:03:38:39.5944 2025-10-27T03:38:38.545Z,1761536318.545 [DAT](INFO): Rx dataTimestamp_ set to:1761536318.544726 2025-10-27T03:38:38.546Z,1761536318.546 [DAT](INFO): DAT read: Bearing 147.4, 8.7 (Local) 2025-10-27T03:38:38.547Z,1761536318.547 [DAT](INFO): Local bearing/azimuth received: Bearing 147.4, 8.7 (Local) 2025-10-27T03:38:38.549Z,1761536318.549 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:38.553Z,1761536318.553 [DAT](INFO): DAT read: 03:38:39.5944 LVL= 23840, 14769, 25234, 26147, AGC= 35, IDX= 499, 0.13,-3.099,-3.090, 3.041,-1.817, PHS=-1.180,-1.227,-1.468, RAW= 38.9, 78.9, CAL= 38.3, 80.2, ROT= 111.7, -80.2 2025-10-27T03:38:38.554Z,1761536318.554 [DAT](INFO): got valid direction response: 03:38:39.5944 LVL= 23840, 14769, 25234, 26147, AGC= 35, IDX= 499, 0.13,-3.099,-3.090, 3.041,-1.817, PHS=-1.180,-1.227,-1.468, RAW= 38.9, 78.9, CAL= 38.3, 80.2, ROT= 111.7, -80.2 2025-10-27T03:38:38.555Z,1761536318.555 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T03:38:38.556Z,1761536318.556 [DAT](INFO): direction in FSK: [-0.062934,0.158147,0.985408] 2025-10-27T03:38:38.556Z,1761536318.556 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:38.560Z,1761536318.560 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.958469 2025-10-27T03:38:38.777Z,1761536318.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112287,0.993666,0.004319],[-0.993644,-0.112247,-0.008526],[-0.007987,-0.005249,0.999954]] 2025-10-27T03:38:38.804Z,1761536318.804 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.202610 2025-10-27T03:38:38.827Z,1761536318.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:38.829Z,1761536318.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896010 m, bearing: 12.186091 deg, lat: 36.779324 deg, lon: -121.859587 deg, deltaT: 0.504071 s, deltaX: -0.000003 m, approachRate: -0.000006 m/s, posRepo size: 4 2025-10-27T03:38:39.056Z,1761536319.056 [DAT](INFO): DAT read: Rx Time:03:38:40.0943 2025-10-27T03:38:39.057Z,1761536319.057 [DAT](INFO): Rx dataTimestamp_ set to:1761536319.056651 2025-10-27T03:38:39.058Z,1761536319.058 [DAT](INFO): DAT read: Bearing 143.6, 12.5 (Local) 2025-10-27T03:38:39.058Z,1761536319.058 [DAT](INFO): Local bearing/azimuth received: Bearing 143.6, 12.5 (Local) 2025-10-27T03:38:39.061Z,1761536319.061 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:39.065Z,1761536319.065 [DAT](INFO): DAT read: 03:38:40.0943 LVL= 21296, 13297, 22146, 23283, AGC= 35, IDX= 498, 0.19, 2.937, 2.780, 2.668,-2.178, PHS=-1.066,-1.280,-1.481, RAW= 61.1, 75.1, CAL= 59.9, 76.9, ROT= 90.1, -76.9 2025-10-27T03:38:39.066Z,1761536319.066 [DAT](INFO): got valid direction response: 03:38:40.0943 LVL= 21296, 13297, 22146, 23283, AGC= 35, IDX= 498, 0.19, 2.937, 2.780, 2.668,-2.178, PHS=-1.066,-1.280,-1.481, RAW= 61.1, 75.1, CAL= 59.9, 76.9, ROT= 90.1, -76.9 2025-10-27T03:38:39.067Z,1761536319.067 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T03:38:39.068Z,1761536319.068 [DAT](INFO): direction in FSK: [-0.000396,0.226651,0.973976] 2025-10-27T03:38:39.069Z,1761536319.069 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:39.099Z,1761536319.099 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.497307 2025-10-27T03:38:39.185Z,1761536319.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115754,0.993269,0.004195],[-0.993271,-0.115736,-0.004250],[-0.003736,-0.004659,0.999982]] 2025-10-27T03:38:39.230Z,1761536319.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.511925 s, deltaX: -0.100000 m, approachRate: -0.195341 m/s, rangeRepo size: 4 2025-10-27T03:38:39.252Z,1761536319.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796453 m, bearing: 352.550206 deg, lat: 36.779324 deg, lon: -121.859588 deg, deltaT: 0.511925 s, deltaX: -0.099557 m, approachRate: -0.194475 m/s, posRepo size: 4 2025-10-27T03:38:39.310Z,1761536319.310 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.708637 2025-10-27T03:38:39.564Z,1761536319.564 [DAT](INFO): DAT read: Rx Time:03:38:40.5944 2025-10-27T03:38:39.565Z,1761536319.565 [DAT](INFO): Rx dataTimestamp_ set to:1761536319.564642 2025-10-27T03:38:39.566Z,1761536319.566 [DAT](INFO): DAT read: Bearing 139.7, 14.6 (Local) 2025-10-27T03:38:39.567Z,1761536319.567 [DAT](INFO): Local bearing/azimuth received: Bearing 139.7, 14.6 (Local) 2025-10-27T03:38:39.569Z,1761536319.569 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:39.582Z,1761536319.582 [DAT](INFO): DAT read: 03:38:40.5944 LVL= 18768, 11681, 18754, 20595, AGC= 34, IDX= 499, 0.29,-1.270,-1.579,-1.621,-0.179, PHS=-0.989,-1.355,-1.486, RAW= 75.3, 71.8, CAL= 73.9, 74.4, ROT= 76.1, -74.4 2025-10-27T03:38:39.584Z,1761536319.584 [DAT](INFO): got valid direction response: 03:38:40.5944 LVL= 18768, 11681, 18754, 20595, AGC= 34, IDX= 499, 0.29,-1.270,-1.579,-1.621,-0.179, PHS=-0.989,-1.355,-1.486, RAW= 75.3, 71.8, CAL= 73.9, 74.4, ROT= 76.1, -74.4 2025-10-27T03:38:39.584Z,1761536319.584 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T03:38:39.585Z,1761536319.585 [DAT](INFO): direction in FSK: [0.064602,0.261045,0.963163] 2025-10-27T03:38:39.585Z,1761536319.585 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:39.617Z,1761536319.617 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.015652 2025-10-27T03:38:39.636Z,1761536319.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117993,0.993007,0.003824],[-0.993014,-0.117990,-0.001184],[-0.000724,-0.003937,0.999992]] 2025-10-27T03:38:39.689Z,1761536319.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507991 s, deltaX: 0.100000 m, approachRate: 0.196854 m/s, rangeRepo size: 4 2025-10-27T03:38:39.721Z,1761536319.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896016 m, bearing: 339.372864 deg, lat: 36.779325 deg, lon: -121.859589 deg, deltaT: 0.507991 s, deltaX: 0.099563 m, approachRate: 0.195993 m/s, posRepo size: 4 2025-10-27T03:38:39.812Z,1761536319.812 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.210766 2025-10-27T03:38:39.998Z,1761536319.998 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:38:39.998Z,1761536319.998 [DockingStepper] No Fault, FailCount= 1 2025-10-27T03:38:40.015Z,1761536320.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119307,0.992847,0.004581],[-0.992857,-0.119312,0.000770],[0.001311,-0.004457,0.999989]] 2025-10-27T03:38:40.065Z,1761536320.065 [DAT](INFO): DAT read: Rx Time:03:38:41.0943 2025-10-27T03:38:40.065Z,1761536320.065 [DAT](INFO): Rx dataTimestamp_ set to:1761536320.064841 2025-10-27T03:38:40.066Z,1761536320.066 [DAT](INFO): DAT read: Bearing 133.1, 15.6 (Local) 2025-10-27T03:38:40.067Z,1761536320.067 [DAT](INFO): Local bearing/azimuth received: Bearing 133.1, 15.6 (Local) 2025-10-27T03:38:40.069Z,1761536320.069 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:40.073Z,1761536320.073 [DAT](INFO): DAT read: 03:38:41.0943 LVL= 18896, 12465, 19634, 22435, AGC= 34, IDX= 499,-0.49, 2.003, 1.466, 1.588, 3.037, PHS=-0.932,-1.526,-1.493, RAW= 92.8, 67.5, CAL= 92.2, 70.7, ROT= 57.8, -70.7 2025-10-27T03:38:40.075Z,1761536320.075 [DAT](INFO): got valid direction response: 03:38:41.0943 LVL= 18896, 12465, 19634, 22435, AGC= 34, IDX= 499,-0.49, 2.003, 1.466, 1.588, 3.037, PHS=-0.932,-1.526,-1.493, RAW= 92.8, 67.5, CAL= 92.2, 70.7, ROT= 57.8, -70.7 2025-10-27T03:38:40.075Z,1761536320.075 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T03:38:40.076Z,1761536320.076 [DAT](INFO): direction in FSK: [0.176123,0.279679,0.943801] 2025-10-27T03:38:40.076Z,1761536320.076 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:40.084Z,1761536320.084 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.482628 2025-10-27T03:38:40.126Z,1761536320.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.500199 s, deltaX: -0.100000 m, approachRate: -0.199920 m/s, rangeRepo size: 4 2025-10-27T03:38:40.136Z,1761536320.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796458 m, bearing: 321.512540 deg, lat: 36.779325 deg, lon: -121.859589 deg, deltaT: 0.500199 s, deltaX: -0.099557 m, approachRate: -0.199035 m/s, posRepo size: 4 2025-10-27T03:38:40.316Z,1761536320.316 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.714760 2025-10-27T03:38:40.352Z,1761536320.352 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:38:40.468Z,1761536320.468 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:38:40.568Z,1761536320.568 [DAT](INFO): DAT read: Rx Time:03:38:41.5944 2025-10-27T03:38:40.569Z,1761536320.569 [DAT](INFO): Rx dataTimestamp_ set to:1761536320.568682 2025-10-27T03:38:40.570Z,1761536320.570 [DAT](INFO): DAT read: Bearing 128.9, 16.5 (Local) 2025-10-27T03:38:40.571Z,1761536320.571 [DAT](INFO): Local bearing/azimuth received: Bearing 128.9, 16.5 (Local) 2025-10-27T03:38:40.573Z,1761536320.573 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:40.578Z,1761536320.578 [DAT](INFO): DAT read: 03:38:41.5944 LVL= 18256, 12321, 18690, 22291, AGC= 33, IDX= 500,-0.29, 2.739, 2.039, 2.277,-2.554, PHS=-0.888,-1.645,-1.496, RAW= 100.7, 64.0, CAL= 99.7, 67.5, ROT= 50.3, -67.5 2025-10-27T03:38:40.581Z,1761536320.581 [DAT](INFO): got valid direction response: 03:38:41.5944 LVL= 18256, 12321, 18690, 22291, AGC= 33, IDX= 500,-0.29, 2.739, 2.039, 2.277,-2.554, PHS=-0.888,-1.645,-1.496, RAW= 100.7, 64.0, CAL= 99.7, 67.5, ROT= 50.3, -67.5 2025-10-27T03:38:40.582Z,1761536320.582 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T03:38:40.587Z,1761536320.587 [DAT](INFO): direction in FSK: [0.244446,0.294436,0.923880] 2025-10-27T03:38:40.588Z,1761536320.588 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:40.597Z,1761536320.597 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.995041 2025-10-27T03:38:40.729Z,1761536320.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117372,0.993069,0.006161],[-0.993087,-0.117377,0.000447],[0.001167,-0.006066,0.999981]] 2025-10-27T03:38:40.782Z,1761536320.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503841 s, deltaX: 0.100000 m, approachRate: 0.198475 m/s, rangeRepo size: 4 2025-10-27T03:38:40.784Z,1761536320.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896011 m, bearing: 314.212771 deg, lat: 36.779325 deg, lon: -121.859590 deg, deltaT: 0.503841 s, deltaX: 0.099553 m, approachRate: 0.197588 m/s, posRepo size: 4 2025-10-27T03:38:40.820Z,1761536320.820 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.218685 2025-10-27T03:38:41.072Z,1761536321.072 [DAT](INFO): DAT read: Rx Time:03:38:42.0944 2025-10-27T03:38:41.073Z,1761536321.073 [DAT](INFO): Rx dataTimestamp_ set to:1761536321.072615 2025-10-27T03:38:41.074Z,1761536321.074 [DAT](INFO): DAT read: Bearing 126.5, 18.9 (Local) 2025-10-27T03:38:41.074Z,1761536321.074 [DAT](INFO): Local bearing/azimuth received: Bearing 126.5, 18.9 (Local) 2025-10-27T03:38:41.077Z,1761536321.077 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:41.081Z,1761536321.081 [DAT](INFO): DAT read: 03:38:42.0944 LVL= 18000, 11217, 20114, 19731, AGC= 34, IDX= 499,-0.19, 1.674, 0.840, 1.111, 2.583, PHS=-0.807,-1.698,-1.516, RAW= 101.2, 60.2, CAL= 99.9, 64.1, ROT= 50.1, -64.1 2025-10-27T03:38:41.082Z,1761536321.082 [DAT](INFO): got valid direction response: 03:38:42.0944 LVL= 18000, 11217, 20114, 19731, AGC= 34, IDX= 499,-0.19, 1.674, 0.840, 1.111, 2.583, PHS=-0.807,-1.698,-1.516, RAW= 101.2, 60.2, CAL= 99.9, 64.1, ROT= 50.1, -64.1 2025-10-27T03:38:41.083Z,1761536321.083 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T03:38:41.084Z,1761536321.084 [DAT](INFO): direction in FSK: [0.280186,0.335099,0.899558] 2025-10-27T03:38:41.084Z,1761536321.084 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:41.088Z,1761536321.088 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.486488 2025-10-27T03:38:41.223Z,1761536321.223 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, 124 53, 6.97, 0.00 2025-10-27T03:38:41.269Z,1761536321.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503933 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:41.271Z,1761536321.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896011 m, bearing: 313.919059 deg, lat: 36.779326 deg, lon: -121.859591 deg, deltaT: 0.503933 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T03:38:41.325Z,1761536321.325 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.723106 2025-10-27T03:38:41.562Z,1761536321.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111197,0.993779,0.006233],[-0.993796,-0.111180,-0.002893],[-0.002182,-0.006516,0.999976]] 2025-10-27T03:38:41.577Z,1761536321.577 [DAT](INFO): DAT read: Rx Time:03:38:42.5945 2025-10-27T03:38:41.577Z,1761536321.577 [DAT](INFO): Rx dataTimestamp_ set to:1761536321.576860 2025-10-27T03:38:41.578Z,1761536321.578 [DAT](INFO): DAT read: Bearing 125.8, 19.2 (Local) 2025-10-27T03:38:41.579Z,1761536321.579 [DAT](INFO): Local bearing/azimuth received: Bearing 125.8, 19.2 (Local) 2025-10-27T03:38:41.581Z,1761536321.581 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:41.586Z,1761536321.586 [DAT](INFO): DAT read: 03:38:42.5945 LVL= 17968, 11073, 20306, 19555, AGC= 32, IDX= 500,-0.08,-2.628, 2.783, 3.079,-1.739, PHS=-0.787,-1.716,-1.509, RAW= 102.3, 59.2, CAL= 101.0, 63.3, ROT= 49.0, -63.3 2025-10-27T03:38:41.587Z,1761536321.587 [DAT](INFO): got valid direction response: 03:38:42.5945 LVL= 17968, 11073, 20306, 19555, AGC= 32, IDX= 500,-0.08,-2.628, 2.783, 3.079,-1.739, PHS=-0.787,-1.716,-1.509, RAW= 102.3, 59.2, CAL= 101.0, 63.3, ROT= 49.0, -63.3 2025-10-27T03:38:41.588Z,1761536321.588 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T03:38:41.589Z,1761536321.589 [DAT](INFO): direction in FSK: [0.294780,0.339105,0.893371] 2025-10-27T03:38:41.589Z,1761536321.589 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:41.604Z,1761536321.604 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.002357 2025-10-27T03:38:41.668Z,1761536321.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504245 s, deltaX: 0.200000 m, approachRate: 0.396633 m/s, rangeRepo size: 4 2025-10-27T03:38:41.670Z,1761536321.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.095128 m, bearing: 312.911286 deg, lat: 36.779326 deg, lon: -121.859592 deg, deltaT: 0.504245 s, deltaX: 0.199117 m, approachRate: 0.394881 m/s, posRepo size: 4 2025-10-27T03:38:41.833Z,1761536321.833 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.231319 2025-10-27T03:38:42.076Z,1761536322.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106196,0.994324,0.006518],[-0.994332,-0.106159,-0.005794],[-0.005069,-0.007096,0.999962]] 2025-10-27T03:38:42.085Z,1761536322.085 [DAT](INFO): DAT read: Rx Time:03:38:43.0944 2025-10-27T03:38:42.085Z,1761536322.085 [DAT](INFO): Rx dataTimestamp_ set to:1761536322.084732 2025-10-27T03:38:42.086Z,1761536322.086 [DAT](INFO): DAT read: Bearing 125.2, 19.3 (Local) 2025-10-27T03:38:42.087Z,1761536322.087 [DAT](INFO): Local bearing/azimuth received: Bearing 125.2, 19.3 (Local) 2025-10-27T03:38:42.089Z,1761536322.089 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:42.093Z,1761536322.093 [DAT](INFO): DAT read: 03:38:43.0944 LVL= 17776, 11009, 19826, 19443, AGC= 32, IDX= 499,-0.00, 3.115, 2.206, 2.528,-2.290, PHS=-0.776,-1.742,-1.509, RAW= 103.4, 58.5, CAL= 102.0, 62.7, ROT= 48.0, -62.7 2025-10-27T03:38:42.094Z,1761536322.094 [DAT](INFO): got valid direction response: 03:38:43.0944 LVL= 17776, 11009, 19826, 19443, AGC= 32, IDX= 499,-0.00, 3.115, 2.206, 2.528,-2.290, PHS=-0.776,-1.742,-1.509, RAW= 103.4, 58.5, CAL= 102.0, 62.7, ROT= 48.0, -62.7 2025-10-27T03:38:42.095Z,1761536322.095 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T03:38:42.096Z,1761536322.096 [DAT](INFO): direction in FSK: [0.306896,0.340843,0.888617] 2025-10-27T03:38:42.096Z,1761536322.096 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:42.124Z,1761536322.124 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.522522 2025-10-27T03:38:42.236Z,1761536322.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507872 s, deltaX: -0.200000 m, approachRate: -0.393800 m/s, rangeRepo size: 4 2025-10-27T03:38:42.238Z,1761536322.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896014 m, bearing: 312.011715 deg, lat: 36.779326 deg, lon: -121.859592 deg, deltaT: 0.507872 s, deltaX: -0.199114 m, approachRate: -0.392056 m/s, posRepo size: 4 2025-10-27T03:38:42.336Z,1761536322.336 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.734863 2025-10-27T03:38:42.507Z,1761536322.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100336,0.994926,0.007466],[-0.994917,-0.100265,-0.009284],[-0.008489,-0.008359,0.999929]] 2025-10-27T03:38:42.540Z,1761536322.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:42.589Z,1761536322.589 [DAT](INFO): DAT read: Rx Time:03:38:43.5944 2025-10-27T03:38:42.589Z,1761536322.589 [DAT](INFO): Rx dataTimestamp_ set to:1761536322.588774 2025-10-27T03:38:42.590Z,1761536322.590 [DAT](INFO): DAT read: Bearing 125.5, 19.2 (Local) 2025-10-27T03:38:42.591Z,1761536322.591 [DAT](INFO): Local bearing/azimuth received: Bearing 125.5, 19.2 (Local) 2025-10-27T03:38:42.593Z,1761536322.593 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:42.621Z,1761536322.621 [DAT](INFO): DAT read: 03:38:43.5944 LVL= 17888, 10865, 19170, 19347, AGC= 32, IDX= 499, 0.09,-2.528, 2.849,-3.113,-1.654, PHS=-0.771,-1.735,-1.503, RAW= 103.4, 58.4, CAL= 102.0, 62.6, ROT= 48.0, -62.6 2025-10-27T03:38:42.622Z,1761536322.622 [DAT](INFO): got valid direction response: 03:38:43.5944 LVL= 17888, 10865, 19170, 19347, AGC= 32, IDX= 499, 0.09,-2.528, 2.849,-3.113,-1.654, PHS=-0.771,-1.735,-1.503, RAW= 103.4, 58.4, CAL= 102.0, 62.6, ROT= 48.0, -62.6 2025-10-27T03:38:42.622Z,1761536322.622 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T03:38:42.627Z,1761536322.627 [DAT](INFO): direction in FSK: [0.307934,0.341995,0.887815] 2025-10-27T03:38:42.628Z,1761536322.628 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:42.640Z,1761536322.640 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.038162 2025-10-27T03:38:42.840Z,1761536322.840 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.238419 2025-10-27T03:38:42.960Z,1761536322.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093910,0.995544,0.008603],[-0.995502,-0.093791,-0.013373],[-0.012506,-0.009820,0.999874]] 2025-10-27T03:38:43.050Z,1761536323.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:43.056Z,1761536323.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896011 m, bearing: 312.323458 deg, lat: 36.779326 deg, lon: -121.859592 deg, deltaT: 0.504042 s, deltaX: -0.000003 m, approachRate: -0.000005 m/s, posRepo size: 4 2025-10-27T03:38:43.093Z,1761536323.093 [DAT](INFO): DAT read: Rx Time:03:38:44.0943 2025-10-27T03:38:43.094Z,1761536323.094 [DAT](INFO): Rx dataTimestamp_ set to:1761536323.093505 2025-10-27T03:38:43.095Z,1761536323.095 [DAT](INFO): DAT read: Bearing 125.2, 17.9 (Local) 2025-10-27T03:38:43.096Z,1761536323.096 [DAT](INFO): Local bearing/azimuth received: Bearing 125.2, 17.9 (Local) 2025-10-27T03:38:43.098Z,1761536323.098 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:43.106Z,1761536323.106 [DAT](INFO): DAT read: 03:38:44.0943 LVL= 16096, 11249, 18562, 21747, AGC= 33, IDX= 498, 0.20, 2.584, 1.664, 2.033,-2.796, PHS=-0.802,-1.779,-1.498, RAW= 106.2, 58.9, CAL= 104.7, 63.0, ROT= 45.3, -63.0 2025-10-27T03:38:43.128Z,1761536323.128 [DAT](INFO): got valid direction response: 03:38:44.0943 LVL= 16096, 11249, 18562, 21747, AGC= 33, IDX= 498, 0.20, 2.584, 1.664, 2.033,-2.796, PHS=-0.802,-1.779,-1.498, RAW= 106.2, 58.9, CAL= 104.7, 63.0, ROT= 45.3, -63.0 2025-10-27T03:38:43.128Z,1761536323.128 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T03:38:43.129Z,1761536323.129 [DAT](INFO): direction in FSK: [0.319335,0.322696,0.891007] 2025-10-27T03:38:43.130Z,1761536323.130 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:43.137Z,1761536323.137 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.535980 2025-10-27T03:38:43.344Z,1761536323.344 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.742580 2025-10-27T03:38:43.477Z,1761536323.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079596,0.996792,0.008395],[-0.996584,-0.079388,-0.022765],[-0.022026,-0.010178,0.999706]] 2025-10-27T03:38:43.528Z,1761536323.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504731 s, deltaX: -0.100000 m, approachRate: -0.198125 m/s, rangeRepo size: 4 2025-10-27T03:38:43.530Z,1761536323.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796455 m, bearing: 309.830456 deg, lat: 36.779326 deg, lon: -121.859591 deg, deltaT: 0.504731 s, deltaX: -0.099557 m, approachRate: -0.197247 m/s, posRepo size: 4 2025-10-27T03:38:43.598Z,1761536323.598 [DAT](INFO): DAT read: Rx Time:03:38:44.5944 2025-10-27T03:38:43.598Z,1761536323.598 [DAT](INFO): Rx dataTimestamp_ set to:1761536323.598147 2025-10-27T03:38:43.600Z,1761536323.600 [DAT](INFO): DAT read: Bearing 126.4, 19.1 (Local) 2025-10-27T03:38:43.600Z,1761536323.600 [DAT](INFO): Local bearing/azimuth received: Bearing 126.4, 19.1 (Local) 2025-10-27T03:38:43.602Z,1761536323.602 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:43.607Z,1761536323.607 [DAT](INFO): DAT read: 03:38:44.5944 LVL= 17776, 10737, 20274, 19539, AGC= 32, IDX= 499, 0.32,-2.489, 2.891,-3.081,-1.612, PHS=-0.775,-1.736,-1.513, RAW= 102.8, 58.5, CAL= 101.5, 62.7, ROT= 48.5, -62.7 2025-10-27T03:38:43.608Z,1761536323.608 [DAT](INFO): got valid direction response: 03:38:44.5944 LVL= 17776, 10737, 20274, 19539, AGC= 32, IDX= 499, 0.32,-2.489, 2.891,-3.081,-1.612, PHS=-0.775,-1.736,-1.513, RAW= 102.8, 58.5, CAL= 101.5, 62.7, ROT= 48.5, -62.7 2025-10-27T03:38:43.608Z,1761536323.608 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T03:38:43.609Z,1761536323.609 [DAT](INFO): direction in FSK: [0.303910,0.343508,0.888617] 2025-10-27T03:38:43.610Z,1761536323.610 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:43.613Z,1761536323.613 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.012016 2025-10-27T03:38:43.848Z,1761536323.848 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.246616 2025-10-27T03:38:43.881Z,1761536323.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072640,0.997321,0.008551],[-0.996991,-0.072378,-0.027740],[-0.027047,-0.010540,0.999579]] 2025-10-27T03:38:43.981Z,1761536323.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504642 s, deltaX: 0.100000 m, approachRate: 0.198160 m/s, rangeRepo size: 4 2025-10-27T03:38:43.988Z,1761536323.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896015 m, bearing: 312.946947 deg, lat: 36.779325 deg, lon: -121.859590 deg, deltaT: 0.504642 s, deltaX: 0.099560 m, approachRate: 0.197289 m/s, posRepo size: 4 2025-10-27T03:38:44.101Z,1761536324.101 [DAT](INFO): DAT read: Rx Time:03:38:45.0943 2025-10-27T03:38:44.101Z,1761536324.101 [DAT](INFO): Rx dataTimestamp_ set to:1761536324.100792 2025-10-27T03:38:44.102Z,1761536324.102 [DAT](INFO): DAT read: Bearing 126.8, 17.5 (Local) 2025-10-27T03:38:44.103Z,1761536324.103 [DAT](INFO): Local bearing/azimuth received: Bearing 126.8, 17.5 (Local) 2025-10-27T03:38:44.105Z,1761536324.105 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:44.110Z,1761536324.110 [DAT](INFO): DAT read: 03:38:45.0943 LVL= 18112, 11185, 18610, 22051, AGC= 33, IDX= 499,-0.49, 1.043, 0.140, 0.490, 1.972, PHS=-0.828,-1.787,-1.526, RAW= 105.3, 59.6, CAL= 103.9, 63.7, ROT= 46.1, -63.7 2025-10-27T03:38:44.111Z,1761536324.111 [DAT](INFO): got valid direction response: 03:38:45.0943 LVL= 18112, 11185, 18610, 22051, AGC= 33, IDX= 499,-0.49, 1.043, 0.140, 0.490, 1.972, PHS=-0.828,-1.787,-1.526, RAW= 105.3, 59.6, CAL= 103.9, 63.7, ROT= 46.1, -63.7 2025-10-27T03:38:44.111Z,1761536324.111 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T03:38:44.112Z,1761536324.112 [DAT](INFO): direction in FSK: [0.307226,0.319255,0.896486] 2025-10-27T03:38:44.112Z,1761536324.112 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:44.128Z,1761536324.128 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.526714 2025-10-27T03:38:44.352Z,1761536324.352 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.751072 2025-10-27T03:38:44.472Z,1761536324.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065700,0.997796,0.009354],[-0.997314,-0.065358,-0.033066],[-0.032382,-0.011501,0.999409]] 2025-10-27T03:38:44.539Z,1761536324.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.502645 s, deltaX: -0.100000 m, approachRate: -0.198947 m/s, rangeRepo size: 4 2025-10-27T03:38:44.545Z,1761536324.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796458 m, bearing: 310.677979 deg, lat: 36.779325 deg, lon: -121.859589 deg, deltaT: 0.502645 s, deltaX: -0.099557 m, approachRate: -0.198067 m/s, posRepo size: 4 2025-10-27T03:38:44.605Z,1761536324.605 [DAT](INFO): DAT read: Rx Time:03:38:45.5944 2025-10-27T03:38:44.605Z,1761536324.605 [DAT](INFO): Rx dataTimestamp_ set to:1761536324.604824 2025-10-27T03:38:44.606Z,1761536324.606 [DAT](INFO): DAT read: Bearing 130.1, 17.2 (Local) 2025-10-27T03:38:44.607Z,1761536324.607 [DAT](INFO): Local bearing/azimuth received: Bearing 130.1, 17.2 (Local) 2025-10-27T03:38:44.609Z,1761536324.609 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:44.613Z,1761536324.613 [DAT](INFO): DAT read: 03:38:45.5944 LVL= 17792, 11697, 19378, 22563, AGC= 34, IDX= 500,-0.32, 2.069, 1.289, 1.546, 3.031, PHS=-0.860,-1.697,-1.529, RAW= 100.9, 62.0, CAL= 99.8, 65.8, ROT= 50.2, -65.8 2025-10-27T03:38:44.615Z,1761536324.615 [DAT](INFO): got valid direction response: 03:38:45.5944 LVL= 17792, 11697, 19378, 22563, AGC= 34, IDX= 500,-0.32, 2.069, 1.289, 1.546, 3.031, PHS=-0.860,-1.697,-1.529, RAW= 100.9, 62.0, CAL= 99.8, 65.8, ROT= 50.2, -65.8 2025-10-27T03:38:44.616Z,1761536324.616 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T03:38:44.617Z,1761536324.617 [DAT](INFO): direction in FSK: [0.262396,0.314937,0.912120] 2025-10-27T03:38:44.617Z,1761536324.617 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:44.621Z,1761536324.621 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.019180 2025-10-27T03:38:44.712Z,1761536324.712 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:38:44.856Z,1761536324.856 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.254562 2025-10-27T03:38:45.109Z,1761536325.109 [DAT](INFO): DAT read: Rx Time:03:38:46.0944 2025-10-27T03:38:45.109Z,1761536325.109 [DAT](INFO): Rx dataTimestamp_ set to:1761536325.109054 2025-10-27T03:38:45.111Z,1761536325.111 [DAT](INFO): DAT read: Bearing 135.0, 15.7 (Local) 2025-10-27T03:38:45.127Z,1761536325.127 [DAT](INFO): Local bearing/azimuth received: Bearing 135.0, 15.7 (Local) 2025-10-27T03:38:45.129Z,1761536325.129 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:45.134Z,1761536325.134 [DAT](INFO): DAT read: 03:38:46.0944 LVL= 20304, 12337, 19698, 22899, AGC= 33, IDX= 499,-0.19, 0.688, 0.088, 0.231, 1.730, PHS=-0.940,-1.597,-1.543, RAW= 94.2, 66.3, CAL= 93.5, 69.6, ROT= 56.5, -69.6 2025-10-27T03:38:45.143Z,1761536325.143 [DAT](INFO): got valid direction response: 03:38:46.0944 LVL= 20304, 12337, 19698, 22899, AGC= 33, IDX= 499,-0.19, 0.688, 0.088, 0.231, 1.730, PHS=-0.940,-1.597,-1.543, RAW= 94.2, 66.3, CAL= 93.5, 69.6, ROT= 56.5, -69.6 2025-10-27T03:38:45.143Z,1761536325.143 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T03:38:45.144Z,1761536325.144 [DAT](INFO): direction in FSK: [0.192390,0.290669,0.937282] 2025-10-27T03:38:45.145Z,1761536325.145 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:45.156Z,1761536325.156 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.555008 2025-10-27T03:38:45.193Z,1761536325.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 1.008262 s, deltaX: 0.100000 m, approachRate: 0.099181 m/s, rangeRepo size: 4 2025-10-27T03:38:45.200Z,1761536325.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896014 m, bearing: 319.795069 deg, lat: 36.779324 deg, lon: -121.859589 deg, deltaT: 1.008262 s, deltaX: 0.099556 m, approachRate: 0.098740 m/s, posRepo size: 4 2025-10-27T03:38:45.360Z,1761536325.360 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.758617 2025-10-27T03:38:45.500Z,1761536325.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047691,0.998833,0.007680],[-0.997714,-0.047267,-0.048304],[-0.047884,-0.009966,0.998803]] 2025-10-27T03:38:45.516Z,1761536325.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:45.612Z,1761536325.612 [DAT](INFO): DAT read: Rx Time:03:38:46.5945 2025-10-27T03:38:45.613Z,1761536325.613 [DAT](INFO): Rx dataTimestamp_ set to:1761536325.613029 2025-10-27T03:38:45.615Z,1761536325.615 [DAT](INFO): DAT read: Bearing 139.6, 14.2 (Local) 2025-10-27T03:38:45.616Z,1761536325.616 [DAT](INFO): Local bearing/azimuth received: Bearing 139.6, 14.2 (Local) 2025-10-27T03:38:45.619Z,1761536325.619 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:45.625Z,1761536325.625 [DAT](INFO): DAT read: 03:38:46.5945 LVL= 18800, 11697, 18978, 20979, AGC= 34, IDX= 500,-0.10, 1.581, 1.143, 1.194, 2.690, PHS=-1.007,-1.502,-1.541, RAW= 86.3, 70.2, CAL= 85.5, 73.1, ROT= 64.5, -73.1 2025-10-27T03:38:45.626Z,1761536325.626 [DAT](INFO): got valid direction response: 03:38:46.5945 LVL= 18800, 11697, 18978, 20979, AGC= 34, IDX= 500,-0.10, 1.581, 1.143, 1.194, 2.690, PHS=-1.007,-1.502,-1.541, RAW= 86.3, 70.2, CAL= 85.5, 73.1, ROT= 64.5, -73.1 2025-10-27T03:38:45.626Z,1761536325.626 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T03:38:45.628Z,1761536325.628 [DAT](INFO): direction in FSK: [0.125151,0.262384,0.956814] 2025-10-27T03:38:45.628Z,1761536325.628 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:45.656Z,1761536325.656 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.054794 2025-10-27T03:38:45.866Z,1761536325.866 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.264400 2025-10-27T03:38:45.938Z,1761536325.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043051,0.999048,0.007000],[-0.997717,-0.042627,-0.052387],[-0.052039,-0.009239,0.998602]] 2025-10-27T03:38:46.088Z,1761536326.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503975 s, deltaX: 0.200000 m, approachRate: 0.396845 m/s, rangeRepo size: 4 2025-10-27T03:38:46.090Z,1761536326.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.095126 m, bearing: 324.751394 deg, lat: 36.779324 deg, lon: -121.859588 deg, deltaT: 0.503975 s, deltaX: 0.199112 m, approachRate: 0.395083 m/s, posRepo size: 4 2025-10-27T03:38:46.117Z,1761536326.117 [DAT](INFO): DAT read: Rx Time:03:38:47.0944 2025-10-27T03:38:46.117Z,1761536326.117 [DAT](INFO): Rx dataTimestamp_ set to:1761536326.116802 2025-10-27T03:38:46.118Z,1761536326.118 [DAT](INFO): DAT read: Bearing 147.4, 10.1 (Local) 2025-10-27T03:38:46.119Z,1761536326.119 [DAT](INFO): Local bearing/azimuth received: Bearing 147.4, 10.1 (Local) 2025-10-27T03:38:46.121Z,1761536326.121 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:46.126Z,1761536326.126 [DAT](INFO): DAT read: 03:38:47.0944 LVL= 24368, 14545, 24562, 26547, AGC= 35, IDX= 499, 0.03, 0.808, 0.676, 0.597, 2.069, PHS=-1.159,-1.348,-1.516, RAW= 61.9, 77.7, CAL= 60.9, 79.2, ROT= 89.1, -79.2 2025-10-27T03:38:46.127Z,1761536326.127 [DAT](INFO): got valid direction response: 03:38:47.0944 LVL= 24368, 14545, 24562, 26547, AGC= 35, IDX= 499, 0.03, 0.808, 0.676, 0.597, 2.069, PHS=-1.159,-1.348,-1.516, RAW= 61.9, 77.7, CAL= 60.9, 79.2, ROT= 89.1, -79.2 2025-10-27T03:38:46.127Z,1761536326.127 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T03:38:46.128Z,1761536326.128 [DAT](INFO): direction in FSK: [0.002943,0.187358,0.982287] 2025-10-27T03:38:46.128Z,1761536326.128 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:46.132Z,1761536326.132 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.530937 2025-10-27T03:38:46.370Z,1761536326.370 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.768372 2025-10-27T03:38:46.438Z,1761536326.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037570,0.999262,0.007944],[-0.997729,-0.037065,-0.056238],[-0.055902,-0.010039,0.998386]] 2025-10-27T03:38:46.504Z,1761536326.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503773 s, deltaX: -0.200000 m, approachRate: -0.397004 m/s, rangeRepo size: 4 2025-10-27T03:38:46.506Z,1761536326.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896012 m, bearing: 341.524882 deg, lat: 36.779324 deg, lon: -121.859587 deg, deltaT: 0.503773 s, deltaX: -0.199114 m, approachRate: -0.395245 m/s, posRepo size: 4 2025-10-27T03:38:46.621Z,1761536326.621 [DAT](INFO): DAT read: Rx Time:03:38:47.5944 2025-10-27T03:38:46.621Z,1761536326.621 [DAT](INFO): Rx dataTimestamp_ set to:1761536326.621027 2025-10-27T03:38:46.623Z,1761536326.623 [DAT](INFO): DAT read: Bearing 154.5, 8.1 (Local) 2025-10-27T03:38:46.623Z,1761536326.623 [DAT](INFO): Local bearing/azimuth received: Bearing 154.5, 8.1 (Local) 2025-10-27T03:38:46.625Z,1761536326.625 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:46.630Z,1761536326.630 [DAT](INFO): DAT read: 03:38:47.5944 LVL= 21872, 12913, 29266, 28051, AGC= 36, IDX= 499, 0.16, 0.507, 0.601, 0.384, 1.827, PHS=-1.218,-1.181,-1.487, RAW= 23.6, 78.1, CAL= 23.2, 79.4, ROT= 126.8, -79.4 2025-10-27T03:38:46.631Z,1761536326.631 [DAT](INFO): got valid direction response: 03:38:47.5944 LVL= 21872, 12913, 29266, 28051, AGC= 36, IDX= 499, 0.16, 0.507, 0.601, 0.384, 1.827, PHS=-1.218,-1.181,-1.487, RAW= 23.6, 78.1, CAL= 23.2, 79.4, ROT= 126.8, -79.4 2025-10-27T03:38:46.631Z,1761536326.631 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T03:38:46.632Z,1761536326.632 [DAT](INFO): direction in FSK: [-0.110191,0.147296,0.982935] 2025-10-27T03:38:46.633Z,1761536326.633 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:46.650Z,1761536326.650 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.048813 2025-10-27T03:38:46.806Z,1761536326.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032618,0.999424,0.009400],[-0.997753,-0.032010,-0.058861],[-0.058527,-0.011299,0.998222]] 2025-10-27T03:38:46.844Z,1761536326.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T03:38:46.846Z,1761536326.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896013 m, bearing: 16.488207 deg, lat: 36.779324 deg, lon: -121.859587 deg, deltaT: 0.504225 s, deltaX: 0.000001 m, approachRate: 0.000003 m/s, posRepo size: 4 2025-10-27T03:38:46.873Z,1761536326.873 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.271191 2025-10-27T03:38:47.129Z,1761536327.129 [DAT](INFO): DAT read: Rx Time:03:38:48.0943 2025-10-27T03:38:47.129Z,1761536327.129 [DAT](INFO): Rx dataTimestamp_ set to:1761536327.129145 2025-10-27T03:38:47.131Z,1761536327.131 [DAT](INFO): DAT read: Bearing 157.0, 6.1 (Local) 2025-10-27T03:38:47.131Z,1761536327.131 [DAT](INFO): Local bearing/azimuth received: Bearing 157.0, 6.1 (Local) 2025-10-27T03:38:47.133Z,1761536327.133 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:47.138Z,1761536327.138 [DAT](INFO): DAT read: 03:38:48.0943 LVL= 22512, 12849, 22866, 24035, AGC= 36, IDX= 498, 0.29,-0.949,-0.764,-1.012, 0.464, PHS=-1.311,-1.182,-1.520, RAW= 7.9, 78.3, CAL= 7.5, 79.5, ROT= 142.5, -79.5 2025-10-27T03:38:47.139Z,1761536327.139 [DAT](INFO): got valid direction response: 03:38:48.0943 LVL= 22512, 12849, 22866, 24035, AGC= 36, IDX= 498, 0.29,-0.949,-0.764,-1.012, 0.464, PHS=-1.311,-1.182,-1.520, RAW= 7.9, 78.3, CAL= 7.5, 79.5, ROT= 142.5, -79.5 2025-10-27T03:38:47.139Z,1761536327.139 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T03:38:47.140Z,1761536327.140 [DAT](INFO): direction in FSK: [-0.144577,0.110938,0.983255] 2025-10-27T03:38:47.141Z,1761536327.141 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:47.150Z,1761536327.150 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.548210 2025-10-27T03:38:47.210Z,1761536327.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027299,0.999593,0.008334],[-0.997785,-0.026741,-0.060914],[-0.060666,-0.009978,0.998108]] 2025-10-27T03:38:47.308Z,1761536327.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.508118 s, deltaX: -0.100000 m, approachRate: -0.196805 m/s, rangeRepo size: 4 2025-10-27T03:38:47.310Z,1761536327.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796456 m, bearing: 33.487668 deg, lat: 36.779324 deg, lon: -121.859586 deg, deltaT: 0.508118 s, deltaX: -0.099557 m, approachRate: -0.195933 m/s, posRepo size: 4 2025-10-27T03:38:47.382Z,1761536327.382 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.779911 2025-10-27T03:38:47.633Z,1761536327.633 [DAT](INFO): DAT read: Rx Time:03:38:48.5944 2025-10-27T03:38:47.633Z,1761536327.633 [DAT](INFO): Rx dataTimestamp_ set to:1761536327.632749 2025-10-27T03:38:47.634Z,1761536327.634 [DAT](INFO): DAT read: Bearing 158.7, -0.2 (Local) 2025-10-27T03:38:47.635Z,1761536327.635 [DAT](INFO): Local bearing/azimuth received: Bearing 158.7, -0.2 (Local) 2025-10-27T03:38:47.637Z,1761536327.637 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:47.646Z,1761536327.646 [DAT](INFO): DAT read: 03:38:48.5944 LVL= 28016, 16049, 28050, 29747, AGC= 36, IDX= 500,-0.40,-2.726,-2.404,-2.579,-1.163, PHS=-1.462,-1.197,-1.460, RAW= 329.7, 79.7, CAL= 329.6, 80.7, ROT= 180.4, -80.7 2025-10-27T03:38:47.647Z,1761536327.647 [DAT](INFO): got valid direction response: 03:38:48.5944 LVL= 28016, 16049, 28050, 29747, AGC= 36, IDX= 500,-0.40,-2.726,-2.404,-2.579,-1.163, PHS=-1.462,-1.197,-1.460, RAW= 329.7, 79.7, CAL= 329.6, 80.7, ROT= 180.4, -80.7 2025-10-27T03:38:47.648Z,1761536327.648 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T03:38:47.649Z,1761536327.649 [DAT](INFO): direction in FSK: [-0.161600,-0.001128,0.986856] 2025-10-27T03:38:47.649Z,1761536327.649 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:47.657Z,1761536327.657 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.055340 2025-10-27T03:38:47.797Z,1761536327.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022881,0.999711,0.007394],[-0.997856,-0.022383,-0.061498],[-0.061315,-0.008785,0.998080]] 2025-10-27T03:38:47.848Z,1761536327.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503604 s, deltaX: 0.100000 m, approachRate: 0.198569 m/s, rangeRepo size: 4 2025-10-27T03:38:47.850Z,1761536327.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896018 m, bearing: 84.398133 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.503604 s, deltaX: 0.099562 m, approachRate: 0.197699 m/s, posRepo size: 4 2025-10-27T03:38:47.885Z,1761536327.885 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.283020 2025-10-27T03:38:48.136Z,1761536328.136 [DAT](INFO): DAT read: Rx Time:03:38:49.0943 2025-10-27T03:38:48.137Z,1761536328.137 [DAT](INFO): Rx dataTimestamp_ set to:1761536328.136632 2025-10-27T03:38:48.138Z,1761536328.138 [DAT](INFO): DAT read: Bearing 157.9, -1.4 (Local) 2025-10-27T03:38:48.139Z,1761536328.139 [DAT](INFO): Local bearing/azimuth received: Bearing 157.9, -1.4 (Local) 2025-10-27T03:38:48.141Z,1761536328.141 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:48.145Z,1761536328.145 [DAT](INFO): DAT read: 03:38:49.0943 LVL= 25472, 14513, 25138, 26483, AGC= 35, IDX= 499,-0.23, 1.575, 1.882, 1.762,-3.114, PHS=-1.492,-1.242,-1.451, RAW= 321.3, 81.1, CAL= 321.3, 82.0, ROT= 188.7, -82.0 2025-10-27T03:38:48.146Z,1761536328.146 [DAT](INFO): got valid direction response: 03:38:49.0943 LVL= 25472, 14513, 25138, 26483, AGC= 35, IDX= 499,-0.23, 1.575, 1.882, 1.762,-3.114, PHS=-1.492,-1.242,-1.451, RAW= 321.3, 81.1, CAL= 321.3, 82.0, ROT= 188.7, -82.0 2025-10-27T03:38:48.147Z,1761536328.147 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T03:38:48.148Z,1761536328.148 [DAT](INFO): direction in FSK: [-0.137572,-0.021051,0.990268] 2025-10-27T03:38:48.148Z,1761536328.148 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:48.152Z,1761536328.152 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.550224 2025-10-27T03:38:48.328Z,1761536328.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019609,0.999781,0.007307],[-0.998215,-0.019165,-0.056569],[-0.056417,-0.008403,0.998372]] 2025-10-27T03:38:48.389Z,1761536328.389 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.788048 2025-10-27T03:38:48.415Z,1761536328.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503883 s, deltaX: -0.100000 m, approachRate: -0.198459 m/s, rangeRepo size: 4 2025-10-27T03:38:48.426Z,1761536328.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796461 m, bearing: 97.745070 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.503883 s, deltaX: -0.099558 m, approachRate: -0.197581 m/s, posRepo size: 4 2025-10-27T03:38:48.641Z,1761536328.641 [DAT](INFO): DAT read: Rx Time:03:38:49.5944 2025-10-27T03:38:48.642Z,1761536328.642 [DAT](INFO): Rx dataTimestamp_ set to:1761536328.641350 2025-10-27T03:38:48.650Z,1761536328.650 [DAT](INFO): DAT read: Bearing 155.6, 6.6 (Local) 2025-10-27T03:38:48.651Z,1761536328.651 [DAT](INFO): Local bearing/azimuth received: Bearing 155.6, 6.6 (Local) 2025-10-27T03:38:48.654Z,1761536328.654 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:48.660Z,1761536328.660 [DAT](INFO): DAT read: 03:38:49.5944 LVL= 20464, 11937, 20130, 21219, AGC= 36, IDX= 500,-0.30,-1.357,-1.251,-1.443, 0.064, PHS=-1.319,-1.270,-1.551, RAW= 20.5, 79.9, CAL= 20.2, 81.0, ROT= 129.8, -81.0 2025-10-27T03:38:48.661Z,1761536328.661 [DAT](INFO): got valid direction response: 03:38:49.5944 LVL= 20464, 11937, 20130, 21219, AGC= 36, IDX= 500,-0.30,-1.357,-1.251,-1.443, 0.064, PHS=-1.319,-1.270,-1.551, RAW= 20.5, 79.9, CAL= 20.2, 81.0, ROT= 129.8, -81.0 2025-10-27T03:38:48.662Z,1761536328.662 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T03:38:48.663Z,1761536328.663 [DAT](INFO): direction in FSK: [-0.100135,0.120186,0.987688] 2025-10-27T03:38:48.670Z,1761536328.670 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:48.679Z,1761536328.679 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.073349 2025-10-27T03:38:48.893Z,1761536328.893 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.291630 2025-10-27T03:38:48.909Z,1761536328.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017913,0.999821,0.006047],[-0.998422,-0.017566,-0.053343],[-0.053227,-0.006993,0.998558]] 2025-10-27T03:38:49.009Z,1761536329.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504718 s, deltaX: 0.100000 m, approachRate: 0.198130 m/s, rangeRepo size: 4 2025-10-27T03:38:49.011Z,1761536329.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.896018 m, bearing: 19.451051 deg, lat: 36.779323 deg, lon: -121.859585 deg, deltaT: 0.504718 s, deltaX: 0.099558 m, approachRate: 0.197254 m/s, posRepo size: 4 2025-10-27T03:38:49.146Z,1761536329.146 [DAT](INFO): DAT read: Rx Time:03:38:50.0943 2025-10-27T03:38:49.147Z,1761536329.147 [DAT](INFO): Rx dataTimestamp_ set to:1761536329.145915 2025-10-27T03:38:49.149Z,1761536329.149 [DAT](INFO): DAT read: Bearing 157.6, 4.0 (Local) 2025-10-27T03:38:49.149Z,1761536329.149 [DAT](INFO): Local bearing/azimuth received: Bearing 157.6, 4.0 (Local) 2025-10-27T03:38:49.153Z,1761536329.153 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:49.167Z,1761536329.167 [DAT](INFO): DAT read: 03:38:50.0943 LVL= 22448, 13521, 21858, 23251, AGC= 35, IDX= 499,-0.17,-2.590,-2.399,-2.580,-1.131, PHS=-1.357,-1.223,-1.493, RAW= 0.2, 80.8, CAL= 359.9, 81.7, ROT= 150.1, -81.7 2025-10-27T03:38:49.169Z,1761536329.169 [DAT](INFO): got valid direction response: 03:38:50.0943 LVL= 22448, 13521, 21858, 23251, AGC= 35, IDX= 499,-0.17,-2.590,-2.399,-2.580,-1.131, PHS=-1.357,-1.223,-1.493, RAW= 0.2, 80.8, CAL= 359.9, 81.7, ROT= 150.1, -81.7 2025-10-27T03:38:49.169Z,1761536329.169 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T03:38:49.170Z,1761536329.170 [DAT](INFO): direction in FSK: [-0.125142,0.071960,0.989526] 2025-10-27T03:38:49.170Z,1761536329.170 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:49.179Z,1761536329.179 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.577213 2025-10-27T03:38:49.396Z,1761536329.396 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.794689 2025-10-27T03:38:49.504Z,1761536329.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022010,0.999752,0.003338],[-0.998899,-0.021852,-0.041522],[-0.041438,-0.004248,0.999132]] 2025-10-27T03:38:49.561Z,1761536329.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504565 s, deltaX: -0.100000 m, approachRate: -0.198190 m/s, rangeRepo size: 4 2025-10-27T03:38:49.563Z,1761536329.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 0.796461 m, bearing: 46.552608 deg, lat: 36.779323 deg, lon: -121.859586 deg, deltaT: 0.504565 s, deltaX: -0.099558 m, approachRate: -0.197314 m/s, posRepo size: 4 2025-10-27T03:38:49.565Z,1761536329.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 0.80 m. Lat: 36.779323 Lon: -121.859586 Reached intercept timeout. 2025-10-27T03:38:49.565Z,1761536329.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-10-27T03:38:49.565Z,1761536329.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-27T03:38:49.565Z,1761536329.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2025-10-27T03:38:49.650Z,1761536329.650 [DAT](INFO): DAT read: Rx Time:03:38:50.5947 2025-10-27T03:38:49.650Z,1761536329.650 [DAT](INFO): Rx dataTimestamp_ set to:1761536329.650052 2025-10-27T03:38:49.652Z,1761536329.652 [DAT](INFO): DAT read: Bearing 156.9, 7.2 (Local) 2025-10-27T03:38:49.653Z,1761536329.653 [DAT](INFO): Local bearing/azimuth received: Bearing 156.9, 7.2 (Local) 2025-10-27T03:38:49.656Z,1761536329.656 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2025-10-27T03:38:49.661Z,1761536329.661 [DAT](INFO): DAT read: 03:38:50.5947 LVL= 19776, 12593, 19442, 20851, AGC= 35, IDX= 500,-0.14, 0.058, 0.171,-0.036, 1.434, PHS=-1.274,-1.218,-1.514, RAW= 19.8, 79.1, CAL= 19.4, 80.3, ROT= 130.6, -80.3 2025-10-27T03:38:49.662Z,1761536329.662 [DAT](INFO): got valid direction response: 03:38:50.5947 LVL= 19776, 12593, 19442, 20851, AGC= 35, IDX= 500,-0.14, 0.058, 0.171,-0.036, 1.434, PHS=-1.274,-1.218,-1.514, RAW= 19.8, 79.1, CAL= 19.4, 80.3, ROT= 130.6, -80.3 2025-10-27T03:38:49.662Z,1761536329.662 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T03:38:49.663Z,1761536329.663 [DAT](INFO): direction in FSK: [-0.109649,0.127929,0.985703] 2025-10-27T03:38:49.664Z,1761536329.664 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:49.668Z,1761536329.668 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.066326 2025-10-27T03:38:49.900Z,1761536329.900 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.298702 2025-10-27T03:38:49.993Z,1761536329.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete. 2025-10-27T03:38:49.993Z,1761536329.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2025-10-27T03:38:49.993Z,1761536329.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1 2025-10-27T03:38:50.152Z,1761536330.152 [DAT](INFO): DAT read: Rx Time:03:38:51.0944 2025-10-27T03:38:50.153Z,1761536330.153 [DAT](INFO): Rx dataTimestamp_ set to:1761536330.152524 2025-10-27T03:38:50.154Z,1761536330.154 [DAT](INFO): DAT read: Bearing 156.1, 7.4 (Local) 2025-10-27T03:38:50.154Z,1761536330.154 [DAT](INFO): Local bearing/azimuth received: Bearing 156.1, 7.4 (Local) 2025-10-27T03:38:50.157Z,1761536330.157 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:50.161Z,1761536330.161 [DAT](INFO): DAT read: 03:38:51.0944 LVL= 21536, 13713, 21442, 23075, AGC= 35, IDX= 499,-0.06,-1.067,-0.991,-1.170, 0.282, PHS=-1.247,-1.228,-1.496, RAW= 26.3, 79.6, CAL= 25.9, 80.7, ROT= 124.1, -80.7 2025-10-27T03:38:50.162Z,1761536330.162 [DAT](INFO): got valid direction response: 03:38:51.0944 LVL= 21536, 13713, 21442, 23075, AGC= 35, IDX= 499,-0.06,-1.067,-0.991,-1.170, 0.282, PHS=-1.247,-1.228,-1.496, RAW= 26.3, 79.6, CAL= 25.9, 80.7, ROT= 124.1, -80.7 2025-10-27T03:38:50.162Z,1761536330.162 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T03:38:50.163Z,1761536330.163 [DAT](INFO): direction in FSK: [-0.090601,0.133818,0.986856] 2025-10-27T03:38:50.164Z,1761536330.164 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:50.167Z,1761536330.167 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.565979 2025-10-27T03:38:50.404Z,1761536330.404 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.802574 2025-10-27T03:38:50.499Z,1761536330.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped 2025-10-27T03:38:50.500Z,1761536330.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T03:38:50.500Z,1761536330.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-27T03:38:50.500Z,1761536330.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T03:38:50.501Z,1761536330.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-27T03:38:50.501Z,1761536330.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T03:38:50.501Z,1761536330.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-27T03:38:50.501Z,1761536330.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-27T03:38:50.501Z,1761536330.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-27T03:38:50.501Z,1761536330.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-27T03:38:50.501Z,1761536330.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T03:38:50.657Z,1761536330.657 [DAT](INFO): DAT read: Rx Time:03:38:51.5944 2025-10-27T03:38:50.657Z,1761536330.657 [DAT](INFO): Rx dataTimestamp_ set to:1761536330.656754 2025-10-27T03:38:50.658Z,1761536330.658 [DAT](INFO): DAT read: Bearing 155.4, 9.3 (Local) 2025-10-27T03:38:50.659Z,1761536330.659 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, 9.3 (Local) 2025-10-27T03:38:50.661Z,1761536330.661 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:50.665Z,1761536330.665 [DAT](INFO): DAT read: 03:38:51.5944 LVL= 21232, 13793, 21058, 23155, AGC= 35, IDX= 499, 0.01, 0.400, 0.421, 0.241, 1.686, PHS=-1.184,-1.220,-1.489, RAW= 36.2, 78.1, CAL= 35.7, 79.5, ROT= 114.3, -79.5 2025-10-27T03:38:50.666Z,1761536330.666 [DAT](INFO): got valid direction response: 03:38:51.5944 LVL= 21232, 13793, 21058, 23155, AGC= 35, IDX= 499, 0.01, 0.400, 0.421, 0.241, 1.686, PHS=-1.184,-1.220,-1.489, RAW= 36.2, 78.1, CAL= 35.7, 79.5, ROT= 114.3, -79.5 2025-10-27T03:38:50.667Z,1761536330.667 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T03:38:50.668Z,1761536330.668 [DAT](INFO): direction in FSK: [-0.074993,0.166090,0.983255] 2025-10-27T03:38:50.668Z,1761536330.668 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:50.676Z,1761536330.676 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.074867 2025-10-27T03:38:50.786Z,1761536330.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023637,0.999719,0.001739],[-0.999376,-0.023584,-0.026296],[-0.026248,-0.002360,0.999653]] 2025-10-27T03:38:50.837Z,1761536330.837 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-10-27T03:38:50.837Z,1761536330.837 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-27T03:38:50.837Z,1761536330.837 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-27T03:38:50.837Z,1761536330.837 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-27T03:38:50.837Z,1761536330.837 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1 2025-10-27T03:38:50.837Z,1761536330.837 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-27T03:38:50.838Z,1761536330.838 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings. 2025-10-27T03:38:50.838Z,1761536330.838 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped 2025-10-27T03:38:50.838Z,1761536330.838 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1 2025-10-27T03:38:50.851Z,1761536330.851 [lineCaptureHoming:LineCapture:HomingSequence] Stopped 2025-10-27T03:38:50.851Z,1761536330.851 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-27T03:38:50.851Z,1761536330.851 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped 2025-10-27T03:38:50.851Z,1761536330.851 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-27T03:38:50.851Z,1761536330.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-27T03:38:50.851Z,1761536330.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T03:38:50.852Z,1761536330.852 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1 2025-10-27T03:38:50.852Z,1761536330.852 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component. 2025-10-27T03:38:50.912Z,1761536330.912 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.309677 2025-10-27T03:38:51.160Z,1761536331.160 [DAT](INFO): DAT read: Rx Time:03:38:52.0943 2025-10-27T03:38:51.161Z,1761536331.161 [DAT](INFO): Rx dataTimestamp_ set to:1761536331.160662 2025-10-27T03:38:51.162Z,1761536331.162 [DAT](INFO): DAT read: Bearing 152.9, 10.9 (Local) 2025-10-27T03:38:51.163Z,1761536331.163 [DAT](INFO): Local bearing/azimuth received: Bearing 152.9, 10.9 (Local) 2025-10-27T03:38:51.165Z,1761536331.165 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:51.169Z,1761536331.169 [DAT](INFO): DAT read: 03:38:52.0943 LVL= 20704, 13809, 20370, 22707, AGC= 34, IDX= 498, 0.09, 0.010,-0.068,-0.198, 1.240, PHS=-1.128,-1.264,-1.483, RAW= 52.2, 77.3, CAL= 51.4, 78.7, ROT= 98.6, -78.7 2025-10-27T03:38:51.170Z,1761536331.170 [DAT](INFO): got valid direction response: 03:38:52.0943 LVL= 20704, 13809, 20370, 22707, AGC= 34, IDX= 498, 0.09, 0.010,-0.068,-0.198, 1.240, PHS=-1.128,-1.264,-1.483, RAW= 52.2, 77.3, CAL= 51.4, 78.7, ROT= 98.6, -78.7 2025-10-27T03:38:51.171Z,1761536331.171 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T03:38:51.172Z,1761536331.172 [DAT](INFO): direction in FSK: [-0.029301,0.193743,0.980615] 2025-10-27T03:38:51.172Z,1761536331.172 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:51.201Z,1761536331.201 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.599731 2025-10-27T03:38:51.279Z,1761536331.279 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped 2025-10-27T03:38:51.279Z,1761536331.279 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1 2025-10-27T03:38:51.416Z,1761536331.416 [DAT](INFO): DAT read: Rx Time:03:38:52.5944 2025-10-27T03:38:51.418Z,1761536331.418 [DAT](INFO): Rx dataTimestamp_ set to:1761536331.417041 2025-10-27T03:38:51.422Z,1761536331.422 [DAT](INFO): DAT read: Bearing 148.5, 13.4 (Local) 2025-10-27T03:38:51.426Z,1761536331.426 [DAT](INFO): Local bearing/azimuth received: Bearing 148.5, 13.4 (Local) 2025-10-27T03:38:51.428Z,1761536331.428 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.826263 2025-10-27T03:38:51.593Z,1761536331.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026298,0.999650,0.002764],[-0.999502,-0.026245,-0.017547],[-0.017468,-0.003225,0.999842]] 2025-10-27T03:38:51.616Z,1761536331.616 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped 2025-10-27T03:38:51.617Z,1761536331.617 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-27T03:38:51.617Z,1761536331.617 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped 2025-10-27T03:38:51.617Z,1761536331.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:51.665Z,1761536331.665 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:51.670Z,1761536331.670 [DAT](INFO): DAT read: 03:38:52.5944 LVL= 18240, 12097, 18402, 19907, AGC= 34, IDX= 499, 0.18, 2.061, 1.810, 1.758,-3.093, PHS=-1.027,-1.335,-1.476, RAW= 72.2, 73.7, CAL= 70.9, 75.9, ROT= 79.1, -75.9 2025-10-27T03:38:51.671Z,1761536331.671 [DAT](INFO): got valid direction response: 03:38:52.5944 LVL= 18240, 12097, 18402, 19907, AGC= 34, IDX= 499, 0.18, 2.061, 1.810, 1.758,-3.093, PHS=-1.027,-1.335,-1.476, RAW= 72.2, 73.7, CAL= 70.9, 75.9, ROT= 79.1, -75.9 2025-10-27T03:38:51.672Z,1761536331.672 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T03:38:51.673Z,1761536331.673 [DAT](INFO): direction in FSK: [0.046067,0.239220,0.969872] 2025-10-27T03:38:51.673Z,1761536331.673 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:51.680Z,1761536331.680 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.079037 2025-10-27T03:38:51.920Z,1761536331.920 [DAT](INFO): DAT read: Rx Time:03:38:53.0943 2025-10-27T03:38:51.921Z,1761536331.921 [DAT](INFO): Rx dataTimestamp_ set to:1761536331.920349 2025-10-27T03:38:51.925Z,1761536331.925 [DAT](INFO): DAT read: Bearing 142.8, 15.4 (Local) 2025-10-27T03:38:51.927Z,1761536331.927 [DAT](INFO): Local bearing/azimuth received: Bearing 142.8, 15.4 (Local) 2025-10-27T03:38:51.929Z,1761536331.929 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.326992 2025-10-27T03:38:51.998Z,1761536331.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026406,0.999644,0.003912],[-0.999539,-0.026344,-0.015071],[-0.014962,-0.004308,0.999879]] 2025-10-27T03:38:52.173Z,1761536332.173 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:52.182Z,1761536332.182 [DAT](INFO): DAT read: 03:38:53.0943 LVL= 18016, 11857, 19586, 20451, AGC= 34, IDX= 498, 0.31, 0.279,-0.186,-0.120, 1.323, PHS=-0.942,-1.463,-1.487, RAW= 87.8, 68.8, CAL= 87.1, 71.9, ROT= 62.9, -71.9 2025-10-27T03:38:52.217Z,1761536332.217 [DAT](INFO): got valid direction response: 03:38:53.0943 LVL= 18016, 11857, 19586, 20451, AGC= 34, IDX= 498, 0.31, 0.279,-0.186,-0.120, 1.323, PHS=-0.942,-1.463,-1.487, RAW= 87.8, 68.8, CAL= 87.1, 71.9, ROT= 62.9, -71.9 2025-10-27T03:38:52.218Z,1761536332.218 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T03:38:52.234Z,1761536332.234 [DAT](INFO): direction in FSK: [0.141527,0.276568,0.950516] 2025-10-27T03:38:52.235Z,1761536332.235 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:52.239Z,1761536332.239 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.637115 2025-10-27T03:38:52.405Z,1761536332.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029727,0.999558,0.000771],[-0.999486,-0.029715,-0.012057],[-0.012028,-0.001129,0.999927]] 2025-10-27T03:38:52.424Z,1761536332.424 [DAT](INFO): DAT read: Rx Time:03:38:53.5944 2025-10-27T03:38:52.426Z,1761536332.426 [DAT](INFO): Rx dataTimestamp_ set to:1761536332.424908 2025-10-27T03:38:52.430Z,1761536332.430 [DAT](INFO): DAT read: Bearing 136.2, 17.3 (Local) 2025-10-27T03:38:52.431Z,1761536332.431 [DAT](INFO): Local bearing/azimuth received: Bearing 136.2, 17.3 (Local) 2025-10-27T03:38:52.441Z,1761536332.441 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:52.466Z,1761536332.466 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-27T03:38:52.476Z,1761536332.476 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.874233 2025-10-27T03:38:52.676Z,1761536332.676 [DAT](INFO): DAT read: 03:38:53.5944 LVL= 17824, 11345, 18418, 19427, AGC= 32, IDX= 500,-0.48, 0.168,-0.551,-0.324, 1.133, PHS=-0.863,-1.639,-1.501, RAW= 99.6, 63.1, CAL= 98.5, 66.7, ROT= 51.5, -66.7 2025-10-27T03:38:52.677Z,1761536332.677 [DAT](INFO): got valid direction response: 03:38:53.5944 LVL= 17824, 11345, 18418, 19427, AGC= 32, IDX= 500,-0.48, 0.168,-0.551,-0.324, 1.133, PHS=-0.863,-1.639,-1.501, RAW= 99.6, 63.1, CAL= 98.5, 66.7, ROT= 51.5, -66.7 2025-10-27T03:38:52.677Z,1761536332.677 [DAT](INFO): #Rx 116: Read direction message, but no range. 2025-10-27T03:38:52.678Z,1761536332.678 [DAT](INFO): direction in FSK: [0.246233,0.309557,0.918446] 2025-10-27T03:38:52.685Z,1761536332.685 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.084011 2025-10-27T03:38:52.928Z,1761536332.928 [DAT](INFO): DAT read: Rx Time:03:38:54.0944 2025-10-27T03:38:52.930Z,1761536332.930 [DAT](INFO): Rx dataTimestamp_ set to:1761536332.928764 2025-10-27T03:38:52.934Z,1761536332.934 [DAT](INFO): DAT read: Bearing 131.8, 18.8 (Local) 2025-10-27T03:38:52.935Z,1761536332.935 [DAT](INFO): Local bearing/azimuth received: Bearing 131.8, 18.8 (Local) 2025-10-27T03:38:52.950Z,1761536332.950 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:52.953Z,1761536332.953 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-27T03:38:52.971Z,1761536332.971 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.370033 2025-10-27T03:38:53.003Z,1761536333.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031488,0.999504,-0.000452],[-0.999454,-0.031491,-0.009992],[-0.010001,0.000137,0.999950]] 2025-10-27T03:38:53.180Z,1761536333.180 [DAT](INFO): DAT read: 03:38:54.0944 LVL= 18016, 10961, 18834, 18803, AGC= 31, IDX= 499,-0.29,-1.651,-2.565,-2.218,-0.752, PHS=-0.797,-1.768,-1.510, RAW= 104.9, 58.8, CAL= 103.4, 63.0, ROT= 46.6, -63.0 2025-10-27T03:38:53.181Z,1761536333.181 [DAT](INFO): got valid direction response: 03:38:54.0944 LVL= 18016, 10961, 18834, 18803, AGC= 31, IDX= 499,-0.29,-1.651,-2.565,-2.218,-0.752, PHS=-0.797,-1.768,-1.510, RAW= 104.9, 58.8, CAL= 103.4, 63.0, ROT= 46.6, -63.0 2025-10-27T03:38:53.181Z,1761536333.181 [DAT](INFO): #Rx 118: Read direction message, but no range. 2025-10-27T03:38:53.182Z,1761536333.182 [DAT](INFO): direction in FSK: [0.311931,0.329858,0.891007] 2025-10-27T03:38:53.186Z,1761536333.186 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.584343 2025-10-27T03:38:53.431Z,1761536333.431 [DAT](INFO): DAT read: Rx Time:03:38:54.5945 2025-10-27T03:38:53.432Z,1761536333.432 [DAT](INFO): Rx dataTimestamp_ set to:1761536333.431419 2025-10-27T03:38:53.435Z,1761536333.435 [DAT](INFO): DAT read: Bearing 127.8, 19.1 (Local) 2025-10-27T03:38:53.436Z,1761536333.436 [DAT](INFO): Local bearing/azimuth received: Bearing 127.8, 19.1 (Local) 2025-10-27T03:38:53.440Z,1761536333.440 [DAT](INFO): DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-27T03:38:53.442Z,1761536333.442 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-27T03:38:53.462Z,1761536333.462 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.860054 2025-10-27T03:38:53.485Z,1761536333.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039159,0.999233,-0.000328],[-0.999224,-0.039160,-0.004213],[-0.004223,0.000162,0.999991]] 2025-10-27T03:38:53.697Z,1761536333.697 [DAT](INFO): DAT read: 03:38:54.5945 LVL= 15856, 10033, 18802, 18867, AGC= 31, IDX= 500,-0.17,-0.414,-1.526,-1.034, 0.434, PHS=-0.747,-1.915,-1.513, RAW= 109.8, 55.1, CAL= 108.0, 59.8, ROT= 42.0, -59.8 2025-10-27T03:38:53.698Z,1761536333.698 [DAT](INFO): got valid direction response: 03:38:54.5945 LVL= 15856, 10033, 18802, 18867, AGC= 31, IDX= 500,-0.17,-0.414,-1.526,-1.034, 0.434, PHS=-0.747,-1.915,-1.513, RAW= 109.8, 55.1, CAL= 108.0, 59.8, ROT= 42.0, -59.8 2025-10-27T03:38:53.699Z,1761536333.699 [DAT](INFO): #Rx 120: Read direction message, but no range. 2025-10-27T03:38:53.700Z,1761536333.700 [DAT](INFO): direction in FSK: [0.373817,0.336586,0.864275] 2025-10-27T03:38:53.704Z,1761536333.704 [DockingStepper](FAULT): Timed out moving from: 13072 to: 14900 response: ÿ 2025-10-27T03:38:53.704Z,1761536333.704 [DockingStepper] Hardware Fault, FailCount= 2 2025-10-27T03:38:53.704Z,1761536333.704 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:38:53.709Z,1761536333.709 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:38:53.709Z,1761536333.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:38:53.709Z,1761536333.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:38:53.718Z,1761536333.718 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:38:53.814Z,1761536333.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038468,0.999260,-0.000798],[-0.999250,-0.038471,-0.004381],[-0.004408,0.000629,0.999990]] 2025-10-27T03:38:53.836Z,1761536333.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:53.848Z,1761536333.848 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:38:53.848Z,1761536333.848 [DockingStepper](INFO): Powering down 2025-10-27T03:38:53.935Z,1761536333.935 [DAT](INFO): DAT read: Rx Time:03:38:55.0944 2025-10-27T03:38:53.936Z,1761536333.936 [DAT](INFO): Rx dataTimestamp_ set to:1761536333.935563 2025-10-27T03:38:53.939Z,1761536333.939 [DAT](INFO): DAT read: Bearing 125.3, 19.7 (Local) 2025-10-27T03:38:53.940Z,1761536333.940 [DAT](INFO): Local bearing/azimuth received: Bearing 125.3, 19.7 (Local) 2025-10-27T03:38:53.945Z,1761536333.945 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:53.947Z,1761536333.947 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T03:38:53.949Z,1761536333.949 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:53.950Z,1761536333.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:38:54.224Z,1761536334.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037705,0.999289,0.000002],[-0.999277,-0.037704,-0.004817],[-0.004814,-0.000183,0.999988]] 2025-10-27T03:38:54.239Z,1761536334.239 [DAT](INFO): DAT read: 03:38:55.0944 LVL= 16080, 9921, 18210, 18659, AGC= 32, IDX= 499,-0.07,-0.798,-2.034,-1.460, 0.007, PS-073,-1.997,-1.511, RAW= 111.8, 52.7, CAL= 109.8, 57.8, ROT= 40.2, -57.8 2025-10-27T03:38:54.240Z,1761536334.240 [DAT](INFO): unknown deviceResponse_: 03:38:55.0944 LVL= 16080, 9921, 18210, 18659, AGC= 32, IDX= 499,-0.07,-0.798,-2.034,-1.460, 0.007, PS-073,-1.997,-1.511, RAW= 111.8, 52.7, CAL= 109.8, 57.8, ROT= 40.2, -57.8 2025-10-27T03:38:54.240Z,1761536334.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:54.306Z,1761536334.306 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting. 2025-10-27T03:38:54.306Z,1761536334.306 [lineCaptureHoming:LineCapture:L.Wait] Stopped 2025-10-27T03:38:54.307Z,1761536334.307 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component. 2025-10-27T03:38:54.311Z,1761536334.311 [lineCaptureHoming:LineCapture:M] Running Loop=1 2025-10-27T03:38:54.440Z,1761536334.440 [DAT](INFO): DAT read: Rx Time:03:38:55.5944 2025-10-27T03:38:54.441Z,1761536334.441 [DAT](INFO): Rx dataTimestamp_ set to:1761536334.440591 2025-10-27T03:38:54.445Z,1761536334.445 [DAT](INFO): DAT read: Bearing 123.1, 19.7 (Local) 2025-10-27T03:38:54.445Z,1761536334.445 [DAT](INFO): Local bearing/azimuth received: Bearing 123.1, 19.7 (Local) 2025-10-27T03:38:54.450Z,1761536334.450 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:54.496Z,1761536334.496 [DAT](INFO): DAT read: 03:38:55.5944 LVL= 15088, 9553, 18642, 17891, AGC= 32, IDX= 499, 0.01,-0.112,-1.477,-0.810, 0.659, PHS=-0.669,-2.091,-1.512, RAW= 113.9, 50.6, CAL= 112.0, 56.2, ROT= 38.0, -56.2 2025-10-27T03:38:54.497Z,1761536334.497 [DAT](INFO): got valid direction response: 03:38:55.5944 LVL= 15088, 9553, 18642, 17891, AGC= 32, IDX= 499, 0.01,-0.112,-1.477,-0.810, 0.659, PHS=-0.669,-2.091,-1.512, RAW= 113.9, 50.6, CAL= 112.0, 56.2, ROT= 38.0, -56.2 2025-10-27T03:38:54.498Z,1761536334.498 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:38:54.499Z,1761536334.499 [DAT](INFO): direction in FSK: [0.438367,0.342490,0.830984] 2025-10-27T03:38:54.499Z,1761536334.499 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:54.503Z,1761536334.503 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:54.508Z,1761536334.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:38:54.624Z,1761536334.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035469,0.999368,0.002417],[-0.999352,-0.035453,-0.006221],[-0.006131,-0.002636,0.999978]] 2025-10-27T03:38:54.648Z,1761536334.648 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 2025-10-27T03:38:54.648Z,1761536334.648 [lineCaptureHoming:LineCapture:M] Stopped 2025-10-27T03:38:54.650Z,1761536334.650 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture 2025-10-27T03:38:54.650Z,1761536334.650 [lineCaptureHoming:LineCapture] Stopped 2025-10-27T03:38:54.650Z,1761536334.650 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture 2025-10-27T03:38:54.650Z,1761536334.650 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped 2025-10-27T03:38:54.650Z,1761536334.650 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-27T03:38:54.650Z,1761536334.650 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:G] Stopped 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:H] Stopped 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:HoldMass] Stopped 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass 2025-10-27T03:38:54.651Z,1761536334.651 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped 2025-10-27T03:38:54.652Z,1761536334.652 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped 2025-10-27T03:38:54.652Z,1761536334.652 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize. 2025-10-27T03:38:54.652Z,1761536334.652 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T03:38:54.652Z,1761536334.652 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T03:38:54.652Z,1761536334.652 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T03:38:54.652Z,1761536334.652 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T03:38:54.695Z,1761536334.695 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:54.953Z,1761536334.953 [DAT](INFO): DAT read: Rx Time:03:38:56.0943 2025-10-27T03:38:54.954Z,1761536334.954 [DAT](INFO): Rx dataTimestamp_ set to:1761536334.952997 2025-10-27T03:38:54.957Z,1761536334.957 [DAT](INFO): DAT read: Bearing 121.8, 19.5 (Local) 2025-10-27T03:38:54.958Z,1761536334.958 [DAT](INFO): Local bearing/azimuth received: Bearing 121.8, 19.5 (Local) 2025-10-27T03:38:54.964Z,1761536334.964 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:54.966Z,1761536334.966 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T03:38:54.968Z,1761536334.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:54.968Z,1761536334.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:38:55.026Z,1761536335.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033003,0.999444,0.004657],[-0.999424,-0.032965,-0.008069],[-0.007911,-0.004921,0.999957]] 2025-10-27T03:38:55.085Z,1761536335.085 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B 2025-10-27T03:38:55.085Z,1761536335.085 [lineCaptureHoming:Lap:B] Stopped 2025-10-27T03:38:55.086Z,1761536335.086 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B 2025-10-27T03:38:55.086Z,1761536335.086 [lineCaptureHoming:Lap:C] Running Loop=1 2025-10-27T03:38:55.206Z,1761536335.206 [DAT](INFO): DAT read: 03:38:56.0943 LVL= 15328, 9249, 19314, 17747, AGC= 32, IDX= 498, 0.11,-0.627,-2.076,-1.346, 0.118, PHS=-0.643,-2.149,-1.508, RAW= 115.1, 49.3, CAL= 113.3, 55.2, ROT= 36.7, -55.2 2025-10-27T03:38:55.207Z,1761536335.207 [DAT](INFO): got valid direction response: 03:38:56.0943 LVL= 15328, 9249, 19314, 17747, AGC= 32, IDX= 498, 0.11,-0.627,-2.076,-1.346, 0.118, PHS=-0.643,-2.149,-1.508, RAW= 115.1, 49.3, CAL= 113.3, 55.2, ROT= 36.7, -55.2 2025-10-27T03:38:55.207Z,1761536335.207 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T03:38:55.208Z,1761536335.208 [DAT](INFO): direction in FSK: [0.457584,0.341073,0.821149] 2025-10-27T03:38:55.211Z,1761536335.211 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:55.456Z,1761536335.456 [DAT](INFO): DAT read: Rx Time:03:38:56.5944 2025-10-27T03:38:55.457Z,1761536335.457 [DAT](INFO): Rx dataTimestamp_ set to:1761536335.456421 2025-10-27T03:38:55.461Z,1761536335.461 [DAT](INFO): DAT read: Bearing 121.1, 19.4 (Local) 2025-10-27T03:38:55.462Z,1761536335.462 [DAT](INFO): Local bearing/azimuth received: Bearing 121.1, 19.4 (Local) 2025-10-27T03:38:55.478Z,1761536335.478 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:55.487Z,1761536335.487 [DAT](INFO): DAT read: 03:38:56.5944 LVL= 15200, 9633, 19650, 17955, AGC= 31, IDX= 499, 0.20, 0.487,-1.024,-0.255, 1.221, PHS=-0.632,-2.199,-1.519, RAW= 115.6, 48.5, CAL= 113.9, 54.6, ROT= 36.1, -54.6 2025-10-27T03:38:55.489Z,1761536335.489 [DAT](INFO): got valid direction response: 03:38:56.5944 LVL= 15200, 9633, 19650, 17955, AGC= 31, IDX= 499, 0.20, 0.487,-1.024,-0.255, 1.221, PHS=-0.632,-2.199,-1.519, RAW= 115.6, 48.5, CAL= 113.9, 54.6, ROT= 36.1, -54.6 2025-10-27T03:38:55.489Z,1761536335.489 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T03:38:55.490Z,1761536335.490 [DAT](INFO): direction in FSK: [0.468053,0.341310,0.815128] 2025-10-27T03:38:55.490Z,1761536335.490 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:55.505Z,1761536335.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030251,0.999521,0.006475],[-0.999486,-0.030180,-0.010811],[-0.010610,-0.006799,0.999921]] 2025-10-27T03:38:55.510Z,1761536335.510 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:38:55.510Z,1761536335.510 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:38:55.510Z,1761536335.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:38:55.603Z,1761536335.603 [lineCaptureHoming:Lap:C] Stopped 2025-10-27T03:38:55.603Z,1761536335.603 [lineCaptureHoming:Lap:D] Running Loop=1 2025-10-27T03:38:55.704Z,1761536335.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:55.833Z,1761536335.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027565,0.999596,0.006998],[-0.999520,-0.027462,-0.014309],[-0.014111,-0.007389,0.999873]] 2025-10-27T03:38:55.894Z,1761536335.894 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 2025-10-27T03:38:55.894Z,1761536335.894 [lineCaptureHoming:Lap:D] Stopped 2025-10-27T03:38:55.894Z,1761536335.894 [lineCaptureHoming:Lap:E] Running Loop=1 2025-10-27T03:38:55.894Z,1761536335.894 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E 2025-10-27T03:38:55.899Z,1761536335.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T03:38:55.959Z,1761536335.959 [DAT](INFO): DAT read: Rx Time:03:38:57.0943 2025-10-27T03:38:55.961Z,1761536335.961 [DAT](INFO): Rx dataTimestamp_ set to:1761536335.959888 2025-10-27T03:38:55.965Z,1761536335.965 [DAT](INFO): DAT read: Bearing 121.6, 18.9 (Local) 2025-10-27T03:38:55.966Z,1761536335.966 [DAT](INFO): Local bearing/azimuth received: Bearing 121.6, 18.9 (Local) 2025-10-27T03:38:55.969Z,1761536335.969 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 2025-10-27T03:38:55.974Z,1761536335.974 [DAT](INFO): DAT read: 03:38:57.0943 LVL= 16800, 11281, 19890, 20371, AGC= 33, IDX= 498, 0.32,-0.827,-2.307,-1.546,-0.075, PHS=-0.649,-2.187,-1.515, RAW= 115.8, 49.0, CAL= 114.2, 55.1, ROT= 35.8, -55.1 2025-10-27T03:38:55.975Z,1761536335.975 [DAT](INFO): got valid direction response: 03:38:57.0943 LVL= 16800, 11281, 19890, 20371, AGC= 33, IDX= 498, 0.32,-0.827,-2.307,-1.546,-0.075, PHS=-0.649,-2.187,-1.515, RAW= 115.8, 49.0, CAL= 114.2, 55.1, ROT= 35.8, -55.1 2025-10-27T03:38:55.975Z,1761536335.975 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:38:55.976Z,1761536335.976 [DAT](INFO): direction in FSK: [0.464047,0.334681,0.820152] 2025-10-27T03:38:55.976Z,1761536335.976 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:55.980Z,1761536335.980 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:55.980Z,1761536335.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:38:56.211Z,1761536336.211 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:56.244Z,1761536336.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024870,0.999659,0.007925],[-0.999523,-0.024720,-0.018507],[-0.018304,-0.008381,0.999797]] 2025-10-27T03:38:56.298Z,1761536336.298 [lineCaptureHoming:restartDHCP] Running Loop=1 2025-10-27T03:38:56.298Z,1761536336.298 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP 2025-10-27T03:38:56.298Z,1761536336.298 [lineCaptureHoming:restartDHCP:A] Running Loop=1 2025-10-27T03:38:56.298Z,1761536336.298 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP... 2025-10-27T03:38:56.298Z,1761536336.298 [lineCaptureHoming:restartDHCP:A] Stopped 2025-10-27T03:38:56.298Z,1761536336.298 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1 2025-10-27T03:38:56.464Z,1761536336.464 [DAT](INFO): DAT read: Rx Time:03:38:57.5944 2025-10-27T03:38:56.465Z,1761536336.465 [DAT](INFO): Rx dataTimestamp_ set to:1761536336.464539 2025-10-27T03:38:56.469Z,1761536336.469 [DAT](INFO): DAT read: Bearing 123.0, 18.2 (Local) 2025-10-27T03:38:56.469Z,1761536336.469 [DAT](INFO): Local bearing/azimuth received: Bearing 123.0, 18.2 (Local) 2025-10-27T03:38:56.472Z,1761536336.472 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 2025-10-27T03:38:56.476Z,1761536336.476 [DAT](INFO): DAT read: 03:38:57.5944 LVL= 16240, 10737, 19794, 20963, AGC= 32, IDX= 499, 0.49, 0.232,-1.152,-0.443, 1.023, PHS=-0.689,-2.130,-1.510, RAW= 115.4, 50.7, CAL= 113.7, 56.5, ROT= 36.3, -56.5 2025-10-27T03:38:56.477Z,1761536336.477 [DAT](INFO): got valid direction response: 03:38:57.5944 LVL= 16240, 10737, 19794, 20963, AGC= 32, IDX= 499, 0.49, 0.232,-1.152,-0.443, 1.023, PHS=-0.689,-2.130,-1.510, RAW= 115.4, 50.7, CAL= 113.7, 56.5, ROT= 36.3, -56.5 2025-10-27T03:38:56.478Z,1761536336.478 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:38:56.479Z,1761536336.479 [DAT](INFO): direction in FSK: [0.444822,0.326754,0.833886] 2025-10-27T03:38:56.479Z,1761536336.479 [DAT](INFO): publishing direction and range info 2025-10-27T03:38:56.482Z,1761536336.482 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:56.483Z,1761536336.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:38:56.646Z,1761536336.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022229,0.999714,0.008776],[-0.999491,-0.022022,-0.023084],[-0.022884,-0.009285,0.999695]] 2025-10-27T03:38:56.694Z,1761536336.694 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-27T03:38:56.694Z,1761536336.694 [lineCaptureHoming:restartDHCP:B.Execute] Stopped 2025-10-27T03:38:56.694Z,1761536336.694 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP 2025-10-27T03:38:56.694Z,1761536336.694 [lineCaptureHoming:restartDHCP] Stopped 2025-10-27T03:38:56.695Z,1761536336.695 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP 2025-10-27T03:38:56.712Z,1761536336.712 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:38:56.785Z,1761536336.785 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-27T03:38:56.965Z,1761536336.965 [DAT](INFO): DAT read: user:409> 2025-10-27T03:38:56.966Z,1761536336.966 [DAT](INFO): DAT read: Command 'tr50' not found 2025-10-27T03:38:56.966Z,1761536336.966 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found 2025-10-27T03:38:56.967Z,1761536336.967 [DAT](INFO): DAT read: Error 2025-10-27T03:38:56.985Z,1761536336.985 [DAT](INFO): unknown deviceResponse_: Error 2025-10-27T03:38:56.985Z,1761536336.985 [DAT](INFO): DAT read: user:410> 2025-10-27T03:38:56.986Z,1761536336.986 [DAT](INFO): DAT read: Tx time:03:38:58.5130 2025-10-27T03:38:56.986Z,1761536336.986 [DAT](INFO): Ping request sent. 2025-10-27T03:38:56.986Z,1761536336.986 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:38:56.987Z,1761536336.987 [DAT](INFO): publishing transmit ping time 2025-10-27T03:38:56.988Z,1761536336.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001478 2025-10-27T03:38:57.051Z,1761536337.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019393,0.999776,0.008424],[-0.999426,-0.019151,-0.027942],[-0.027774,-0.008961,0.999574]] 2025-10-27T03:38:57.137Z,1761536337.137 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E 2025-10-27T03:38:57.137Z,1761536337.137 [lineCaptureHoming:Lap:E] Stopped 2025-10-27T03:38:57.138Z,1761536337.138 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E 2025-10-27T03:38:57.138Z,1761536337.138 [lineCaptureHoming:Lap:Docked] Running Loop=1 2025-10-27T03:38:57.138Z,1761536337.138 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked 2025-10-27T03:38:57.138Z,1761536337.138 [lineCaptureHoming:Lap:Docked:A] Running Loop=1 2025-10-27T03:38:57.221Z,1761536337.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.234337 2025-10-27T03:38:57.324Z,1761536337.324 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-10-27UTC033857_sh 2025-10-27T03:38:57.353Z,1761536337.353 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:38:57.454Z,1761536337.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016403,0.999837,0.007504],[-0.999334,-0.016150,-0.032717],[-0.032590,-0.008035,0.999436]] 2025-10-27T03:38:57.468Z,1761536337.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.481725 2025-10-27T03:38:57.550Z,1761536337.550 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 2025-10-27T03:38:57.550Z,1761536337.550 [lineCaptureHoming:Lap:Docked:A] Stopped 2025-10-27T03:38:57.550Z,1761536337.550 [lineCaptureHoming:Lap:Docked:C] Running Loop=1 2025-10-27T03:38:57.721Z,1761536337.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734700 2025-10-27T03:38:57.863Z,1761536337.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012896,0.999892,0.007050],[-0.999241,-0.012628,-0.036847],[-0.036754,-0.007520,0.999296]] 2025-10-27T03:38:57.910Z,1761536337.910 [lineCaptureHoming:Lap:Docked:C] Stopped 2025-10-27T03:38:57.910Z,1761536337.910 [lineCaptureHoming:Lap:Docked:D] Running Loop=1 2025-10-27T03:38:57.972Z,1761536337.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985577 2025-10-27T03:38:58.227Z,1761536338.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240475 2025-10-27T03:38:58.277Z,1761536338.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009048,0.999932,0.007302],[-0.999168,-0.008750,-0.039840],[-0.039773,-0.007656,0.999179]] 2025-10-27T03:38:58.321Z,1761536338.321 [lineCaptureHoming:Lap:Docked:D] Stopped 2025-10-27T03:38:58.321Z,1761536338.321 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1 2025-10-27T03:38:58.321Z,1761536338.321 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize. 2025-10-27T03:38:58.322Z,1761536338.322 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2025-10-27T03:38:58.356Z,1761536338.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:38:58.476Z,1761536338.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489561 2025-10-27T03:38:58.665Z,1761536338.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004992,0.999965,0.006686],[-0.999135,-0.004712,-0.041323],[-0.041290,-0.006886,0.999123]] 2025-10-27T03:38:58.728Z,1761536338.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741746 2025-10-27T03:38:58.980Z,1761536338.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993655 2025-10-27T03:38:59.071Z,1761536339.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000889,0.999987,0.005100],[-0.999148,-0.000678,-0.041258],[-0.041254,-0.005132,0.999135]] 2025-10-27T03:38:59.234Z,1761536339.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247677 2025-10-27T03:38:59.473Z,1761536339.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002413,0.999992,0.003118],[-0.999214,0.002535,-0.039556],[-0.039564,-0.003020,0.999212]] 2025-10-27T03:38:59.484Z,1761536339.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497882 2025-10-27T03:38:59.736Z,1761536339.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749727 2025-10-27T03:38:59.884Z,1761536339.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004788,0.999987,0.001591],[-0.999338,0.004842,-0.036048],[-0.036055,-0.001417,0.999349]] 2025-10-27T03:38:59.988Z,1761536339.988 [DAT](INFO): DAT read: Rx Time:03:39:00.9179 2025-10-27T03:38:59.988Z,1761536339.988 [DAT](INFO): Rx dataTimestamp_ set to:1761536339.988088 2025-10-27T03:38:59.989Z,1761536339.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002698 2025-10-27T03:39:00.242Z,1761536340.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255678 2025-10-27T03:39:00.497Z,1761536340.497 [DAT](INFO): DAT read: 03:39:00.9179 LVL= 19648, 11697, 19698, 18419, AGC= 38, IDX= 196, 0.29,-0.151,-0.218,-0.361, 1.082, PHS=-1.131,-1.256,-1.487, RAW= 50.2, 77.1, CAL= 49.3, 78.6, ROT= 100.7, -78.6 2025-10-27T03:39:00.498Z,1761536340.498 [DAT](INFO): got valid direction response: 03:39:00.9179 LVL= 19648, 11697, 19698, 18419, AGC= 38, IDX= 196, 0.29,-0.151,-0.218,-0.361, 1.082, PHS=-1.131,-1.256,-1.487, RAW= 50.2, 77.1, CAL= 49.3, 78.6, ROT= 100.7, -78.6 2025-10-27T03:39:00.499Z,1761536340.499 [DAT](INFO): DAT read: Bearing 155.4, 11.3 (Local) 2025-10-27T03:39:00.500Z,1761536340.500 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, 11.3 (Local) 2025-10-27T03:39:00.501Z,1761536340.501 [DAT](INFO): DAT read: Range 11 to 50 : 0.5 m (Round-trip 0.7 ms) speed 0.0 m/s 2025-10-27T03:39:00.502Z,1761536340.502 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:39:00.503Z,1761536340.503 [DAT](INFO): direction in FSK: [-0.036698,0.194221,0.980271] 2025-10-27T03:39:00.503Z,1761536340.503 [DAT](INFO): publishing direction and range info 2025-10-27T03:39:00.507Z,1761536340.507 [DAT](INFO): Requesting device enable set for address 50. 2025-10-27T03:39:00.687Z,1761536340.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006704,0.999977,-0.001174],[-0.999665,0.006672,-0.025022],[-0.025014,0.001341,0.999686]] 2025-10-27T03:39:00.744Z,1761536340.744 [DAT](INFO): DAT read: user:411> 2025-10-27T03:39:00.745Z,1761536340.745 [DAT](INFO): DAT read: Tx time:03:39:02.1121 2025-10-27T03:39:00.745Z,1761536340.745 [DAT](INFO): Ping request sent. 2025-10-27T03:39:00.745Z,1761536340.745 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:39:00.745Z,1761536340.745 [DAT](INFO): publishing transmit ping time 2025-10-27T03:39:00.746Z,1761536340.746 [DAT](INFO): Requesting device enable set for address 50. 2025-10-27T03:39:00.997Z,1761536340.997 [DAT](INFO): Requesting device enable set for address 50. 2025-10-27T03:39:01.089Z,1761536341.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006780,0.999973,-0.002839],[-0.999811,0.006727,-0.018249],[-0.018230,0.002962,0.999829]] 2025-10-27T03:39:01.494Z,1761536341.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006178,0.999976,-0.003085],[-0.999922,0.006144,-0.010900],[-0.010881,0.003153,0.999936]] 2025-10-27T03:39:01.899Z,1761536341.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005217,0.999980,-0.003516],[-0.999980,0.005204,-0.003651],[-0.003633,0.003535,0.999987]] 2025-10-27T03:39:02.327Z,1761536342.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004161,0.999982,-0.004323],[-0.999985,0.004176,0.003432],[0.003450,0.004309,0.999985]] 2025-10-27T03:39:02.714Z,1761536342.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002929,0.999986,-0.004295],[-0.999944,0.002972,0.010150],[0.010163,0.004266,0.999939]] 2025-10-27T03:39:03.020Z,1761536343.020 [DAT](INFO): DAT read: Rx Time:03:39:04.0034 2025-10-27T03:39:03.021Z,1761536343.021 [DAT](INFO): Rx dataTimestamp_ set to:1761536343.020642 2025-10-27T03:39:03.111Z,1761536343.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001797,0.999993,-0.003316],[-0.999868,0.001851,0.016168],[0.016174,0.003286,0.999864]] 2025-10-27T03:39:03.544Z,1761536343.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001128,0.999993,-0.003657],[-0.999770,0.001206,0.021395],[0.021399,0.003632,0.999764]] 2025-10-27T03:39:03.776Z,1761536343.776 [DAT](INFO): DAT read: 03:39:04.0034 LVL= 16368, 10337, 18082, 18211, AGC= 34, IDX= 303, 0.09,-0.296,-0.929,-0.763, 0.673, PHS=-0.867,-1.557,-1.480, RAW= 95.8, 64.6, CAL= 95.0, 68.1, ROT= 55.0, -68.1 2025-10-27T03:39:03.777Z,1761536343.777 [DAT](INFO): got valid direction response: 03:39:04.0034 LVL= 16368, 10337, 18082, 18211, AGC= 34, IDX= 303, 0.09,-0.296,-0.929,-0.763, 0.673, PHS=-0.867,-1.557,-1.480, RAW= 95.8, 64.6, CAL= 95.0, 68.1, ROT= 55.0, -68.1 2025-10-27T03:39:03.778Z,1761536343.778 [DAT](INFO): DAT read: OK 2025-10-27T03:39:03.778Z,1761536343.778 [DAT](INFO): unknown deviceResponse_: OK 2025-10-27T03:39:03.778Z,1761536343.778 [DAT](INFO): DAT read: user:412> 2025-10-27T03:39:03.779Z,1761536343.779 [DAT](INFO): DAT read: Tx time:03:39:05.1121 2025-10-27T03:39:03.780Z,1761536343.780 [DAT](INFO): Ping request sent. 2025-10-27T03:39:03.780Z,1761536343.780 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:39:03.780Z,1761536343.780 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-27T03:39:03.781Z,1761536343.781 [DAT](INFO): direction in FSK: [0.213937,0.305534,0.927836] 2025-10-27T03:39:03.781Z,1761536343.781 [DAT](INFO): publishing transmit ping time 2025-10-27T03:39:03.784Z,1761536343.784 [DAT](INFO): publishing transmit ping time 2025-10-27T03:39:03.918Z,1761536343.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000665,0.999985,-0.005339],[-0.999666,0.000803,0.025830],[0.025834,0.005320,0.999652]] 2025-10-27T03:39:04.355Z,1761536344.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000464,0.999981,-0.006159],[-0.999550,0.000649,0.029998],[0.030002,0.006142,0.999531]] 2025-10-27T03:39:04.744Z,1761536344.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000665,0.999979,-0.006451],[-0.999418,0.000884,0.034109],[0.034114,0.006425,0.999397]] 2025-10-27T03:39:05.129Z,1761536345.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001632,0.999969,-0.007640],[-0.999284,0.001920,0.037786],[0.037799,0.007573,0.999257]] 2025-10-27T03:39:05.534Z,1761536345.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003253,0.999953,-0.009084],[-0.999133,0.003627,0.041484],[0.041515,0.008941,0.999098]] 2025-10-27T03:39:05.938Z,1761536345.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005516,0.999941,-0.009306],[-0.998960,0.005931,0.045215],[0.045267,0.009047,0.998934]] 2025-10-27T03:39:06.040Z,1761536346.040 [DAT](INFO): DAT read: Rx Time:03:39:07.0035 2025-10-27T03:39:06.040Z,1761536346.040 [DAT](INFO): Rx dataTimestamp_ set to:1761536346.040124 2025-10-27T03:39:06.383Z,1761536346.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008348,0.999937,-0.007456],[-0.998770,0.008703,0.048813],[0.048875,0.007039,0.998780]] 2025-10-27T03:39:06.544Z,1761536346.544 [DAT](INFO): DAT read: OK 2025-10-27T03:39:06.544Z,1761536346.544 [DAT](INFO): unknown deviceResponse_: OK 2025-10-27T03:39:06.544Z,1761536346.544 [DAT](INFO): DAT read: user:413> 2025-10-27T03:39:06.753Z,1761536346.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011814,0.999917,-0.005057],[-0.998595,0.012060,0.051605],[0.051662,0.004441,0.998655]] 2025-10-27T03:39:06.796Z,1761536346.796 [DAT](INFO): DAT read: Tx time:03:39:08.1121 2025-10-27T03:39:06.796Z,1761536346.796 [DAT](INFO): Ping request sent. 2025-10-27T03:39:06.796Z,1761536346.796 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:39:06.797Z,1761536346.797 [DAT](INFO): publishing transmit ping time 2025-10-27T03:39:07.149Z,1761536347.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015722,0.999875,-0.001610],[-0.998465,0.015786,0.053093],[0.053112,0.000773,0.998588]] 2025-10-27T03:39:07.556Z,1761536347.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020124,0.999797,-0.000183],[-0.998401,0.020105,0.052824],[0.052817,-0.000880,0.998604]] 2025-10-27T03:39:07.957Z,1761536347.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024432,0.999700,0.001837],[-0.998422,0.024308,0.050614],[0.050554,-0.003071,0.998717]] 2025-10-27T03:39:08.404Z,1761536348.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028102,0.999594,0.004682],[-0.998538,0.027856,0.046330],[0.046181,-0.005978,0.998915]] 2025-10-27T03:39:08.769Z,1761536348.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030883,0.999501,0.006615],[-0.998738,0.030596,0.039817],[0.039595,-0.007836,0.999185]] 2025-10-27T03:39:09.064Z,1761536349.064 [DAT](INFO): DAT read: Rx Time:03:39:10.0036 2025-10-27T03:39:09.064Z,1761536349.064 [DAT](INFO): Rx dataTimestamp_ set to:1761536349.064152 2025-10-27T03:39:09.171Z,1761536349.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033148,0.999425,0.007171],[-0.998971,0.032909,0.031221],[0.030967,-0.008199,0.999487]] 2025-10-27T03:39:09.572Z,1761536349.572 [DAT](INFO): DAT read: OK 2025-10-27T03:39:09.572Z,1761536349.572 [DAT](INFO): unknown deviceResponse_: OK 2025-10-27T03:39:09.581Z,1761536349.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034888,0.999373,0.005967],[-0.999179,0.034757,0.020805],[0.020584,-0.006688,0.999766]] 2025-10-27T03:39:09.978Z,1761536349.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037018,0.999304,0.004650],[-0.999271,0.036972,0.009507],[0.009329,-0.004998,0.999944]] 2025-10-27T03:39:10.424Z,1761536350.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039739,0.999201,0.004191],[-0.999208,0.039746,-0.001671],[-0.001837,-0.004122,0.999990]] 2025-10-27T03:39:10.801Z,1761536350.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042253,0.999097,0.004348],[-0.999040,0.042300,-0.011412],[-0.011585,-0.003862,0.999925]] 2025-10-27T03:39:11.190Z,1761536351.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044458,0.999001,0.004464],[-0.998815,0.044537,-0.019630],[-0.019809,-0.003586,0.999797]] 2025-10-27T03:39:11.596Z,1761536351.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045918,0.998938,0.003709],[-0.998610,0.045998,-0.025750],[-0.025894,-0.002522,0.999662]] 2025-10-27T03:39:11.998Z,1761536351.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046434,0.998918,0.002743],[-0.998488,0.046495,-0.029314],[-0.029409,-0.001378,0.999566]] 2025-10-27T03:39:12.418Z,1761536352.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046489,0.998917,0.002077],[-0.998455,0.046530,-0.030381],[-0.030445,-0.000662,0.999536]] 2025-10-27T03:39:12.823Z,1761536352.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046620,0.998912,0.001104],[-0.998488,0.046632,-0.029119],[-0.029139,0.000255,0.999575]] 2025-10-27T03:39:13.209Z,1761536353.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046899,0.998899,-0.000877],[-0.998564,0.046860,-0.025949],[-0.025879,0.002093,0.999663]] 2025-10-27T03:39:13.615Z,1761536353.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047144,0.998886,-0.002113],[-0.998670,0.047089,-0.020975],[-0.020852,0.003099,0.999778]] 2025-10-27T03:39:14.017Z,1761536354.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046912,0.998896,-0.002531],[-0.998797,0.046871,-0.014433],[-0.014298,0.003205,0.999893]] 2025-10-27T03:39:14.427Z,1761536354.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046141,0.998927,-0.004052],[-0.998911,0.046112,-0.007078],[-0.006883,0.004374,0.999967]] 2025-10-27T03:39:14.524Z,1761536354.524 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:39:14.524Z,1761536354.524 [DockingStepper] No Fault, FailCount= 2 2025-10-27T03:39:14.829Z,1761536354.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044940,0.998977,-0.005047],[-0.998989,0.044943,0.000538],[0.000765,0.005018,0.999987]] 2025-10-27T03:39:14.913Z,1761536354.913 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:39:14.913Z,1761536354.913 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:39:15.229Z,1761536355.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042941,0.999061,-0.005686],[-0.999041,0.042987,0.008349],[0.008585,0.005322,0.999949]] 2025-10-27T03:39:15.634Z,1761536355.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041653,0.999110,-0.006624],[-0.999015,0.041749,0.015035],[0.015298,0.005991,0.999865]] 2025-10-27T03:39:16.053Z,1761536356.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039815,0.999184,-0.006789],[-0.998977,0.039950,0.021168],[0.021422,0.005939,0.999753]] 2025-10-27T03:39:16.442Z,1761536356.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037412,0.999280,-0.006310],[-0.998945,0.037566,0.026408],[0.026626,0.005315,0.999631]] 2025-10-27T03:39:16.929Z,1761536356.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034859,0.999369,-0.006800],[-0.998929,0.035049,0.030205],[0.030424,0.005740,0.999521]] 2025-10-27T03:39:17.250Z,1761536357.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031377,0.999467,-0.008953],[-0.998954,0.031656,0.033009],[0.033275,0.007908,0.999415]] 2025-10-27T03:39:17.656Z,1761536357.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027275,0.999575,-0.010264],[-0.998999,0.027621,0.035179],[0.035448,0.009294,0.999328]] 2025-10-27T03:39:18.057Z,1761536358.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022464,0.999692,-0.010520],[-0.999064,0.022837,0.036730],[0.036959,0.009685,0.999270]] 2025-10-27T03:39:18.462Z,1761536358.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016346,0.999802,-0.011308],[-0.999141,0.016764,0.037896],[0.038078,0.010679,0.999218]] 2025-10-27T03:39:18.578Z,1761536358.578 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:39:18.874Z,1761536358.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009205,0.999879,-0.012506],[-0.999206,0.009682,0.038636],[0.038752,0.012140,0.999175]] 2025-10-27T03:39:19.271Z,1761536359.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000063,0.999927,-0.012121],[-0.999196,0.000549,0.040076],[0.040080,0.012109,0.999123]] 2025-10-27T03:39:19.674Z,1761536359.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012027,0.999874,-0.010335],[-0.999023,-0.011576,0.042640],[0.042515,0.010838,0.999037]] 2025-10-27T03:39:20.077Z,1761536360.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025176,0.999650,-0.008083],[-0.998676,-0.024787,0.045084],[0.044868,0.009208,0.998950]] 2025-10-27T03:39:20.481Z,1761536360.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032142,0.999470,-0.005240],[-0.998562,-0.031887,0.043096],[0.042906,0.006617,0.999057]] 2025-10-27T03:39:20.885Z,1761536360.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041802,0.999124,-0.001939],[-0.998253,-0.041685,0.041866],[0.041748,0.003686,0.999121]] 2025-10-27T03:39:21.289Z,1761536361.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050912,0.998703,0.000450],[-0.997927,-0.050890,0.039385],[0.039357,0.001556,0.999224]] 2025-10-27T03:39:21.698Z,1761536361.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058835,0.998261,0.003549],[-0.997633,-0.058924,0.035447],[0.035595,-0.001455,0.999365]] 2025-10-27T03:39:22.098Z,1761536362.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062817,0.998007,0.006050],[-0.997599,-0.062966,0.028836],[0.029160,-0.004224,0.999566]] 2025-10-27T03:39:22.501Z,1761536362.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067379,0.997705,0.006766],[-0.997460,-0.067516,0.022688],[0.023093,-0.005220,0.999720]] 2025-10-27T03:39:22.909Z,1761536362.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068844,0.997599,0.007525],[-0.997500,-0.068954,0.015481],[0.015963,-0.006441,0.999852]] 2025-10-27T03:39:22.932Z,1761536362.932 [DAT](INFO): DAT read: user:414>Rx Time:03:39:23.7541 2025-10-27T03:39:22.933Z,1761536362.933 [DAT](INFO): Rx dataTimestamp_ set to:1761536362.932693 2025-10-27T03:39:23.312Z,1761536363.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067245,0.997705,0.007990],[-0.997702,-0.067307,0.007787],[0.008307,-0.007448,0.999938]] 2025-10-27T03:39:23.441Z,1761536363.441 [DAT](INFO): DAT read: 2025-10-27T03:39:23.442Z,1761536363.442 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:39:23.442Z,1761536363.442 [DAT](INFO): commRate: 600 2025-10-27T03:39:23.443Z,1761536363.443 [DAT](INFO): DAT read: Tx time:03:39:24.8119 2025-10-27T03:39:23.443Z,1761536363.443 [DAT](INFO): Ping request sent. 2025-10-27T03:39:23.444Z,1761536363.444 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:39:23.444Z,1761536363.444 [DAT](INFO): publishing transmit ping time 2025-10-27T03:39:23.718Z,1761536363.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063143,0.997973,0.007965],[-0.998004,-0.063147,0.000176],[0.000678,-0.007938,0.999968]] 2025-10-27T03:39:24.522Z,1761536364.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045179,0.998942,0.008620],[-0.998884,-0.045055,-0.014155],[-0.013752,-0.009250,0.999863]] 2025-10-27T03:39:24.933Z,1761536364.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035047,0.999356,0.007735],[-0.999203,-0.034892,-0.019401],[-0.019119,-0.008409,0.999782]] 2025-10-27T03:39:25.335Z,1761536365.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023179,0.999711,0.006427],[-0.999445,-0.023019,-0.024072],[-0.023917,-0.006981,0.999690]] 2025-10-27T03:39:25.735Z,1761536365.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010996,0.999928,0.004806],[-0.999546,-0.010857,-0.028110],[-0.028055,-0.005113,0.999593]] 2025-10-27T03:39:26.138Z,1761536366.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000067,0.999996,0.002938],[-0.999528,0.000023,-0.030733],[-0.030733,-0.002938,0.999523]] 2025-10-27T03:39:26.543Z,1761536366.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007962,0.999968,0.000803],[-0.999475,0.007984,-0.031385],[-0.031390,-0.000553,0.999507]] 2025-10-27T03:39:26.946Z,1761536366.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016898,0.999857,-0.000539],[-0.999355,0.016873,-0.031705],[-0.031691,0.001075,0.999497]] 2025-10-27T03:39:27.357Z,1761536367.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023970,0.999711,-0.001701],[-0.999243,0.023907,-0.030705],[-0.030656,0.002435,0.999527]] 2025-10-27T03:39:27.499Z,1761536367.499 [DockingStepper](FAULT): Timed out moving from: 13088 to: 14900 response: ÿ 2025-10-27T03:39:27.499Z,1761536367.499 [DockingStepper] Hardware Fault, FailCount= 3 2025-10-27T03:39:27.499Z,1761536367.499 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:39:27.504Z,1761536367.504 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:39:27.753Z,1761536367.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029109,0.999574,-0.002235],[-0.999166,0.029033,-0.028720],[-0.028643,0.003069,0.999585]] 2025-10-27T03:39:27.834Z,1761536367.834 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:39:27.834Z,1761536367.834 [DockingStepper](INFO): Powering down 2025-10-27T03:39:28.160Z,1761536368.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031094,0.999513,-0.002793],[-0.999194,0.031013,-0.025502],[-0.025403,0.003584,0.999671]] 2025-10-27T03:39:28.561Z,1761536368.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029833,0.999545,-0.004508],[-0.999321,0.029729,-0.021752],[-0.021608,0.005154,0.999753]] 2025-10-27T03:39:28.965Z,1761536368.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025881,0.999648,-0.005811],[-0.999508,0.025774,-0.017881],[-0.017725,0.006271,0.999823]] 2025-10-27T03:39:29.777Z,1761536369.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011264,0.999902,-0.008291],[-0.999871,0.011169,-0.011498],[-0.011405,0.008420,0.999900]] 2025-10-27T03:39:30.178Z,1761536370.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000110,0.999961,-0.008829],[-0.999962,0.000034,-0.008668],[-0.008667,0.008829,0.999923]] 2025-10-27T03:39:30.582Z,1761536370.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013057,0.999878,-0.008632],[-0.999895,-0.013110,-0.006202],[-0.006314,0.008550,0.999944]] 2025-10-27T03:39:30.985Z,1761536370.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028190,0.999565,-0.008615],[-0.999593,-0.028227,-0.004183],[-0.004424,0.008493,0.999954]] 2025-10-27T03:39:31.390Z,1761536371.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045053,0.998948,-0.008578],[-0.998980,-0.045076,-0.002527],[-0.002912,0.008455,0.999960]] 2025-10-27T03:39:31.796Z,1761536371.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063018,0.997982,-0.007746],[-0.998011,-0.063027,-0.001036],[-0.001522,0.007665,0.999969]] 2025-10-27T03:39:32.197Z,1761536372.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081052,0.996687,-0.006730],[-0.996710,-0.081052,0.000272],[-0.000274,0.006730,0.999977]] 2025-10-27T03:39:32.508Z,1761536372.508 [DAT](INFO): DAT read: Rx Time:03:39:33.4041 2025-10-27T03:39:32.508Z,1761536372.508 [DAT](INFO): Rx dataTimestamp_ set to:1761536372.508045 2025-10-27T03:39:32.601Z,1761536372.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099004,0.995070,-0.005886],[-0.995086,-0.098996,0.001652],[0.001062,0.006021,0.999981]] 2025-10-27T03:39:33.006Z,1761536373.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116360,0.993194,-0.005061],[-0.993204,-0.116346,0.002997],[0.002388,0.005375,0.999983]] 2025-10-27T03:39:33.277Z,1761536373.277 [DAT](INFO): DAT read: 03:39:33.4041 LVL= 15024, 8817, 20594, 15859, AGC= 31, IDX= 440,-0.50,-2.257, 2.623,-2.986,-1.536, PHS=-0.619,-2.079,-1.494, RAW= 113.4, 49.3, CAL= 111.4, 55.0, ROT= 38.6, -55.0 2025-10-27T03:39:33.278Z,1761536373.278 [DAT](INFO): got valid direction response: 03:39:33.4041 LVL= 15024, 8817, 20594, 15859, AGC= 31, IDX= 440,-0.50,-2.257, 2.623,-2.986,-1.536, PHS=-0.619,-2.079,-1.494, RAW= 113.4, 49.3, CAL= 111.4, 55.0, ROT= 38.6, -55.0 2025-10-27T03:39:33.279Z,1761536373.279 [DAT](INFO): DAT read: 2025-10-27T03:39:33.280Z,1761536373.280 [DAT](INFO): DAT read: DATA(0009):dock arm 2025-10-27T03:39:33.280Z,1761536373.280 [DAT](INFO): Got DATA 9 2025-10-27T03:39:33.280Z,1761536373.280 [DAT](INFO): DAT read: 2025-10-27T03:39:33.281Z,1761536373.281 [DAT](INFO): DAT read: Source:050 Destination:011 2025-10-27T03:39:33.281Z,1761536373.281 [DAT](INFO): Got Src/Dest after DATA 2025-10-27T03:39:33.282Z,1761536373.282 [DAT](INFO): DATA Src=50, Dst=11 2025-10-27T03:39:33.283Z,1761536373.283 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:18.3 AGC:32 SPD:-0.1 CCERR:013 2025-10-27T03:39:33.283Z,1761536373.283 [DAT](INFO): Got CRC:Pass 2025-10-27T03:39:33.283Z,1761536373.283 [DAT](INFO): Got CRC:Pass 2025-10-27T03:39:33.283Z,1761536373.283 [DAT](INFO): Incoming data is intended for us 2025-10-27T03:39:33.283Z,1761536373.283 [DAT](INFO): Received command: dock arm 2025-10-27T03:39:33.284Z,1761536373.284 [DAT](INFO): #Outgoing data=1 2025-10-27T03:39:33.284Z,1761536373.284 [DAT](INFO): Sending ack 2025-10-27T03:39:33.284Z,1761536373.284 [DAT](INFO): DAT read: 2025-10-27T03:39:33.285Z,1761536373.285 [DAT](INFO): DAT read: 2025-10-27T03:39:33.285Z,1761536373.285 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-27T03:39:33.285Z,1761536373.285 [DAT](INFO): #Rx 3: Read direction message, but no range. 2025-10-27T03:39:33.286Z,1761536373.286 [DAT](INFO): direction in FSK: [0.448262,0.357843,0.819152] 2025-10-27T03:39:33.317Z,1761536373.317 [CommandExec](IMPORTANT): got command docking arm 2025-10-27T03:39:33.318Z,1761536373.318 [CommandExec](IMPORTANT): Switching docking module to ARM. 2025-10-27T03:39:33.409Z,1761536373.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133125,0.991093,-0.003628],[-0.991091,-0.133108,0.004468],[0.003945,0.004190,0.999983]] 2025-10-27T03:39:33.524Z,1761536373.524 [DAT](INFO): setting remote address to 50 2025-10-27T03:39:33.776Z,1761536373.776 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:33.813Z,1761536373.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148462,0.988916,-0.001826],[-0.988901,-0.148449,0.006097],[0.005759,0.002711,0.999980]] 2025-10-27T03:39:34.028Z,1761536374.028 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:34.219Z,1761536374.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162013,0.986789,-0.000218],[-0.986760,-0.162007,0.007652],[0.007515,0.001455,0.999971]] 2025-10-27T03:39:34.280Z,1761536374.280 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:34.532Z,1761536374.532 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:34.621Z,1761536374.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173475,0.984837,0.001425],[-0.984794,-0.173481,0.009184],[0.009292,0.000190,0.999957]] 2025-10-27T03:39:34.786Z,1761536374.786 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:35.025Z,1761536375.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182015,0.983290,0.003486],[-0.983235,-0.182042,0.010468],[0.010928,-0.001522,0.999939]] 2025-10-27T03:39:35.036Z,1761536375.036 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:35.288Z,1761536375.288 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:35.430Z,1761536375.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188279,0.982102,0.005219],[-0.982039,-0.188328,0.011485],[0.012262,-0.002963,0.999920]] 2025-10-27T03:39:35.540Z,1761536375.540 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:35.794Z,1761536375.794 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:35.849Z,1761536375.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191996,0.981376,0.006252],[-0.981310,-0.192059,0.011988],[0.012966,-0.003833,0.999909]] 2025-10-27T03:39:36.044Z,1761536376.044 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:36.237Z,1761536376.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193558,0.981066,0.006623],[-0.981001,-0.193627,0.012032],[0.013086,-0.004168,0.999906]] 2025-10-27T03:39:36.296Z,1761536376.296 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:36.548Z,1761536376.548 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:39:36.644Z,1761536376.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192779,0.981221,0.006443],[-0.981160,-0.192843,0.011650],[0.012673,-0.004075,0.999911]] 2025-10-27T03:39:36.803Z,1761536376.803 [DAT](INFO): DAT read: Forwarding Delay UpTx time:03:39:38.2118 2025-10-27T03:39:36.805Z,1761536376.805 [DAT](DEBUG): Re-entering command mode due to unexpected online mode. 2025-10-27T03:39:36.859Z,1761536376.859 [DAT](INFO): entering command mode 2025-10-27T03:39:36.859Z,1761536376.859 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:37.046Z,1761536377.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190320,0.981701,0.006405],[-0.981653,-0.190380,0.010646],[0.011671,-0.004262,0.999923]] 2025-10-27T03:39:37.054Z,1761536377.054 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:37.055Z,1761536377.055 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:37.304Z,1761536377.304 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:37.304Z,1761536377.304 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:37.556Z,1761536377.556 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:37.556Z,1761536377.556 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:37.810Z,1761536377.810 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:37.812Z,1761536377.812 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:38.060Z,1761536378.060 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:38.060Z,1761536378.060 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:38.262Z,1761536378.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166480,0.986041,0.002771],[-0.986041,-0.166487,0.002166],[0.002597,-0.002371,0.999994]] 2025-10-27T03:39:38.313Z,1761536378.313 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:38.313Z,1761536378.313 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:38.564Z,1761536378.564 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:38.564Z,1761536378.564 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:38.666Z,1761536378.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159272,0.987233,0.001924],[-0.987235,-0.159272,0.000113],[0.000418,-0.001881,0.999998]] 2025-10-27T03:39:38.819Z,1761536378.819 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:38.820Z,1761536378.820 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:39.068Z,1761536379.068 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:39.068Z,1761536379.068 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:39.088Z,1761536379.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152209,0.988348,0.000830],[-0.988347,-0.152207,-0.001765],[-0.001619,-0.001089,0.999998]] 2025-10-27T03:39:39.320Z,1761536379.320 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:39.320Z,1761536379.320 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:39.472Z,1761536379.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145827,0.989309,-0.001437],[-0.989305,-0.145831,-0.003147],[-0.003323,0.000963,0.999994]] 2025-10-27T03:39:39.572Z,1761536379.572 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:39.572Z,1761536379.572 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:39.826Z,1761536379.826 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-27T03:39:39.827Z,1761536379.827 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:39.881Z,1761536379.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140093,0.990133,-0.003361],[-0.990128,-0.140106,-0.004022],[-0.004453,0.002765,0.999986]] 2025-10-27T03:39:40.076Z,1761536380.076 [DAT](INFO): DAT read: Forwarding Delay UpTx time:03:39:41.5618 2025-10-27T03:39:40.077Z,1761536380.077 [DAT](DEBUG): Re-entering command mode due to unexpected online mode. 2025-10-27T03:39:40.131Z,1761536380.131 [DAT](INFO): entering command mode 2025-10-27T03:39:40.132Z,1761536380.132 [DAT](ERROR): Failure setting remote address to 50 2025-10-27T03:39:40.277Z,1761536380.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135013,0.990833,-0.004712],[-0.990833,-0.135033,-0.004138],[-0.004736,0.004110,0.999980]] 2025-10-27T03:39:40.328Z,1761536380.328 [DAT](INFO): DAT read: 2025-10-27T03:39:40.329Z,1761536380.329 [DAT](INFO): DAT read: user:414> 2025-10-27T03:39:40.330Z,1761536380.330 [DAT](INFO): setting remote address to 50 2025-10-27T03:39:40.580Z,1761536380.580 [DAT](INFO): DAT read: user:414> 2025-10-27T03:39:40.581Z,1761536380.581 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:39:40.581Z,1761536380.581 [DAT](INFO): set remote address to 50 2025-10-27T03:39:40.581Z,1761536380.581 [DAT](INFO): entering online mode 2025-10-27T03:39:40.683Z,1761536380.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130756,0.991397,-0.005880],[-0.991406,-0.130777,-0.003417],[-0.004157,0.005383,0.999977]] 2025-10-27T03:39:40.834Z,1761536380.834 [DAT](INFO): DAT read: user:415> 2025-10-27T03:39:40.836Z,1761536380.836 [DAT](INFO): DAT read: 2025-10-27T03:39:40.842Z,1761536380.842 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:39:40.848Z,1761536380.848 [DAT](INFO): commRate: 600 2025-10-27T03:39:40.848Z,1761536380.848 [DAT](INFO): online mode acknowledged 2025-10-27T03:39:40.849Z,1761536380.849 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-27T03:39:41.086Z,1761536381.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127540,0.991807,-0.007180],[-0.991829,-0.127557,-0.001935],[-0.002835,0.006875,0.999972]] 2025-10-27T03:39:41.490Z,1761536381.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125243,0.992098,-0.007468],[-0.992126,-0.125247,-0.000008],[-0.000944,0.007408,0.999972]] 2025-10-27T03:39:41.912Z,1761536381.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124423,0.992200,-0.007569],[-0.992228,-0.124408,0.002470],[0.001509,0.007818,0.999968]] 2025-10-27T03:39:42.316Z,1761536382.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124231,0.992227,-0.007228],[-0.992245,-0.124196,0.005073],[0.004136,0.007802,0.999961]] 2025-10-27T03:39:42.719Z,1761536382.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125110,0.992122,-0.006469],[-0.992119,-0.125059,0.007771],[0.006901,0.007390,0.999949]] 2025-10-27T03:39:43.117Z,1761536383.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126586,0.991942,-0.005276],[-0.991913,-0.126529,0.009988],[0.009240,0.006498,0.999936]] 2025-10-27T03:39:43.521Z,1761536383.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128951,0.991641,-0.004400],[-0.991586,-0.128891,0.012000],[0.011332,0.005911,0.999918]] 2025-10-27T03:39:43.938Z,1761536383.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131472,0.991314,-0.003408],[-0.991239,-0.131416,0.013246],[0.012683,0.005119,0.999906]] 2025-10-27T03:39:44.109Z,1761536384.109 [DAT](INFO): DAT read: Forwarding Delay UpTx time:03:39:45.5618 2025-10-27T03:39:44.109Z,1761536384.109 [DAT](DEBUG): In parseResponses, sent ack so set commsState_ = SENDING_VERIFIED 2025-10-27T03:39:44.109Z,1761536384.109 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-27T03:39:44.341Z,1761536384.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134111,0.990964,-0.002280],[-0.990874,-0.134067,0.013966],[0.013534,0.004132,0.999900]] 2025-10-27T03:39:44.735Z,1761536384.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136326,0.990663,-0.001388],[-0.990573,-0.136294,0.013766],[0.013449,0.003251,0.999904]] 2025-10-27T03:39:45.138Z,1761536385.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137784,0.990462,-0.000598],[-0.990385,-0.137765,0.012609],[0.012407,0.002329,0.999920]] 2025-10-27T03:39:45.543Z,1761536385.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138519,0.990360,0.000435],[-0.990304,-0.138516,0.010584],[0.010542,0.001036,0.999944]] 2025-10-27T03:39:45.964Z,1761536385.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138388,0.990377,0.001403],[-0.990347,-0.138394,0.007748],[0.007867,-0.000317,0.999969]] 2025-10-27T03:39:46.351Z,1761536386.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137230,0.990537,0.002169],[-0.990529,-0.137238,0.004157],[0.004415,-0.001578,0.999989]] 2025-10-27T03:39:46.754Z,1761536386.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135524,0.990771,0.002436],[-0.990774,-0.135525,0.000031],[0.000361,-0.002409,0.999997]] 2025-10-27T03:39:47.158Z,1761536387.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132849,0.991134,0.002185],[-0.991127,-0.132838,-0.004584],[-0.004253,-0.002774,0.999987]] 2025-10-27T03:39:47.561Z,1761536387.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129211,0.991615,0.001883],[-0.991572,-0.129187,-0.009741],[-0.009416,-0.003125,0.999951]] 2025-10-27T03:39:47.990Z,1761536387.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125621,0.992077,0.001636],[-0.991974,-0.125583,-0.014734],[-0.014412,-0.003473,0.999890]] 2025-10-27T03:39:48.371Z,1761536388.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121709,0.992566,0.000769],[-0.992375,-0.121670,-0.019698],[-0.019458,-0.003161,0.999806]] 2025-10-27T03:39:48.404Z,1761536388.404 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:39:48.404Z,1761536388.404 [DockingStepper] No Fault, FailCount= 3 2025-10-27T03:39:48.774Z,1761536388.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118108,0.993001,-0.000392],[-0.992714,-0.118083,-0.024008],[-0.023886,-0.002446,0.999712]] 2025-10-27T03:39:48.832Z,1761536388.832 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:39:48.833Z,1761536388.833 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:39:49.177Z,1761536389.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114278,0.993448,-0.001334],[-0.993056,-0.114270,-0.027976],[-0.027945,-0.001873,0.999608]] 2025-10-27T03:39:49.582Z,1761536389.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111113,0.993805,-0.002166],[-0.993323,-0.111127,-0.031000],[-0.031049,-0.001293,0.999517]] 2025-10-27T03:39:50.015Z,1761536390.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109173,0.994017,-0.003299],[-0.993471,-0.109222,-0.032961],[-0.033124,-0.000321,0.999451]] 2025-10-27T03:39:50.389Z,1761536390.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108726,0.994061,-0.004529],[-0.993488,-0.108817,-0.033771],[-0.034063,0.000828,0.999419]] 2025-10-27T03:39:50.793Z,1761536390.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110660,0.993844,-0.005322],[-0.993298,-0.110776,-0.032994],[-0.033381,0.001635,0.999441]] 2025-10-27T03:39:51.197Z,1761536391.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113155,0.993561,-0.005773],[-0.993052,-0.113282,-0.031854],[-0.032303,0.002128,0.999476]] 2025-10-27T03:39:51.602Z,1761536391.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118018,0.992989,-0.006628],[-0.992550,-0.118164,-0.029683],[-0.030258,0.003075,0.999537]] 2025-10-27T03:39:52.044Z,1761536392.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124780,0.992156,-0.007448],[-0.991808,-0.124936,-0.026609],[-0.027331,0.004067,0.999618]] 2025-10-27T03:39:52.412Z,1761536392.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133017,0.991085,-0.007605],[-0.990826,-0.133160,-0.023081],[-0.023888,0.004466,0.999705]] 2025-10-27T03:39:52.440Z,1761536392.440 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:39:52.825Z,1761536392.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142589,0.989758,-0.006886],[-0.989577,-0.142698,-0.019363],[-0.020147,0.004053,0.999789]] 2025-10-27T03:39:53.217Z,1761536393.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153974,0.988048,-0.007234],[-0.987944,-0.154069,-0.015158],[-0.016092,0.004812,0.999859]] 2025-10-27T03:39:53.622Z,1761536393.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166128,0.986077,-0.007256],[-0.986033,-0.166200,-0.010769],[-0.011825,0.005366,0.999916]] 2025-10-27T03:39:54.064Z,1761536394.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179410,0.983752,-0.006663],[-0.983748,-0.179451,-0.006113],[-0.007209,0.005458,0.999959]] 2025-10-27T03:39:54.430Z,1761536394.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192319,0.981319,-0.005220],[-0.981328,-0.192331,-0.001859],[-0.002828,0.004765,0.999985]] 2025-10-27T03:39:54.838Z,1761536394.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205188,0.978713,-0.004364],[-0.978722,-0.205179,0.002318],[0.001373,0.004747,0.999988]] 2025-10-27T03:39:55.238Z,1761536395.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215835,0.976425,-0.002959],[-0.976417,-0.215816,0.005783],[0.005008,0.004137,0.999979]] 2025-10-27T03:39:55.643Z,1761536395.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223158,0.974782,-0.000198],[-0.974751,-0.223149,0.008096],[0.007847,0.002000,0.999967]] 2025-10-27T03:39:56.113Z,1761536396.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231774,0.972767,0.002334],[-0.972704,-0.231786,0.011094],[0.011333,0.000301,0.999936]] 2025-10-27T03:39:56.450Z,1761536396.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237291,0.971427,0.004760],[-0.971342,-0.237334,0.012952],[0.013712,-0.001550,0.999905]] 2025-10-27T03:39:56.853Z,1761536396.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239474,0.970878,0.006977],[-0.970791,-0.239550,0.013478],[0.014757,-0.003546,0.999885]] 2025-10-27T03:39:57.260Z,1761536397.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236086,0.971690,0.009045],[-0.971640,-0.236182,0.011573],[0.013382,-0.006056,0.999892]] 2025-10-27T03:39:57.662Z,1761536397.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231834,0.972702,0.010196],[-0.972688,-0.231928,0.009375],[0.011484,-0.007744,0.999904]] 2025-10-27T03:39:58.079Z,1761536398.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223938,0.974545,0.010692],[-0.974572,-0.224006,0.005625],[0.007876,-0.009160,0.999927]] 2025-10-27T03:39:58.470Z,1761536398.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212002,0.977207,0.010990],[-0.977266,-0.212019,0.000339],[0.002662,-0.010668,0.999940]] 2025-10-27T03:39:58.876Z,1761536398.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197568,0.980240,0.009825],[-0.980281,-0.197515,-0.006058],[-0.003998,-0.010828,0.999933]] 2025-10-27T03:39:59.277Z,1761536399.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180487,0.983537,0.008937],[-0.983510,-0.180361,-0.013315],[-0.011484,-0.011193,0.999871]] 2025-10-27T03:39:59.681Z,1761536399.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160821,0.986950,0.008197],[-0.986789,-0.160619,-0.021165],[-0.019572,-0.011492,0.999742]] 2025-10-27T03:40:00.090Z,1761536400.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139952,0.990135,0.006763],[-0.989783,-0.139708,-0.028469],[-0.027243,-0.010678,0.999572]] 2025-10-27T03:40:00.491Z,1761536400.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119518,0.992824,0.003898],[-0.992253,-0.119313,-0.034618],[-0.033905,-0.008005,0.999393]] 2025-10-27T03:40:00.894Z,1761536400.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099660,0.995020,0.001509],[-0.994262,-0.099525,-0.039216],[-0.038871,-0.005409,0.999230]] 2025-10-27T03:40:01.304Z,1761536401.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080573,0.996749,-0.000117],[-0.995862,-0.080506,-0.042174],[-0.042046,-0.003282,0.999110]] 2025-10-27T03:40:01.459Z,1761536401.459 [DockingStepper](FAULT): Timed out moving from: 13087 to: 14900 response: ÿ 2025-10-27T03:40:01.460Z,1761536401.460 [DockingStepper] Hardware Fault, FailCount= 4 2025-10-27T03:40:01.460Z,1761536401.460 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:40:01.464Z,1761536401.464 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:40:01.711Z,1761536401.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065010,0.997883,-0.002039],[-0.996999,-0.065038,-0.041993],[-0.042036,-0.000697,0.999116]] 2025-10-27T03:40:01.766Z,1761536401.766 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:40:01.766Z,1761536401.766 [DockingStepper](INFO): Powering down 2025-10-27T03:40:02.108Z,1761536402.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050233,0.998732,-0.003306],[-0.997904,-0.050326,-0.040687],[-0.040802,0.001255,0.999166]] 2025-10-27T03:40:02.509Z,1761536402.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040188,0.999177,-0.005584],[-0.998512,-0.040366,-0.036665],[-0.036860,0.004102,0.999312]] 2025-10-27T03:40:02.913Z,1761536402.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033166,0.999427,-0.006758],[-0.998961,-0.033360,-0.031051],[-0.031259,0.005721,0.999495]] 2025-10-27T03:40:03.326Z,1761536403.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028991,0.999557,-0.006695],[-0.999280,-0.029146,-0.024290],[-0.024474,0.005986,0.999683]] 2025-10-27T03:40:03.737Z,1761536403.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027710,0.999582,-0.008294],[-0.999469,-0.027847,-0.016920],[-0.017144,0.007821,0.999822]] 2025-10-27T03:40:04.125Z,1761536404.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029215,0.999526,-0.009718],[-0.999526,-0.029306,-0.009385],[-0.009665,0.009439,0.999909]] 2025-10-27T03:40:04.531Z,1761536404.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033471,0.999395,-0.009460],[-0.999437,-0.033493,-0.002133],[-0.002449,0.009384,0.999953]] 2025-10-27T03:40:04.936Z,1761536404.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040671,0.999126,-0.009636],[-0.999164,-0.040629,0.004505],[0.004110,0.009812,0.999943]] 2025-10-27T03:40:05.745Z,1761536405.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063546,0.997912,-0.011536],[-0.997869,-0.063363,0.015563],[0.014799,0.012501,0.999812]] 2025-10-27T03:40:06.551Z,1761536406.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094641,0.995461,-0.009978],[-0.995261,-0.094388,0.023376],[0.022328,0.012143,0.999677]] 2025-10-27T03:40:06.954Z,1761536406.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112256,0.993626,-0.010317],[-0.993366,-0.111954,0.026286],[0.024964,0.013199,0.999601]] 2025-10-27T03:40:07.357Z,1761536407.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130706,0.991381,-0.008877],[-0.991042,-0.130404,0.028803],[0.027397,0.012562,0.999546]] 2025-10-27T03:40:07.765Z,1761536407.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150006,0.988660,-0.007070],[-0.988237,-0.149720,0.031157],[0.029745,0.011661,0.999489]] 2025-10-27T03:40:08.168Z,1761536408.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169228,0.985559,-0.005992],[-0.985064,-0.168941,0.033285],[0.031792,0.011536,0.999428]] 2025-10-27T03:40:08.569Z,1761536408.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187924,0.982177,-0.003666],[-0.981597,-0.187682,0.035246],[0.033930,0.010222,0.999372]] 2025-10-27T03:40:08.973Z,1761536408.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204942,0.978774,-0.000625],[-0.978113,-0.204780,0.036875],[0.035964,0.008169,0.999320]] 2025-10-27T03:40:09.380Z,1761536409.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219432,0.975623,0.002922],[-0.974896,-0.219382,0.038065],[0.037778,0.005505,0.999271]] 2025-10-27T03:40:09.789Z,1761536409.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231523,0.972807,0.006626],[-0.972048,-0.231604,0.038505],[0.038992,0.002474,0.999236]] 2025-10-27T03:40:10.186Z,1761536410.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240562,0.970583,0.009964],[-0.969834,-0.240768,0.038126],[0.039403,-0.000491,0.999223]] 2025-10-27T03:40:10.590Z,1761536410.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245830,0.969223,0.013235],[-0.968538,-0.246156,0.036631],[0.038762,-0.003813,0.999241]] 2025-10-27T03:40:11.001Z,1761536411.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246910,0.968902,0.016238],[-0.968335,-0.247335,0.033959],[0.036919,-0.007339,0.999291]] 2025-10-27T03:40:11.398Z,1761536411.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244109,0.969577,0.018214],[-0.969158,-0.244573,0.030268],[0.033802,-0.010263,0.999376]] 2025-10-27T03:40:11.812Z,1761536411.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237677,0.971167,0.018570],[-0.970892,-0.238106,0.025955],[0.029628,-0.011861,0.999491]] 2025-10-27T03:40:12.206Z,1761536412.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227800,0.973543,0.017945],[-0.973400,-0.228153,0.020946],[0.024486,-0.012696,0.999620]] 2025-10-27T03:40:12.609Z,1761536412.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214463,0.976591,0.016591],[-0.976558,-0.214715,0.015262],[0.018467,-0.012929,0.999746]] 2025-10-27T03:40:13.018Z,1761536413.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198578,0.979988,0.013808],[-0.980012,-0.198716,0.009429],[0.011984,-0.011659,0.999860]] 2025-10-27T03:40:13.417Z,1761536413.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179711,0.983656,0.011164],[-0.983704,-0.179759,0.003507],[0.005456,-0.010352,0.999932]] 2025-10-27T03:40:13.824Z,1761536413.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158629,0.987295,0.009209],[-0.987338,-0.158613,-0.002473],[-0.000981,-0.009485,0.999955]] 2025-10-27T03:40:14.228Z,1761536414.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136886,0.990564,0.006789],[-0.990563,-0.136832,-0.007846],[-0.006843,-0.007799,0.999946]] 2025-10-27T03:40:15.037Z,1761536415.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094586,0.995515,0.001591],[-0.995392,-0.094549,-0.015966],[-0.015744,-0.003094,0.999871]] 2025-10-27T03:40:15.440Z,1761536415.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075286,0.997162,0.000164],[-0.996998,-0.075270,-0.018168],[-0.018104,-0.001532,0.999835]] 2025-10-27T03:40:15.841Z,1761536415.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057755,0.998328,-0.002459],[-0.998147,-0.057792,-0.019046],[-0.019156,0.001354,0.999816]] 2025-10-27T03:40:16.245Z,1761536416.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042665,0.999078,-0.004731],[-0.998911,-0.042746,-0.018679],[-0.018864,0.003929,0.999814]] 2025-10-27T03:40:16.650Z,1761536416.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030486,0.999518,-0.005868],[-0.999383,-0.030583,-0.017267],[-0.017438,0.005338,0.999834]] 2025-10-27T03:40:17.060Z,1761536417.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021416,0.999748,-0.006742],[-0.999657,-0.021515,-0.014912],[-0.015054,0.006421,0.999866]] 2025-10-27T03:40:17.458Z,1761536417.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015287,0.999846,-0.008593],[-0.999811,-0.015388,-0.011905],[-0.012035,0.008409,0.999892]] 2025-10-27T03:40:17.862Z,1761536417.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012427,0.999868,-0.010416],[-0.999886,-0.012515,-0.008495],[-0.008624,0.010310,0.999910]] 2025-10-27T03:40:18.266Z,1761536418.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012655,0.999855,-0.011419],[-0.999907,-0.012712,-0.004907],[-0.005051,0.011355,0.999923]] 2025-10-27T03:40:18.672Z,1761536418.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016042,0.999803,-0.011653],[-0.999870,-0.016059,-0.001384],[-0.001571,0.011629,0.999931]] 2025-10-27T03:40:19.073Z,1761536419.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022756,0.999668,-0.012097],[-0.999740,-0.022733,0.001982],[0.001707,0.012139,0.999925]] 2025-10-27T03:40:19.477Z,1761536419.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032031,0.999414,-0.012075],[-0.999477,-0.031974,0.004833],[0.004444,0.012223,0.999915]] 2025-10-27T03:40:19.881Z,1761536419.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043715,0.998981,-0.011244],[-0.999022,-0.043636,0.007174],[0.006676,0.011547,0.999911]] 2025-10-27T03:40:20.301Z,1761536420.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057499,0.998293,-0.010224],[-0.998311,-0.057409,0.008867],[0.008265,0.010717,0.999908]] 2025-10-27T03:40:20.692Z,1761536420.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073124,0.997277,-0.009590],[-0.997280,-0.073029,0.009952],[0.009224,0.010291,0.999904]] 2025-10-27T03:40:21.108Z,1761536421.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107942,0.994124,-0.008068],[-0.994108,-0.107852,0.010828],[0.009894,0.009189,0.999909]] 2025-10-27T03:40:21.508Z,1761536421.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126243,0.991974,-0.007124],[-0.991951,-0.126163,0.010746],[0.009761,0.008423,0.999917]] 2025-10-27T03:40:21.914Z,1761536421.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144364,0.989504,-0.006451],[-0.989480,-0.144293,0.010401],[0.009361,0.007885,0.999925]] 2025-10-27T03:40:22.315Z,1761536422.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161709,0.986824,-0.005277],[-0.986799,-0.161652,0.009837],[0.008854,0.006798,0.999938]] 2025-10-27T03:40:22.345Z,1761536422.345 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:40:22.346Z,1761536422.346 [DockingStepper] No Fault, FailCount= 4 2025-10-27T03:40:22.722Z,1761536422.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177717,0.984076,-0.003432],[-0.984048,-0.177681,0.008870],[0.008119,0.004953,0.999955]] 2025-10-27T03:40:22.798Z,1761536422.798 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:40:22.803Z,1761536422.803 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:40:23.116Z,1761536423.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190952,0.981599,-0.001146],[-0.981573,-0.190939,0.007535],[0.007177,0.002564,0.999971]] 2025-10-27T03:40:23.532Z,1761536423.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202312,0.979321,0.000975],[-0.979304,-0.202314,0.005748],[0.005826,0.000208,0.999983]] 2025-10-27T03:40:23.923Z,1761536423.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211773,0.977315,0.002714],[-0.977310,-0.211782,0.003657],[0.004149,-0.001878,0.999990]] 2025-10-27T03:40:24.326Z,1761536424.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218211,0.975893,0.004139],[-0.975900,-0.218217,0.001166],[0.002041,-0.003785,0.999991]] 2025-10-27T03:40:24.733Z,1761536424.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222980,0.974808,0.005352],[-0.974823,-0.222975,-0.001609],[-0.000376,-0.005576,0.999984]] 2025-10-27T03:40:25.136Z,1761536425.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225338,0.974263,0.005922],[-0.974275,-0.225313,-0.004672],[-0.003218,-0.006822,0.999972]] 2025-10-27T03:40:25.558Z,1761536425.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224997,0.974343,0.005753],[-0.974339,-0.224950,-0.007754],[-0.006261,-0.007350,0.999953]] 2025-10-27T03:40:25.942Z,1761536425.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221885,0.975060,0.005066],[-0.975030,-0.221823,-0.010583],[-0.009195,-0.007288,0.999931]] 2025-10-27T03:40:26.346Z,1761536426.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216328,0.976309,0.004731],[-0.976251,-0.216253,-0.012961],[-0.011631,-0.007422,0.999905]] 2025-10-27T03:40:26.400Z,1761536426.400 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:40:26.751Z,1761536426.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208628,0.977985,0.004491],[-0.977900,-0.208541,-0.014903],[-0.013639,-0.007501,0.999879]] 2025-10-27T03:40:27.154Z,1761536427.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197746,0.980245,0.003937],[-0.980125,-0.197654,-0.016971],[-0.015857,-0.007215,0.999848]] 2025-10-27T03:40:27.586Z,1761536427.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185569,0.982627,0.002877],[-0.982480,-0.185489,-0.018082],[-0.017234,-0.006182,0.999832]] 2025-10-27T03:40:27.962Z,1761536427.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170504,0.985353,0.002690],[-0.985184,-0.170422,-0.019202],[-0.018462,-0.005924,0.999812]] 2025-10-27T03:40:28.367Z,1761536428.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157837,0.987464,0.001755],[-0.987300,-0.157778,-0.018555],[-0.018045,-0.004661,0.999826]] 2025-10-27T03:40:28.781Z,1761536428.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144341,0.989528,0.000921],[-0.989383,-0.144304,-0.017256],[-0.016942,-0.003402,0.999851]] 2025-10-27T03:40:29.174Z,1761536429.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132166,0.991227,-0.000919],[-0.991114,-0.132165,-0.015026],[-0.015015,-0.001075,0.999887]] 2025-10-27T03:40:29.613Z,1761536429.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119913,0.992781,-0.002491],[-0.992697,-0.119935,-0.012998],[-0.013203,0.000914,0.999912]] 2025-10-27T03:40:29.989Z,1761536429.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108498,0.994089,-0.003863],[-0.994036,-0.108533,-0.010592],[-0.010948,0.002691,0.999936]] 2025-10-27T03:40:30.386Z,1761536430.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097635,0.995212,-0.004573],[-0.995186,-0.097670,-0.008055],[-0.008463,0.003764,0.999957]] 2025-10-27T03:40:30.797Z,1761536430.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087715,0.996132,-0.005157],[-0.996127,-0.087743,-0.005588],[-0.006019,0.004646,0.999971]] 2025-10-27T03:40:31.194Z,1761536431.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078434,0.996904,-0.005460],[-0.996911,-0.078455,-0.003687],[-0.004104,0.005153,0.999978]] 2025-10-27T03:40:31.634Z,1761536431.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070116,0.997526,-0.005101],[-0.997536,-0.070128,-0.002108],[-0.002460,0.004941,0.999985]] 2025-10-27T03:40:32.001Z,1761536432.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063275,0.997981,-0.005566],[-0.997995,-0.063282,-0.001073],[-0.001423,0.005487,0.999984]] 2025-10-27T03:40:32.406Z,1761536432.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058277,0.998284,-0.005783],[-0.998300,-0.058279,-0.000311],[-0.000647,0.005755,0.999983]] 2025-10-27T03:40:32.810Z,1761536432.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055554,0.998437,-0.006108],[-0.998456,-0.055553,0.000245],[-0.000094,0.006112,0.999981]] 2025-10-27T03:40:33.215Z,1761536433.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055129,0.998464,-0.005544],[-0.998479,-0.055128,0.000309],[0.000003,0.005553,0.999985]] 2025-10-27T03:40:33.657Z,1761536433.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055722,0.998430,-0.005748],[-0.998446,-0.055723,-0.000088],[-0.000408,0.005734,0.999983]] 2025-10-27T03:40:34.022Z,1761536434.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058430,0.998270,-0.006541],[-0.998291,-0.058435,-0.000609],[-0.000990,0.006494,0.999978]] 2025-10-27T03:40:34.425Z,1761536434.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062405,0.998030,-0.006487],[-0.998049,-0.062415,-0.001340],[-0.001742,0.006390,0.999978]] 2025-10-27T03:40:34.830Z,1761536434.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066121,0.997794,-0.005965],[-0.997806,-0.066140,-0.003050],[-0.003438,0.005751,0.999978]] 2025-10-27T03:40:35.233Z,1761536435.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072692,0.997337,-0.005853],[-0.997345,-0.072715,-0.003811],[-0.004227,0.005561,0.999976]] 2025-10-27T03:40:35.651Z,1761536435.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079956,0.996785,-0.005131],[-0.996785,-0.079981,-0.004739],[-0.005134,0.004736,0.999976]] 2025-10-27T03:40:35.835Z,1761536435.835 [DockingStepper](FAULT): Timed out moving from: 13087 to: 14900 response: ÿ 2025-10-27T03:40:35.835Z,1761536435.835 [DockingStepper] Hardware Fault, FailCount= 5 2025-10-27T03:40:35.835Z,1761536435.835 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:40:35.840Z,1761536435.840 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:40:35.841Z,1761536435.841 [CBIT](CRITICAL): Hardware Fault in component: DockingStepper 2025-10-27T03:40:36.042Z,1761536436.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088321,0.996082,-0.004597],[-0.996074,-0.088346,-0.005607],[-0.005991,0.004083,0.999974]] 2025-10-27T03:40:36.154Z,1761536436.154 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:40:36.154Z,1761536436.154 [DockingStepper](INFO): Powering down 2025-10-27T03:40:36.157Z,1761536436.157 [CommandExec](FAULT): Scheduling is paused for 1 commands 2025-10-27T03:40:36.157Z,1761536436.157 [CBIT](INFO): Critical error at 20251027T034035 2025-10-27T03:40:36.158Z,1761536436.158 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2025-10-27T03:40:36.446Z,1761536436.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097236,0.995255,-0.003675],[-0.995239,-0.097258,-0.006404],[-0.006731,0.003035,0.999973]] 2025-10-27T03:40:36.468Z,1761536436.468 [MissionManager](INFO): MissionManager is completed. 2025-10-27T03:40:36.468Z,1761536436.468 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming 2025-10-27T03:40:36.468Z,1761536436.468 [lineCaptureHoming] Stopped 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:Science] Stopped 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:Science:B] Stopped 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:Science:C] Stopped 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:Science:E] Stopped 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:Science:OceanCurrent] Stopped 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:StandardEnvelopes] Stopped 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes 2025-10-27T03:40:36.469Z,1761536436.469 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:MicromodemComms] Stopped 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T03:40:36.470Z,1761536436.470 [lineCaptureHoming:TrackAC.] Stopped 2025-10-27T03:40:36.471Z,1761536436.471 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-27T03:40:36.471Z,1761536436.471 [lineCaptureHoming:Lap] Stopped 2025-10-27T03:40:36.471Z,1761536436.471 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap 2025-10-27T03:40:36.471Z,1761536436.471 [lineCaptureHoming:Lap:Docked] Stopped 2025-10-27T03:40:36.471Z,1761536436.471 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked 2025-10-27T03:40:36.471Z,1761536436.471 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped 2025-10-27T03:40:36.491Z,1761536436.491 [WetLabsBB2FL](INFO): Powering down 2025-10-27T03:40:36.615Z,1761536436.615 [DAT](INFO): entering command mode 2025-10-27T03:40:36.816Z,1761536436.816 [DAT](INFO): DAT read: 2025-10-27T03:40:36.816Z,1761536436.816 [DAT](INFO): DAT read: user:416> 2025-10-27T03:40:36.860Z,1761536436.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106055,0.994354,-0.003379],[-0.994331,-0.106078,-0.007338],[-0.007655,0.002582,0.999967]] 2025-10-27T03:40:36.925Z,1761536436.925 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-27T03:40:36.926Z,1761536436.926 [DefaultWithUndock] Running Loop=1 2025-10-27T03:40:36.926Z,1761536436.926 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-27T03:40:36.926Z,1761536436.926 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-27T03:40:36.926Z,1761536436.926 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-27T03:40:37.068Z,1761536437.068 [DAT](INFO): DAT read: user:416> 2025-10-27T03:40:37.069Z,1761536437.069 [DAT](INFO): DAT read: Tx time:03:40:38.4133 2025-10-27T03:40:37.069Z,1761536437.069 [DAT](INFO): Ping request sent. 2025-10-27T03:40:37.069Z,1761536437.069 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:40:37.069Z,1761536437.069 [DAT](INFO): publishing transmit ping time 2025-10-27T03:40:37.254Z,1761536437.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115930,0.993252,-0.003198],[-0.993225,-0.115952,-0.007691],[-0.008010,0.002285,0.999965]] 2025-10-27T03:40:37.665Z,1761536437.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126099,0.992013,-0.003133],[-0.991985,-0.126120,-0.007675],[-0.008009,0.002140,0.999966]] 2025-10-27T03:40:38.062Z,1761536438.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136079,0.990694,-0.002907],[-0.990669,-0.136097,-0.007238],[-0.007566,0.001895,0.999970]] 2025-10-27T03:40:38.466Z,1761536438.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145868,0.989301,-0.002582],[-0.989282,-0.145881,-0.006276],[-0.006585,0.001638,0.999977]] 2025-10-27T03:40:38.870Z,1761536438.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154668,0.987964,-0.002044],[-0.987953,-0.154676,-0.004998],[-0.005254,0.001246,0.999985]] 2025-10-27T03:40:39.276Z,1761536439.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162275,0.986745,-0.001333],[-0.986739,-0.162279,-0.003334],[-0.003506,0.000774,0.999994]] 2025-10-27T03:40:39.336Z,1761536439.336 [DAT](INFO): DAT read: Rx Time:03:40:40.3060 2025-10-27T03:40:39.336Z,1761536439.336 [DAT](INFO): Rx dataTimestamp_ set to:1761536439.336212 2025-10-27T03:40:39.686Z,1761536439.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167909,0.985802,-0.000398],[-0.985802,-0.167909,-0.001276],[-0.001325,0.000178,0.999999]] 2025-10-27T03:40:40.082Z,1761536440.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171990,0.985099,0.000437],[-0.985098,-0.171990,0.001064],[0.001124,-0.000248,0.999999]] 2025-10-27T03:40:40.097Z,1761536440.097 [DAT](INFO): DAT read: 03:40:40.3060 LVL= 15600, 9889, 18722, 19091, AGC= 32, IDX= 475, 0.24, 0.299,-0.806,-0.284, 1.161, PHS=-0.760,-1.922,-1.488, RAW= 111.7, 55.4, CAL= 109.8, 60.1, ROT= 40.2, -60.1 2025-10-27T03:40:40.098Z,1761536440.098 [DAT](INFO): got valid direction response: 03:40:40.3060 LVL= 15600, 9889, 18722, 19091, AGC= 32, IDX= 475, 0.24, 0.299,-0.806,-0.284, 1.161, PHS=-0.760,-1.922,-1.488, RAW= 111.7, 55.4, CAL= 109.8, 60.1, ROT= 40.2, -60.1 2025-10-27T03:40:40.098Z,1761536440.098 [DAT](INFO): DAT read: OK 2025-10-27T03:40:40.098Z,1761536440.098 [DAT](INFO): unknown deviceResponse_: OK 2025-10-27T03:40:40.107Z,1761536440.107 [DAT](INFO): DAT read: user:417> 2025-10-27T03:40:40.108Z,1761536440.108 [DAT](INFO): DAT read: Tx time:03:40:41.4120 2025-10-27T03:40:40.108Z,1761536440.108 [DAT](INFO): Ping request sent. 2025-10-27T03:40:40.109Z,1761536440.109 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:40:40.109Z,1761536440.109 [DAT](INFO): #Rx 4: Read direction message, but no range. 2025-10-27T03:40:40.110Z,1761536440.110 [DAT](INFO): direction in FSK: [0.380743,0.321753,0.866897] 2025-10-27T03:40:40.110Z,1761536440.110 [DAT](INFO): publishing transmit ping time 2025-10-27T03:40:40.113Z,1761536440.113 [DAT](INFO): publishing transmit ping time 2025-10-27T03:40:40.487Z,1761536440.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174383,0.984677,0.001319],[-0.984670,-0.174387,0.003698],[0.003871,-0.000654,0.999992]] 2025-10-27T03:40:40.889Z,1761536440.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175160,0.984537,0.002206],[-0.984516,-0.175171,0.006544],[0.006829,-0.001025,0.999976]] 2025-10-27T03:40:41.293Z,1761536441.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173980,0.984744,0.003105],[-0.984699,-0.174002,0.009536],[0.009931,-0.001399,0.999950]] 2025-10-27T03:40:41.698Z,1761536441.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170274,0.985390,0.003731],[-0.985312,-0.170308,0.012507],[0.012960,-0.001547,0.999915]] 2025-10-27T03:40:42.102Z,1761536442.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164384,0.986387,0.004190],[-0.986266,-0.164430,0.015532],[0.016010,-0.001579,0.999871]] 2025-10-27T03:40:42.360Z,1761536442.360 [DAT](INFO): DAT read: Rx Time:03:40:43.3061 2025-10-27T03:40:42.361Z,1761536442.361 [DAT](INFO): Rx dataTimestamp_ set to:1761536442.360321 2025-10-27T03:40:42.506Z,1761536442.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156060,0.987737,0.004471],[-0.987569,-0.156116,0.018285],[0.018758,-0.001561,0.999823]] 2025-10-27T03:40:42.868Z,1761536442.868 [DAT](INFO): DAT read: 03:40:43.3061 LVL= 14768, 10913, 20898, 22051, AGC= 35, IDX= 460, 0.04, 0.250,-1.211,-0.385, 1.004, PHS=-0.652,-2.170,-1.432, RAW= 119.1, 48.9, CAL= 117.9, 55.4, ROT= 32.1, -55.4 2025-10-27T03:40:42.869Z,1761536442.869 [DAT](INFO): got valid direction response: 03:40:43.3061 LVL= 14768, 10913, 20898, 22051, AGC= 35, IDX= 460, 0.04, 0.250,-1.211,-0.385, 1.004, PHS=-0.652,-2.170,-1.432, RAW= 119.1, 48.9, CAL= 117.9, 55.4, ROT= 32.1, -55.4 2025-10-27T03:40:42.870Z,1761536442.870 [DAT](INFO): DAT read: OK 2025-10-27T03:40:42.870Z,1761536442.870 [DAT](INFO): unknown deviceResponse_: OK 2025-10-27T03:40:42.870Z,1761536442.870 [DAT](INFO): DAT read: user:418> 2025-10-27T03:40:42.871Z,1761536442.871 [DAT](INFO): DAT read: Tx time:03:40:44.4120 2025-10-27T03:40:42.872Z,1761536442.872 [DAT](INFO): Ping request sent. 2025-10-27T03:40:42.872Z,1761536442.872 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:40:42.872Z,1761536442.872 [DAT](INFO): #Rx 5: Read direction message, but no range. 2025-10-27T03:40:42.873Z,1761536442.873 [DAT](INFO): direction in FSK: [0.481033,0.301751,0.823136] 2025-10-27T03:40:42.873Z,1761536442.873 [DAT](INFO): publishing transmit ping time 2025-10-27T03:40:42.876Z,1761536442.876 [DAT](INFO): publishing transmit ping time 2025-10-27T03:40:42.944Z,1761536442.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145397,0.989362,0.004670],[-0.989143,-0.145464,0.020888],[0.021345,-0.001582,0.999771]] 2025-10-27T03:40:43.314Z,1761536443.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132261,0.991205,0.004388],[-0.990936,-0.132328,0.023121],[0.023498,-0.001290,0.999723]] 2025-10-27T03:40:43.718Z,1761536443.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116827,0.993144,0.004152],[-0.992826,-0.116895,0.025145],[0.025458,-0.001185,0.999675]] 2025-10-27T03:40:44.122Z,1761536444.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099197,0.995062,0.003343],[-0.994709,-0.099251,0.026532],[0.026732,-0.000693,0.999642]] 2025-10-27T03:40:44.527Z,1761536444.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080141,0.996781,0.002427],[-0.996406,-0.080177,0.027308],[0.027414,-0.000230,0.999624]] 2025-10-27T03:40:44.929Z,1761536444.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060406,0.998173,0.001083],[-0.997795,-0.060413,0.027494],[0.027510,0.000580,0.999621]] 2025-10-27T03:40:45.334Z,1761536445.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040449,0.999182,-0.000361],[-0.998814,-0.040424,0.027138],[0.027101,0.001459,0.999632]] 2025-10-27T03:40:45.384Z,1761536445.384 [DAT](INFO): DAT read: Rx Time:03:40:46.3062 2025-10-27T03:40:45.385Z,1761536445.385 [DAT](INFO): Rx dataTimestamp_ set to:1761536445.384141 2025-10-27T03:40:45.738Z,1761536445.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021004,0.999777,-0.001947],[-0.999432,-0.020945,0.026409],[0.026362,0.002501,0.999649]] 2025-10-27T03:40:45.888Z,1761536445.888 [DAT](INFO): DAT read: OK 2025-10-27T03:40:45.888Z,1761536445.888 [DAT](INFO): unknown deviceResponse_: OK 2025-10-27T03:40:46.147Z,1761536446.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001904,0.999992,-0.003382],[-0.999682,-0.001818,0.025153],[0.025146,0.003429,0.999678]] 2025-10-27T03:40:46.546Z,1761536446.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015706,0.999864,-0.005091],[-0.999592,0.015823,0.023787],[0.023864,0.004716,0.999704]] 2025-10-27T03:40:46.950Z,1761536446.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031864,0.999468,-0.006908],[-0.999240,0.032011,0.022251],[0.022460,0.006193,0.999729]] 2025-10-27T03:40:47.353Z,1761536447.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045888,0.998912,-0.008257],[-0.998720,0.046052,0.020941],[0.021299,0.007285,0.999747]] 2025-10-27T03:40:47.759Z,1761536447.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057199,0.998315,-0.009745],[-0.998149,0.057386,0.020140],[0.020666,0.008575,0.999750]] 2025-10-27T03:40:48.163Z,1761536448.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065895,0.997762,-0.011332],[-0.997618,0.066109,0.019705],[0.020410,0.010007,0.999742]] 2025-10-27T03:40:48.565Z,1761536448.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071780,0.997341,-0.012602],[-0.997206,0.072021,0.019828],[0.020683,0.011143,0.999724]] 2025-10-27T03:40:48.969Z,1761536448.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074601,0.997125,-0.013314],[-0.996976,0.074868,0.020831],[0.021768,0.011719,0.999694]] 2025-10-27T03:40:49.375Z,1761536449.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074469,0.997129,-0.013708],[-0.996953,0.074761,0.022257],[0.023218,0.012008,0.999658]] 2025-10-27T03:40:49.778Z,1761536449.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071700,0.997319,-0.014592],[-0.997104,0.072041,0.024369],[0.025355,0.012803,0.999596]] 2025-10-27T03:40:50.182Z,1761536450.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066362,0.997679,-0.015243],[-0.997394,0.066761,0.027364],[0.028318,0.013387,0.999509]] 2025-10-27T03:40:50.586Z,1761536450.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058919,0.998146,-0.015261],[-0.997756,0.059369,0.030950],[0.031799,0.013403,0.999404]] 2025-10-27T03:40:50.991Z,1761536450.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049891,0.998637,-0.015329],[-0.998125,0.050399,0.034743],[0.035468,0.013567,0.999279]] 2025-10-27T03:40:51.394Z,1761536451.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038752,0.999133,-0.015192],[-0.998468,0.039318,0.038934],[0.039498,0.013660,0.999126]] 2025-10-27T03:40:51.798Z,1761536451.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026217,0.999544,-0.014973],[-0.998710,0.026841,0.043092],[0.043475,0.013824,0.998959]] 2025-10-27T03:40:52.203Z,1761536452.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012690,0.999820,-0.014076],[-0.998804,0.013339,0.047038],[0.047217,0.013462,0.998794]] 2025-10-27T03:40:52.607Z,1761536452.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001470,0.999915,-0.012917],[-0.998708,-0.000812,0.050814],[0.050799,0.012975,0.998625]] 2025-10-27T03:40:53.009Z,1761536453.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016358,0.999794,-0.012050],[-0.998403,-0.015681,0.054272],[0.054072,0.012918,0.998453]] 2025-10-27T03:40:53.414Z,1761536453.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031560,0.999442,-0.010948],[-0.997871,-0.030881,0.057448],[0.057078,0.012738,0.998288]] 2025-10-27T03:40:53.818Z,1761536453.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046702,0.998866,-0.009269],[-0.997116,-0.046061,0.060314],[0.059819,0.012059,0.998136]] 2025-10-27T03:40:54.223Z,1761536454.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061396,0.998083,-0.007835],[-0.996179,-0.060787,0.062704],[0.062108,0.011655,0.998001]] 2025-10-27T03:40:54.627Z,1761536454.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075502,0.997124,-0.006574],[-0.995067,-0.074918,0.065028],[0.064349,0.011451,0.997862]] 2025-10-27T03:40:55.029Z,1761536455.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088697,0.996045,-0.005236],[-0.993841,-0.088148,0.067151],[0.066424,0.011160,0.997729]] 2025-10-27T03:40:55.433Z,1761536455.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100618,0.994917,-0.004078],[-0.992574,-0.100098,0.069112],[0.068353,0.011002,0.997600]] 2025-10-27T03:40:55.838Z,1761536455.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110397,0.993884,-0.002663],[-0.991399,-0.109930,0.071021],[0.070294,0.010480,0.997471]] 2025-10-27T03:40:56.244Z,1761536456.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118191,0.992990,-0.001215],[-0.990353,-0.117788,0.072993],[0.072338,0.009830,0.997332]] 2025-10-27T03:40:56.646Z,1761536456.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124170,0.992261,0.000198],[-0.989460,-0.123834,0.075055],[0.074498,0.009123,0.997179]] 2025-10-27T03:40:57.050Z,1761536457.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128649,0.991689,0.001402],[-0.988698,-0.128371,0.077440],[0.076977,0.008577,0.996996]] 2025-10-27T03:40:57.454Z,1761536457.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130721,0.991416,0.002506],[-0.988231,-0.130503,0.079796],[0.079438,0.007955,0.996808]] 2025-10-27T03:40:57.858Z,1761536457.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131150,0.991357,0.003414],[-0.987964,-0.130985,0.082283],[0.082019,0.007419,0.996603]] 2025-10-27T03:40:58.263Z,1761536458.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128791,0.991664,0.003973],[-0.988101,-0.128666,0.084269],[0.084078,0.006928,0.996435]] 2025-10-27T03:40:58.665Z,1761536458.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124641,0.992193,0.004324],[-0.988458,-0.124547,0.086252],[0.086117,0.006477,0.996264]] 2025-10-27T03:40:59.070Z,1761536459.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118791,0.992910,0.004377],[-0.989025,-0.118714,0.087959],[0.087855,0.006120,0.996114]] 2025-10-27T03:40:59.474Z,1761536459.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111623,0.993743,0.003926],[-0.989751,-0.111527,0.089184],[0.089064,0.006069,0.996007]] 2025-10-27T03:40:59.877Z,1761536459.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102987,0.994677,0.003377],[-0.990639,-0.102874,0.089726],[0.089596,0.005895,0.995961]] 2025-10-27T03:41:00.282Z,1761536460.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093331,0.995631,0.003002],[-0.991606,-0.093224,0.089589],[0.089477,0.005385,0.995974]] 2025-10-27T03:41:00.686Z,1761536460.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083163,0.996533,0.002467],[-0.992588,-0.083053,0.088719],[0.088616,0.004930,0.996054]] 2025-10-27T03:41:01.089Z,1761536461.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073129,0.997321,0.001514],[-0.993522,-0.072983,0.087103],[0.086980,0.004865,0.996198]] 2025-10-27T03:41:01.493Z,1761536461.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062674,0.998034,0.000522],[-0.994457,-0.062493,0.084561],[0.084427,0.004781,0.996418]] 2025-10-27T03:41:01.897Z,1761536461.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052823,0.998604,-0.000774],[-0.995305,-0.052586,0.081254],[0.081100,0.005062,0.996693]] 2025-10-27T03:41:02.302Z,1761536462.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044632,0.999000,-0.002452],[-0.995977,-0.044306,0.077895],[0.077709,0.005919,0.996958]] 2025-10-27T03:41:02.706Z,1761536462.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036985,0.999307,-0.004303],[-0.996584,-0.036566,0.074053],[0.073845,0.007027,0.997245]] 2025-10-27T03:41:03.110Z,1761536463.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030543,0.999511,-0.006663],[-0.997078,-0.030000,0.070249],[0.070015,0.008789,0.997507]] 2025-10-27T03:41:03.514Z,1761536463.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025256,0.999642,-0.008844],[-0.997472,-0.024611,0.066656],[0.066414,0.010505,0.997737]] 2025-10-27T03:41:03.920Z,1761536463.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022333,0.999694,-0.010587],[-0.997713,-0.021610,0.064043],[0.063795,0.011993,0.997891]] 2025-10-27T03:41:04.323Z,1761536464.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020569,0.999717,-0.011952],[-0.997873,-0.019789,0.062107],[0.061853,0.013204,0.997998]] 2025-10-27T03:41:04.726Z,1761536464.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020686,0.999698,-0.013263],[-0.997927,-0.019837,0.061225],[0.060943,0.014502,0.998036]] 2025-10-27T03:41:05.535Z,1761536465.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026566,0.999533,-0.015118],[-0.997653,-0.025555,0.063523],[0.063107,0.016770,0.997866]] 2025-10-27T03:41:05.938Z,1761536465.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032368,0.999355,-0.015539],[-0.997302,-0.031269,0.066421],[0.065892,0.017647,0.997671]] 2025-10-27T03:41:06.014Z,1761536466.014 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:41:06.014Z,1761536466.014 [DockingStepper] No Fault, FailCount= 5 2025-10-27T03:41:06.349Z,1761536466.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049412,0.998661,-0.015291],[-0.995965,-0.048119,0.075753],[0.074916,0.018973,0.997009]] 2025-10-27T03:41:06.362Z,1761536466.362 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32:WE,-32768,-32768,-32768,V 2025-10-27T03:41:06.424Z,1761536466.424 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:41:06.425Z,1761536466.425 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:41:06.751Z,1761536466.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060216,0.998080,-0.014470],[-0.994902,-0.058837,0.081905],[0.080897,0.019328,0.996535]] 2025-10-27T03:41:07.162Z,1761536467.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071501,0.997352,-0.013281],[-0.993625,-0.070057,0.088325],[0.087161,0.019511,0.996003]] 2025-10-27T03:41:07.196Z,1761536467.196 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2025-10-27T03:41:07.196Z,1761536467.196 [DefaultWithUndock:A.Wait] Stopped 2025-10-27T03:41:07.196Z,1761536467.196 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-27T03:41:07.196Z,1761536467.196 [DefaultWithUndock:LeaveDock] Running Loop=1 2025-10-27T03:41:07.196Z,1761536467.196 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2025-10-27T03:41:07.197Z,1761536467.197 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2025-10-27T03:41:07.197Z,1761536467.197 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2025-10-27T03:41:07.197Z,1761536467.197 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2025-10-27T03:41:07.197Z,1761536467.197 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-27T03:41:07.197Z,1761536467.197 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T03:41:07.558Z,1761536467.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084039,0.996399,-0.011264],[-0.991990,-0.082587,0.095578],[0.094303,0.019206,0.995358]] 2025-10-27T03:41:07.586Z,1761536467.586 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2025-10-27T03:41:07.586Z,1761536467.586 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T03:41:07.587Z,1761536467.587 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock at depth 65.775612 m. 2025-10-27T03:41:07.962Z,1761536467.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096815,0.995260,-0.009244],[-0.990098,-0.095356,0.103025],[0.101656,0.019127,0.994636]] 2025-10-27T03:41:07.976Z,1761536467.976 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2025-10-27T03:41:08.365Z,1761536468.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109373,0.993976,-0.006962],[-0.988013,-0.107944,0.110352],[0.108936,0.018948,0.993868]] 2025-10-27T03:41:08.766Z,1761536468.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121826,0.992544,-0.003884],[-0.985708,-0.120526,0.117700],[0.116355,0.018167,0.993042]] 2025-10-27T03:41:09.188Z,1761536469.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133523,0.991046,-0.000337],[-0.983303,-0.132438,0.124799],[0.123637,0.016995,0.992182]] 2025-10-27T03:41:09.574Z,1761536469.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144005,0.989572,0.003174],[-0.980920,-0.143167,0.131526],[0.130609,0.015827,0.991308]] 2025-10-27T03:41:09.978Z,1761536469.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152866,0.988225,0.006519],[-0.978681,-0.152299,0.137801],[0.137171,0.014685,0.990438]] 2025-10-27T03:41:10.252Z,1761536470.252 [CTD_Seabird](ERROR): Failed to parse device response: 2025-10-27T03:41:10.383Z,1761536470.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.159634,0.987130,0.009573],[-0.976757,-0.159347,0.143372],[0.143052,0.013537,0.989623]] 2025-10-27T03:41:10.422Z,1761536470.422 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T03:41:10.785Z,1761536470.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165415,0.986143,0.012621],[-0.974968,-0.165442,0.148544],[0.148574,0.012267,0.988825]] 2025-10-27T03:41:11.216Z,1761536471.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169146,0.985463,0.015893],[-0.973589,-0.169573,0.152869],[0.153342,0.010384,0.988119]] 2025-10-27T03:41:11.594Z,1761536471.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170599,0.985174,0.018136],[-0.972760,-0.171324,0.156163],[0.156955,0.008999,0.987565]] 2025-10-27T03:41:11.997Z,1761536471.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169163,0.985384,0.020056],[-0.972640,-0.170194,0.158130],[0.159232,0.007243,0.987215]] 2025-10-27T03:41:12.402Z,1761536472.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163938,0.986244,0.021122],[-0.973490,-0.165206,0.158189],[0.159503,0.005372,0.987183]] 2025-10-27T03:41:12.806Z,1761536472.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156284,0.987506,0.020193],[-0.974944,-0.157508,0.157082],[0.158300,0.004863,0.987379]] 2025-10-27T03:41:13.242Z,1761536473.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146995,0.988963,0.018586],[-0.976751,-0.148093,0.155004],[0.156046,0.004631,0.987739]] 2025-10-27T03:41:13.614Z,1761536473.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134577,0.990761,0.016765],[-0.979166,-0.135560,0.151187],[0.152063,0.003931,0.988363]] 2025-10-27T03:41:14.018Z,1761536474.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120701,0.992591,0.013973],[-0.981742,-0.121443,0.146406],[0.147018,0.003953,0.989126]] 2025-10-27T03:41:14.422Z,1761536474.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106738,0.994237,0.010037],[-0.984164,-0.107083,0.141263],[0.141524,0.005200,0.989921]] 2025-10-27T03:41:14.828Z,1761536474.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092061,0.995733,0.006390],[-0.986444,-0.092074,0.135832],[0.135841,0.006201,0.990711]] 2025-10-27T03:41:15.270Z,1761536475.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078415,0.996918,0.002545],[-0.988375,-0.078076,0.130459],[0.130256,0.007714,0.991450]] 2025-10-27T03:41:15.634Z,1761536475.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065567,0.997848,-0.000878],[-0.989950,-0.064938,0.125630],[0.125303,0.009106,0.992077]] 2025-10-27T03:41:16.039Z,1761536476.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053914,0.998538,-0.003862],[-0.991183,-0.053047,0.121419],[0.121037,0.010374,0.992594]] 2025-10-27T03:41:16.441Z,1761536476.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043280,0.999042,-0.006421],[-0.992175,-0.042227,0.117497],[0.117114,0.011456,0.993052]] 2025-10-27T03:41:16.845Z,1761536476.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035441,0.999333,-0.008786],[-0.992831,-0.034203,0.114527],[0.114150,0.012782,0.993381]] 2025-10-27T03:41:17.308Z,1761536477.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030698,0.999475,-0.010372],[-0.993199,-0.029336,0.112671],[0.112308,0.013761,0.993578]] 2025-10-27T03:41:17.341Z,1761536477.341 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:41:17.420Z,1761536477.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:17.420Z,1761536477.420 [DAT](INFO): setting remote address to 0 2025-10-27T03:41:17.654Z,1761536477.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027744,0.999551,-0.011294],[-0.993476,-0.026322,0.110963],[0.110616,0.014299,0.993760]] 2025-10-27T03:41:17.672Z,1761536477.672 [DAT](INFO): DAT read: user:419> 2025-10-27T03:41:17.673Z,1761536477.673 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:41:17.673Z,1761536477.673 [DAT](INFO): set remote address to 0 2025-10-27T03:41:17.673Z,1761536477.673 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:17.674Z,1761536477.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:41:17.924Z,1761536477.924 [DAT](INFO): DAT read: user:420> 2025-10-27T03:41:17.924Z,1761536477.924 [DAT](INFO): DAT read: Tx time:03:41:19.3128 2025-10-27T03:41:17.925Z,1761536477.925 [DAT](INFO): Ping request sent. 2025-10-27T03:41:17.925Z,1761536477.925 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:41:17.925Z,1761536477.925 [DAT](INFO): publishing transmit ping time 2025-10-27T03:41:17.926Z,1761536477.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T03:41:18.057Z,1761536478.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026768,0.999569,-0.012052],[-0.993683,-0.025292,0.109336],[0.108984,0.014903,0.993932]] 2025-10-27T03:41:18.176Z,1761536478.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250975 2025-10-27T03:41:18.428Z,1761536478.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502942 2025-10-27T03:41:18.462Z,1761536478.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029306,0.999486,-0.013009],[-0.993719,-0.027726,0.108412],[0.107996,0.016104,0.994021]] 2025-10-27T03:41:18.680Z,1761536478.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754909 2025-10-27T03:41:18.866Z,1761536478.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033134,0.999367,-0.012944],[-0.993721,-0.031556,0.107343],[0.106867,0.016420,0.994138]] 2025-10-27T03:41:18.933Z,1761536478.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007722 2025-10-27T03:41:19.184Z,1761536479.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258922 2025-10-27T03:41:19.309Z,1761536479.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038337,0.999192,-0.012085],[-0.993688,-0.036845,0.105961],[0.105430,0.016071,0.994297]] 2025-10-27T03:41:19.440Z,1761536479.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514611 2025-10-27T03:41:19.467Z,1761536479.467 [DockingStepper](FAULT): Timed out moving from: 13102 to: 6111 response: ÿ 2025-10-27T03:41:19.467Z,1761536479.467 [DockingStepper] Hardware Fault, FailCount= 1 2025-10-27T03:41:19.467Z,1761536479.467 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:41:19.472Z,1761536479.472 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:41:19.675Z,1761536479.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046709,0.998845,-0.011226],[-0.993452,-0.045277,0.104897],[0.104268,0.016052,0.994420]] 2025-10-27T03:41:19.688Z,1761536479.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763362 2025-10-27T03:41:19.700Z,1761536479.700 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:41:19.700Z,1761536479.700 [DockingStepper](INFO): Powering down 2025-10-27T03:41:19.940Z,1761536479.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015495 2025-10-27T03:41:20.078Z,1761536480.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055614,0.998400,-0.010219],[-0.993174,-0.054267,0.103249],[0.102530,0.015892,0.994603]] 2025-10-27T03:41:20.192Z,1761536480.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267204 2025-10-27T03:41:20.445Z,1761536480.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519851 2025-10-27T03:41:20.481Z,1761536480.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065698,0.997792,-0.009733],[-0.992774,-0.064380,0.101268],[0.100418,0.016315,0.994812]] 2025-10-27T03:41:20.696Z,1761536480.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771512 2025-10-27T03:41:20.886Z,1761536480.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075898,0.997075,-0.008969],[-0.992301,-0.074646,0.098822],[0.097864,0.016400,0.995065]] 2025-10-27T03:41:20.948Z,1761536480.948 [DAT](INFO): DAT read: Rx Time:03:41:21.7179 2025-10-27T03:41:20.948Z,1761536480.948 [DAT](INFO): Rx dataTimestamp_ set to:1761536480.948170 2025-10-27T03:41:20.949Z,1761536480.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024068 2025-10-27T03:41:21.200Z,1761536481.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274996 2025-10-27T03:41:21.314Z,1761536481.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085640,0.996297,-0.007572],[-0.991788,-0.084522,0.095983],[0.094988,0.015729,0.995354]] 2025-10-27T03:41:21.453Z,1761536481.453 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.9 ms) speed 0.0 m/s 2025-10-27T03:41:21.453Z,1761536481.453 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T03:41:21.698Z,1761536481.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094713,0.995487,-0.005958],[-0.991254,-0.093755,0.092878],[0.091901,0.014703,0.995660]] 2025-10-27T03:41:22.098Z,1761536482.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103135,0.994658,-0.004413],[-0.990707,-0.102327,0.089602],[0.088672,0.013613,0.995968]] 2025-10-27T03:41:22.502Z,1761536482.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110383,0.993884,-0.003283],[-0.990221,-0.109692,0.086193],[0.085305,0.012765,0.996273]] 2025-10-27T03:41:22.905Z,1761536482.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115846,0.993264,-0.002402],[-0.989888,-0.115252,0.082700],[0.081866,0.011958,0.996572]] 2025-10-27T03:41:23.319Z,1761536483.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119900,0.992785,-0.001480],[-0.989664,-0.119405,0.079418],[0.078668,0.010987,0.996840]] 2025-10-27T03:41:23.725Z,1761536483.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122285,0.992495,-0.000580],[-0.989618,-0.121886,0.076163],[0.075521,0.009887,0.997095]] 2025-10-27T03:41:24.117Z,1761536484.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122908,0.992418,0.000014],[-0.989790,-0.122584,0.072722],[0.072172,0.008924,0.997352]] 2025-10-27T03:41:24.480Z,1761536484.480 [DAT](INFO): DAT read: user:421>Rx Time:03:41:25.4573 2025-10-27T03:41:24.481Z,1761536484.481 [DAT](INFO): Rx dataTimestamp_ set to:1761536484.480302 2025-10-27T03:41:24.527Z,1761536484.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121278,0.992619,0.000325],[-0.990252,-0.121011,0.068970],[0.068500,0.008043,0.997619]] 2025-10-27T03:41:24.927Z,1761536484.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118663,0.992935,0.000097],[-0.990813,-0.118416,0.065323],[0.064873,0.007655,0.997864]] 2025-10-27T03:41:25.331Z,1761536485.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114388,0.993436,-0.000263],[-0.991557,-0.114155,0.061507],[0.061073,0.007297,0.998107]] 2025-10-27T03:41:25.488Z,1761536485.488 [DAT](INFO): DAT read: 2025-10-27T03:41:25.489Z,1761536485.489 [DAT](INFO): DAT read: DATA(0023):failc h dockingstepper 2025-10-27T03:41:25.489Z,1761536485.489 [DAT](INFO): Got DATA 23 2025-10-27T03:41:25.489Z,1761536485.489 [DAT](INFO): DAT read: 2025-10-27T03:41:25.490Z,1761536485.490 [DAT](INFO): DAT read: Source:050 Destination:011 2025-10-27T03:41:25.490Z,1761536485.490 [DAT](INFO): Got Src/Dest after DATA 2025-10-27T03:41:25.491Z,1761536485.491 [DAT](INFO): DATA Src=50, Dst=11 2025-10-27T03:41:25.492Z,1761536485.492 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:17.0 AGC:32 SPD:-0.1 CCERR:013 2025-10-27T03:41:25.492Z,1761536485.492 [DAT](INFO): Got CRC:Pass 2025-10-27T03:41:25.492Z,1761536485.492 [DAT](INFO): Got CRC:Pass 2025-10-27T03:41:25.492Z,1761536485.492 [DAT](INFO): Incoming data is intended for us 2025-10-27T03:41:25.492Z,1761536485.492 [DAT](INFO): Received command: failc h dockingstepper 2025-10-27T03:41:25.493Z,1761536485.493 [DAT](INFO): #Outgoing data=1 2025-10-27T03:41:25.493Z,1761536485.493 [DAT](INFO): Sending ack 2025-10-27T03:41:25.493Z,1761536485.493 [DAT](INFO): DAT read: 2025-10-27T03:41:25.493Z,1761536485.493 [DAT](INFO): DAT read: 2025-10-27T03:41:25.494Z,1761536485.494 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-27T03:41:25.682Z,1761536485.682 [CommandExec](IMPORTANT): got command failComponent hardware DockingStepper 2025-10-27T03:41:25.682Z,1761536485.682 [CommandExec](IMPORTANT): DockingStepper failureMode is Hardware Fault 2025-10-27T03:41:25.740Z,1761536485.740 [DAT](INFO): setting remote address to 50 2025-10-27T03:41:25.742Z,1761536485.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109069,0.994034,-0.000643],[-0.992398,-0.108852,0.057421],[0.057009,0.006901,0.998350]] 2025-10-27T03:41:25.992Z,1761536485.992 [DAT](INFO): DAT read: 2025-10-27T03:41:25.993Z,1761536485.993 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:41:25.993Z,1761536485.993 [DAT](INFO): set remote address to 50 2025-10-27T03:41:25.993Z,1761536485.993 [DAT](INFO): entering online mode 2025-10-27T03:41:26.142Z,1761536486.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102731,0.994709,-0.000810],[-0.993312,-0.102544,0.053069],[0.052705,0.006257,0.998591]] 2025-10-27T03:41:26.244Z,1761536486.244 [DAT](INFO): DAT read: user:422> 2025-10-27T03:41:26.245Z,1761536486.245 [DAT](INFO): DAT read: 2025-10-27T03:41:26.246Z,1761536486.246 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:41:26.246Z,1761536486.246 [DAT](INFO): commRate: 600 2025-10-27T03:41:26.246Z,1761536486.246 [DAT](INFO): online mode acknowledged 2025-10-27T03:41:26.247Z,1761536486.247 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-27T03:41:26.541Z,1761536486.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095723,0.995407,-0.001137],[-0.994251,-0.095557,0.048314],[0.047983,0.005755,0.998832]] 2025-10-27T03:41:26.947Z,1761536486.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088579,0.996068,-0.001764],[-0.995150,-0.088421,0.043101],[0.042776,0.005573,0.999069]] 2025-10-27T03:41:27.350Z,1761536487.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082144,0.996619,-0.001985],[-0.995916,-0.082011,0.037761],[0.037471,0.005079,0.999285]] 2025-10-27T03:41:27.378Z,1761536487.378 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:41:27.504Z,1761536487.504 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:41:27.504Z,1761536487.504 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:41:27.754Z,1761536487.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076020,0.997105,-0.001810],[-0.996606,-0.075924,0.031810],[0.031580,0.004222,0.999492]] 2025-10-27T03:41:27.756Z,1761536487.756 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:41:27.756Z,1761536487.756 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:41:28.008Z,1761536488.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:28.158Z,1761536488.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071158,0.997463,-0.001963],[-0.997143,-0.071085,0.025548],[0.025344,0.003775,0.999672]] 2025-10-27T03:41:28.260Z,1761536488.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:28.314Z,1761536488.314 [DAT](INFO): entering command mode 2025-10-27T03:41:28.512Z,1761536488.512 [DAT](INFO): DAT read: 2025-10-27T03:41:28.512Z,1761536488.512 [DAT](INFO): DAT read: user:423> 2025-10-27T03:41:28.513Z,1761536488.513 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:28.513Z,1761536488.513 [DAT](INFO): setting remote address to 0 2025-10-27T03:41:28.588Z,1761536488.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067239,0.997735,-0.002050],[-0.997563,-0.067189,0.018797],[0.018617,0.003309,0.999821]] 2025-10-27T03:41:28.767Z,1761536488.767 [DAT](INFO): DAT read: user:423> 2025-10-27T03:41:28.770Z,1761536488.770 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:41:28.770Z,1761536488.770 [DAT](INFO): set remote address to 0 2025-10-27T03:41:28.770Z,1761536488.770 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:28.771Z,1761536488.771 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:41:28.965Z,1761536488.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064657,0.997905,-0.002032],[-0.997839,-0.064629,0.011853],[0.011696,0.002794,0.999928]] 2025-10-27T03:41:29.016Z,1761536489.016 [DAT](INFO): DAT read: user:424> 2025-10-27T03:41:29.017Z,1761536489.017 [DAT](INFO): DAT read: Tx time:03:41:30.4128 2025-10-27T03:41:29.017Z,1761536489.017 [DAT](INFO): Ping request sent. 2025-10-27T03:41:29.017Z,1761536489.017 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:41:29.017Z,1761536489.017 [DAT](INFO): publishing transmit ping time 2025-10-27T03:41:29.018Z,1761536489.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T03:41:29.268Z,1761536489.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250929 2025-10-27T03:41:29.369Z,1761536489.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063228,0.997998,-0.001425],[-0.997988,-0.063221,0.004894],[0.004795,0.001731,0.999987]] 2025-10-27T03:41:29.520Z,1761536489.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503113 2025-10-27T03:41:29.772Z,1761536489.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754903 2025-10-27T03:41:29.775Z,1761536489.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063132,0.998005,-0.000714],[-0.998003,-0.063133,-0.001910],[-0.001952,0.000592,0.999998]] 2025-10-27T03:41:30.024Z,1761536490.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006929 2025-10-27T03:41:30.179Z,1761536490.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064327,0.997929,-0.000744],[-0.997894,-0.064331,-0.008287],[-0.008318,0.000209,0.999965]] 2025-10-27T03:41:30.276Z,1761536490.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259074 2025-10-27T03:41:30.528Z,1761536490.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511071 2025-10-27T03:41:30.584Z,1761536490.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066870,0.997761,-0.001159],[-0.997659,-0.066879,-0.014246],[-0.014291,0.000204,0.999898]] 2025-10-27T03:41:30.780Z,1761536490.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763065 2025-10-27T03:41:30.993Z,1761536490.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070040,0.997543,-0.001251],[-0.997347,-0.070051,-0.019811],[-0.019850,-0.000140,0.999803]] 2025-10-27T03:41:31.032Z,1761536491.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982 2025-10-27T03:41:31.284Z,1761536491.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266870 2025-10-27T03:41:31.390Z,1761536491.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074327,0.997233,-0.000984],[-0.996934,-0.074329,-0.024451],[-0.024456,-0.000836,0.999701]] 2025-10-27T03:41:31.536Z,1761536491.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518871 2025-10-27T03:41:31.788Z,1761536491.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771049 2025-10-27T03:41:31.797Z,1761536491.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079029,0.996872,-0.001105],[-0.996465,-0.079029,-0.028493],[-0.028492,-0.001151,0.999593]] 2025-10-27T03:41:32.040Z,1761536492.040 [DAT](INFO): DAT read: Rx Time:03:41:32.8177 2025-10-27T03:41:32.041Z,1761536492.041 [DAT](INFO): Rx dataTimestamp_ set to:1761536492.040454 2025-10-27T03:41:32.041Z,1761536492.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024328 2025-10-27T03:41:32.200Z,1761536492.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084226,0.996446,-0.001552],[-0.995944,-0.084232,-0.031619],[-0.031637,-0.001117,0.999499]] 2025-10-27T03:41:32.292Z,1761536492.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274946 2025-10-27T03:41:32.549Z,1761536492.549 [DAT](INFO): DAT read: 03:41:32.8177 LVL= 13632, 7697, 18546, 17059, AGC= 36, IDX= 37,-0.29, 2.830, 2.247, 2.365,-2.435, PHS=-0.916,-1.557,-1.528, RAW= 92.3, 66.1, CAL= 91.6, 69.5, ROT= 58.4, -69.5 2025-10-27T03:41:32.550Z,1761536492.550 [DAT](INFO): got valid direction response: 03:41:32.8177 LVL= 13632, 7697, 18546, 17059, AGC= 36, IDX= 37,-0.29, 2.830, 2.247, 2.365,-2.435, PHS=-0.916,-1.557,-1.528, RAW= 92.3, 66.1, CAL= 91.6, 69.5, ROT= 58.4, -69.5 2025-10-27T03:41:32.552Z,1761536492.552 [DAT](INFO): DAT read: Range 11 to 50 : 0.5 m (Round-trip 0.7 ms) speed 0.0 m/s 2025-10-27T03:41:32.552Z,1761536492.552 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:41:32.553Z,1761536492.553 [DAT](INFO): direction in FSK: [0.183504,0.298281,0.936672] 2025-10-27T03:41:32.554Z,1761536492.554 [DAT](INFO): publishing direction and range info 2025-10-27T03:41:32.603Z,1761536492.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089673,0.995970,-0.001602],[-0.995395,-0.089676,-0.033868],[-0.033875,-0.001443,0.999425]] 2025-10-27T03:41:33.006Z,1761536493.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095302,0.995447,-0.001466],[-0.994825,-0.095294,-0.035249],[-0.035228,-0.001901,0.999377]] 2025-10-27T03:41:33.412Z,1761536493.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100603,0.994926,-0.001138],[-0.994279,-0.100579,-0.035974],[-0.035906,-0.002488,0.999352]] 2025-10-27T03:41:33.815Z,1761536493.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105824,0.994384,-0.001115],[-0.993736,-0.105796,-0.035990],[-0.035906,-0.002700,0.999352]] 2025-10-27T03:41:34.218Z,1761536494.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110641,0.993860,-0.000946],[-0.993230,-0.110605,-0.035509],[-0.035395,-0.002989,0.999369]] 2025-10-27T03:41:34.622Z,1761536494.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115554,0.993301,-0.000437],[-0.992706,-0.115500,-0.034561],[-0.034380,-0.003560,0.999403]] 2025-10-27T03:41:35.027Z,1761536495.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119966,0.992778,-0.000226],[-0.992224,-0.119907,-0.033363],[-0.033149,-0.003778,0.999443]] 2025-10-27T03:41:35.430Z,1761536495.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123905,0.992294,-0.000032],[-0.991779,-0.123842,-0.032210],[-0.031966,-0.003959,0.999481]] 2025-10-27T03:41:35.833Z,1761536495.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127022,0.991900,0.000292],[-0.991421,-0.126952,-0.031106],[-0.030817,-0.004241,0.999516]] 2025-10-27T03:41:36.238Z,1761536496.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129062,0.991636,0.000922],[-0.991187,-0.128975,-0.030235],[-0.029863,-0.004816,0.999542]] 2025-10-27T03:41:36.344Z,1761536496.344 [DAT](FAULT): Buffer send receipt timeout failure. 2025-10-27T03:41:36.344Z,1761536496.344 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER 2025-10-27T03:41:36.597Z,1761536496.597 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-27T03:41:36.656Z,1761536496.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130353,0.991467,0.001307],[-0.991036,-0.130258,-0.029660],[-0.029236,-0.005161,0.999559]] 2025-10-27T03:41:36.848Z,1761536496.848 [DAT](INFO): setting remote address to 50 2025-10-27T03:41:37.046Z,1761536497.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130111,0.991498,0.001492],[-0.991068,-0.130010,-0.029695],[-0.029248,-0.005343,0.999558]] 2025-10-27T03:41:37.100Z,1761536497.100 [DAT](INFO): DAT read: user:425> 2025-10-27T03:41:37.101Z,1761536497.101 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:41:37.101Z,1761536497.101 [DAT](INFO): set remote address to 50 2025-10-27T03:41:37.101Z,1761536497.101 [DAT](INFO): entering online mode 2025-10-27T03:41:37.352Z,1761536497.352 [DAT](INFO): DAT read: user:426> 2025-10-27T03:41:37.352Z,1761536497.352 [DAT](INFO): DAT read: 2025-10-27T03:41:37.353Z,1761536497.353 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:41:37.354Z,1761536497.354 [DAT](INFO): commRate: 600 2025-10-27T03:41:37.354Z,1761536497.354 [DAT](INFO): online mode acknowledged 2025-10-27T03:41:37.354Z,1761536497.354 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-27T03:41:37.450Z,1761536497.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129701,0.991552,0.001539],[-0.991120,-0.129598,-0.029744],[-0.029293,-0.005383,0.999556]] 2025-10-27T03:41:37.473Z,1761536497.473 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:41:37.604Z,1761536497.604 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:41:37.604Z,1761536497.604 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:41:37.856Z,1761536497.856 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:41:37.856Z,1761536497.856 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:41:38.108Z,1761536498.108 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:41:38.108Z,1761536498.108 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:41:38.259Z,1761536498.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125081,0.992144,0.002443],[-0.991686,-0.124947,-0.030784],[-0.030237,-0.006273,0.999523]] 2025-10-27T03:41:38.360Z,1761536498.360 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:41:38.360Z,1761536498.360 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:41:38.614Z,1761536498.614 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:41:38.614Z,1761536498.614 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:41:38.662Z,1761536498.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120740,0.992681,0.002681],[-0.992201,-0.120596,-0.031528],[-0.030974,-0.006467,0.999499]] 2025-10-27T03:41:38.864Z,1761536498.864 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:41:38.864Z,1761536498.864 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:41:39.066Z,1761536499.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115397,0.993315,0.002850],[-0.992807,-0.115245,-0.032458],[-0.031912,-0.006575,0.999469]] 2025-10-27T03:41:39.116Z,1761536499.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:39.368Z,1761536499.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:39.419Z,1761536499.419 [DAT](INFO): entering command mode 2025-10-27T03:41:39.472Z,1761536499.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109139,0.994021,0.003299],[-0.993477,-0.108967,-0.033607],[-0.033047,-0.006946,0.999430]] 2025-10-27T03:41:39.621Z,1761536499.621 [DAT](INFO): DAT read: 2025-10-27T03:41:39.623Z,1761536499.623 [DAT](INFO): DAT read: user:427> 2025-10-27T03:41:39.625Z,1761536499.625 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:39.626Z,1761536499.626 [DAT](INFO): setting remote address to 0 2025-10-27T03:41:39.872Z,1761536499.872 [DAT](INFO): DAT read: user:427> 2025-10-27T03:41:39.873Z,1761536499.873 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:41:39.873Z,1761536499.873 [DAT](INFO): set remote address to 0 2025-10-27T03:41:39.873Z,1761536499.873 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:39.874Z,1761536499.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:41:39.889Z,1761536499.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102366,0.994740,0.003620],[-0.994161,-0.102180,-0.034689],[-0.034136,-0.007150,0.999392]] 2025-10-27T03:41:40.124Z,1761536500.124 [DAT](INFO): DAT read: user:428> 2025-10-27T03:41:40.125Z,1761536500.125 [DAT](INFO): DAT read: Tx time:03:41:41.5128 2025-10-27T03:41:40.125Z,1761536500.125 [DAT](INFO): Ping request sent. 2025-10-27T03:41:40.125Z,1761536500.125 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:41:40.125Z,1761536500.125 [DAT](INFO): publishing transmit ping time 2025-10-27T03:41:40.126Z,1761536500.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T03:41:40.278Z,1761536500.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094932,0.995478,0.003401],[-0.994855,-0.094750,-0.035868],[-0.035383,-0.006789,0.999351]] 2025-10-27T03:41:40.317Z,1761536500.317 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:41:40.317Z,1761536500.317 [DockingStepper] No Fault, FailCount= 1 2025-10-27T03:41:40.380Z,1761536500.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254575 2025-10-27T03:41:40.632Z,1761536500.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506193 2025-10-27T03:41:40.682Z,1761536500.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087131,0.996191,0.003513],[-0.995526,-0.086942,-0.037013],[-0.036566,-0.006723,0.999309]] 2025-10-27T03:41:40.740Z,1761536500.740 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:41:40.741Z,1761536500.741 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:41:40.880Z,1761536500.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754969 2025-10-27T03:41:41.086Z,1761536501.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078519,0.996906,0.003768],[-0.996197,-0.078318,-0.038188],[-0.037774,-0.006752,0.999263]] 2025-10-27T03:41:41.132Z,1761536501.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006919 2025-10-27T03:41:41.384Z,1761536501.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259151 2025-10-27T03:41:41.638Z,1761536501.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512684 2025-10-27T03:41:41.888Z,1761536501.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762925 2025-10-27T03:41:41.895Z,1761536501.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061406,0.998105,0.003972],[-0.997339,-0.061201,-0.039607],[-0.039289,-0.006393,0.999207]] 2025-10-27T03:41:42.140Z,1761536502.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015197 2025-10-27T03:41:42.298Z,1761536502.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052815,0.998594,0.004493],[-0.997812,-0.052594,-0.040064],[-0.039772,-0.006599,0.999187]] 2025-10-27T03:41:42.392Z,1761536502.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267518 2025-10-27T03:41:42.647Z,1761536502.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521146 2025-10-27T03:41:42.719Z,1761536502.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044626,0.998993,0.004553],[-0.998202,-0.044407,-0.040253],[-0.040010,-0.006341,0.999179]] 2025-10-27T03:41:42.896Z,1761536502.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770971 2025-10-27T03:41:43.105Z,1761536503.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037404,0.999292,0.003945],[-0.998510,-0.037217,-0.039909],[-0.039734,-0.005431,0.999196]] 2025-10-27T03:41:43.148Z,1761536503.148 [DAT](INFO): DAT read: Rx Time:03:41:43.9178 2025-10-27T03:41:43.148Z,1761536503.148 [DAT](INFO): Rx dataTimestamp_ set to:1761536503.148205 2025-10-27T03:41:43.149Z,1761536503.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024095 2025-10-27T03:41:43.400Z,1761536503.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275079 2025-10-27T03:41:43.510Z,1761536503.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030281,0.999534,0.003858],[-0.998769,-0.030105,-0.039417],[-0.039282,-0.005047,0.999215]] 2025-10-27T03:41:43.697Z,1761536503.697 [DAT](INFO): DAT read: 03:41:43.9178 LVL= 17968, 11249, 18754, 20851, AGC= 34, IDX= 437,-0.05,-0.194,-0.840,-0.671, 0.819, PHS=-0.911,-1.615,-1.534, RAW= 96.0, 65.1, CAL= 95.2, 68.5, ROT= 54.8, -68.5 2025-10-27T03:41:43.700Z,1761536503.700 [DAT](INFO): got valid direction response: 03:41:43.9178 LVL= 17968, 11249, 18754, 20851, AGC= 34, IDX= 437,-0.05,-0.194,-0.840,-0.671, 0.819, PHS=-0.911,-1.615,-1.534, RAW= 96.0, 65.1, CAL= 95.2, 68.5, ROT= 54.8, -68.5 2025-10-27T03:41:43.701Z,1761536503.701 [DAT](INFO): DAT read: Bearing 143.6, 16.3 (Local) 2025-10-27T03:41:43.701Z,1761536503.701 [DAT](INFO): Local bearing/azimuth received: Bearing 143.6, 16.3 (Local) 2025-10-27T03:41:43.703Z,1761536503.703 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s 2025-10-27T03:41:43.704Z,1761536503.704 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:41:43.705Z,1761536503.705 [DAT](INFO): direction in FSK: [0.211263,0.299485,0.930418] 2025-10-27T03:41:43.706Z,1761536503.706 [DAT](INFO): publishing direction and range info 2025-10-27T03:41:43.915Z,1761536503.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023982,0.999703,0.004340],[-0.998977,-0.023798,-0.038467],[-0.038352,-0.005258,0.999250]] 2025-10-27T03:41:44.319Z,1761536504.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018297,0.999825,0.003936],[-0.999135,-0.018137,-0.037408],[-0.037330,-0.004617,0.999292]] 2025-10-27T03:41:44.339Z,1761536504.339 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T03:41:44.733Z,1761536504.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013606,0.999903,0.003064],[-0.999255,-0.013486,-0.036158],[-0.036113,-0.003554,0.999341]] 2025-10-27T03:41:45.126Z,1761536505.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009217,0.999955,0.002427],[-0.999339,-0.009126,-0.035184],[-0.035160,-0.002749,0.999378]] 2025-10-27T03:41:45.530Z,1761536505.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004543,0.999986,0.002804],[-0.999392,-0.004444,-0.034588],[-0.034575,-0.002960,0.999398]] 2025-10-27T03:41:45.937Z,1761536505.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001282,0.999995,0.002725],[-0.999432,-0.001189,-0.033679],[-0.033676,-0.002766,0.999429]] 2025-10-27T03:41:46.338Z,1761536506.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000144,0.999998,0.001770],[-0.999472,0.000202,-0.032493],[-0.032494,-0.001764,0.999470]] 2025-10-27T03:41:46.757Z,1761536506.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001642,0.999997,0.001588],[-0.999498,0.001691,-0.031645],[-0.031648,-0.001536,0.999498]] 2025-10-27T03:41:47.146Z,1761536507.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002235,0.999996,0.001870],[-0.999502,0.002292,-0.031465],[-0.031470,-0.001799,0.999503]] 2025-10-27T03:41:47.436Z,1761536507.436 [DAT](FAULT): Buffer send receipt timeout failure. 2025-10-27T03:41:47.436Z,1761536507.436 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER 2025-10-27T03:41:47.549Z,1761536507.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001599,0.999998,0.001415],[-0.999530,0.001641,-0.030602],[-0.030604,-0.001366,0.999531]] 2025-10-27T03:41:47.575Z,1761536507.575 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:41:47.690Z,1761536507.690 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-27T03:41:47.691Z,1761536507.691 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:41:47.691Z,1761536507.691 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:41:47.692Z,1761536507.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:41:47.940Z,1761536507.940 [DAT](INFO): DAT read: user:429> 2025-10-27T03:41:47.940Z,1761536507.940 [DAT](INFO): DAT read: Tx time:03:41:49.3128 2025-10-27T03:41:47.941Z,1761536507.941 [DAT](INFO): Ping request sent. 2025-10-27T03:41:47.941Z,1761536507.941 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:41:47.941Z,1761536507.941 [DAT](INFO): setting remote address to 50 2025-10-27T03:41:47.941Z,1761536507.941 [DAT](INFO): publishing transmit ping time 2025-10-27T03:41:47.942Z,1761536507.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001071 2025-10-27T03:41:47.961Z,1761536507.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001030,0.999999,0.001325],[-0.999556,0.001069,-0.029788],[-0.029789,-0.001294,0.999555]] 2025-10-27T03:41:48.192Z,1761536508.192 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:48.192Z,1761536508.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251129 2025-10-27T03:41:48.361Z,1761536508.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001086,0.999998,0.001530],[-0.999566,0.001130,-0.029440],[-0.029442,-0.001498,0.999565]] 2025-10-27T03:41:48.444Z,1761536508.444 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:48.444Z,1761536508.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503082 2025-10-27T03:41:48.696Z,1761536508.696 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:48.697Z,1761536508.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755692 2025-10-27T03:41:48.792Z,1761536508.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004034,0.999992,0.000340],[-0.999622,-0.004024,-0.027200],[-0.027199,-0.000449,0.999630]] 2025-10-27T03:41:48.948Z,1761536508.948 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:48.948Z,1761536508.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007156 2025-10-27T03:41:49.200Z,1761536509.200 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:49.200Z,1761536509.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259286 2025-10-27T03:41:49.452Z,1761536509.452 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:49.452Z,1761536509.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511096 2025-10-27T03:41:49.574Z,1761536509.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007928,0.999968,-0.000405],[-0.999649,-0.007935,-0.025261],[-0.025264,0.000205,0.999681]] 2025-10-27T03:41:49.704Z,1761536509.704 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:49.705Z,1761536509.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763474 2025-10-27T03:41:49.956Z,1761536509.956 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:49.956Z,1761536509.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015102 2025-10-27T03:41:49.978Z,1761536509.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010792,0.999941,-0.001052],[-0.999668,-0.010813,-0.023408],[-0.023418,0.000799,0.999725]] 2025-10-27T03:41:50.208Z,1761536510.208 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:50.208Z,1761536510.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267553 2025-10-27T03:41:50.381Z,1761536510.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012923,0.999916,-0.001139],[-0.999684,-0.012944,-0.021553],[-0.021565,0.000860,0.999767]] 2025-10-27T03:41:50.467Z,1761536510.467 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:50.467Z,1761536510.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526361 2025-10-27T03:41:50.721Z,1761536510.721 [DAT](INFO): DAT read: Rx Time:03:41:51.7177 2025-10-27T03:41:50.721Z,1761536510.721 [DAT](INFO): Rx dataTimestamp_ set to:1761536510.720786 2025-10-27T03:41:50.722Z,1761536510.722 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:50.722Z,1761536510.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781090 2025-10-27T03:41:50.815Z,1761536510.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020537,0.999787,-0.001895],[-0.999682,-0.020563,-0.014576],[-0.014612,0.001596,0.999892]] 2025-10-27T03:41:50.971Z,1761536510.971 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:50.972Z,1761536510.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031034 2025-10-27T03:41:51.194Z,1761536511.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023875,0.999713,-0.001847],[-0.999659,-0.023894,-0.010536],[-0.010577,0.001595,0.999943]] 2025-10-27T03:41:51.226Z,1761536511.226 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-27T03:41:51.228Z,1761536511.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286660 2025-10-27T03:41:51.482Z,1761536511.482 [DAT](INFO): DAT read: 03:41:51.7177 LVL= 15664, 10417, 18162, 19251, AGC= 33, IDX= 436, 0.14,-1.724,-2.369,-2.179,-0.750, PHS=-0.872,-1.574,-1.473, RAW= 97.6, 64.6, CAL= 96.7, 68.1, ROT= 53.3, -68.1 2025-10-27T03:41:51.483Z,1761536511.483 [DAT](INFO): got valid direction response: 03:41:51.7177 LVL= 15664, 10417, 18162, 19251, AGC= 33, IDX= 436, 0.14,-1.724,-2.369,-2.179,-0.750, PHS=-0.872,-1.574,-1.473, RAW= 97.6, 64.6, CAL= 96.7, 68.1, ROT= 53.3, -68.1 2025-10-27T03:41:51.484Z,1761536511.484 [DAT](INFO): DAT read: Bearing 144.5, 16.6 (Local) 2025-10-27T03:41:51.484Z,1761536511.484 [DAT](INFO): Local bearing/azimuth received: Bearing 144.5, 16.6 (Local) 2025-10-27T03:41:51.486Z,1761536511.486 [DAT](INFO): DAT read: Range 11 to 50 : 0.5 m (Round-trip 0.7 ms) speed 0.0 m/s 2025-10-27T03:41:51.487Z,1761536511.487 [DAT](INFO): DAT read: user:430> 2025-10-27T03:41:51.488Z,1761536511.488 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:41:51.488Z,1761536511.488 [DAT](INFO): set remote address to 50 2025-10-27T03:41:51.489Z,1761536511.489 [DAT](INFO): entering online mode 2025-10-27T03:41:51.599Z,1761536511.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027362,0.999623,-0.002049],[-0.999606,-0.027374,-0.006133],[-0.006186,0.001881,0.999979]] 2025-10-27T03:41:51.730Z,1761536511.730 [DAT](INFO): DAT read: user:431> 2025-10-27T03:41:51.732Z,1761536511.732 [DAT](INFO): DAT read: 2025-10-27T03:41:51.733Z,1761536511.733 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:41:51.733Z,1761536511.733 [DAT](INFO): commRate: 600 2025-10-27T03:41:51.733Z,1761536511.733 [DAT](INFO): online mode acknowledged 2025-10-27T03:41:51.734Z,1761536511.734 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-27T03:41:51.734Z,1761536511.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793329 2025-10-27T03:41:51.980Z,1761536511.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038993 2025-10-27T03:41:52.003Z,1761536512.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031972,0.999485,-0.002853],[-0.999488,-0.031974,-0.000661],[-0.000752,0.002830,0.999996]] 2025-10-27T03:41:52.232Z,1761536512.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291031 2025-10-27T03:41:52.410Z,1761536512.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035958,0.999347,-0.003460],[-0.999343,-0.035941,0.004733],[0.004605,0.003628,0.999983]] 2025-10-27T03:41:52.484Z,1761536512.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543500 2025-10-27T03:41:52.736Z,1761536512.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795573 2025-10-27T03:41:52.841Z,1761536512.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039037,0.999231,-0.003684],[-0.999189,-0.038999,0.010051],[0.009899,0.004074,0.999943]] 2025-10-27T03:41:52.988Z,1761536512.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047048 2025-10-27T03:41:53.210Z,1761536513.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042751,0.999077,-0.004202],[-0.998963,-0.042679,0.015857],[0.015663,0.004876,0.999865]] 2025-10-27T03:41:53.240Z,1761536513.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298927 2025-10-27T03:41:53.351Z,1761536513.351 [DockingStepper](FAULT): Timed out moving from: 13104 to: 6111 response: ÿ 2025-10-27T03:41:53.351Z,1761536513.351 [DockingStepper] Hardware Fault, FailCount= 2 2025-10-27T03:41:53.351Z,1761536513.351 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:41:53.358Z,1761536513.358 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:41:53.492Z,1761536513.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550932 2025-10-27T03:41:53.614Z,1761536513.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046108,0.998928,-0.004131],[-0.998710,-0.046009,0.021462],[0.021248,0.005115,0.999761]] 2025-10-27T03:41:53.638Z,1761536513.638 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:41:53.638Z,1761536513.638 [DockingStepper](INFO): Powering down 2025-10-27T03:41:53.744Z,1761536513.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803057 2025-10-27T03:41:53.996Z,1761536513.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055100 2025-10-27T03:41:54.024Z,1761536514.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048617,0.998810,-0.003737],[-0.998477,-0.048503,0.026298],[0.026085,0.005010,0.999647]] 2025-10-27T03:41:54.248Z,1761536514.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307243 2025-10-27T03:41:54.422Z,1761536514.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050179,0.998736,-0.002882],[-0.998287,-0.050069,0.030275],[0.030093,0.004397,0.999537]] 2025-10-27T03:41:54.500Z,1761536514.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559106 2025-10-27T03:41:54.752Z,1761536514.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810973 2025-10-27T03:41:54.868Z,1761536514.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050448,0.998725,-0.001710],[-0.998183,-0.050364,0.033066],[0.032938,0.003375,0.999452]] 2025-10-27T03:41:55.004Z,1761536515.004 [DAT](INFO): DAT read: Forwarding Delay UpTx time:03:41:56.4615 2025-10-27T03:41:55.004Z,1761536515.004 [DAT](DEBUG): In parseResponses, sent ack so set commsState_ = SENDING_VERIFIED 2025-10-27T03:41:55.005Z,1761536515.005 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-27T03:41:55.005Z,1761536515.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.064221 2025-10-27T03:41:55.231Z,1761536515.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050034,0.998747,0.000048],[-0.998156,-0.050006,0.034411],[0.034370,0.001674,0.999408]] 2025-10-27T03:41:55.256Z,1761536515.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315201 2025-10-27T03:41:55.508Z,1761536515.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566939 2025-10-27T03:41:55.634Z,1761536515.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048592,0.998816,0.002314],[-0.998234,-0.048642,0.034095],[0.034167,-0.000653,0.999416]] 2025-10-27T03:41:55.760Z,1761536515.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819497 2025-10-27T03:41:56.012Z,1761536516.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071002 2025-10-27T03:41:56.038Z,1761536516.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046724,0.998900,0.003840],[-0.998385,-0.046823,0.032158],[0.032302,-0.002331,0.999475]] 2025-10-27T03:41:56.265Z,1761536516.265 [DAT](INFO): DAT read: Rx Time:03:41:56.2082 2025-10-27T03:41:56.265Z,1761536516.265 [DAT](INFO): Rx dataTimestamp_ set to:1761536516.264871 2025-10-27T03:41:56.265Z,1761536516.265 [DAT](INFO): DAT read: 2025-10-27T03:41:56.267Z,1761536516.267 [DAT](INFO): DAT read: DATA(0023):failc h dockingStepper 2025-10-27T03:41:56.267Z,1761536516.267 [DAT](INFO): Got DATA 23 2025-10-27T03:41:56.267Z,1761536516.267 [DAT](INFO): DAT read: 2025-10-27T03:41:56.268Z,1761536516.268 [DAT](INFO): DAT read: Source:050 Destination:011 2025-10-27T03:41:56.268Z,1761536516.268 [DAT](INFO): Got Src/Dest after DATA 2025-10-27T03:41:56.269Z,1761536516.269 [DAT](INFO): DATA Src=50, Dst=11 2025-10-27T03:41:56.270Z,1761536516.270 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:18.0 AGC:40 SPD:-0.1 CCERR:013 2025-10-27T03:41:56.270Z,1761536516.270 [DAT](INFO): Got CRC:Pass 2025-10-27T03:41:56.270Z,1761536516.270 [DAT](INFO): Got CRC:Pass 2025-10-27T03:41:56.270Z,1761536516.270 [DAT](INFO): Incoming data is intended for us 2025-10-27T03:41:56.270Z,1761536516.270 [DAT](INFO): Received command: failc h dockingStepper 2025-10-27T03:41:56.271Z,1761536516.271 [DAT](INFO): Sending ack 2025-10-27T03:41:56.295Z,1761536516.295 [DAT](INFO): DAT read: 2025-10-27T03:41:56.296Z,1761536516.296 [DAT](INFO): DAT read: 2025-10-27T03:41:56.296Z,1761536516.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.355312 2025-10-27T03:41:56.442Z,1761536516.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044230,0.999007,0.005300],[-0.998612,-0.044364,0.028403],[0.028610,-0.004036,0.999582]] 2025-10-27T03:41:56.513Z,1761536516.513 [CommandExec](IMPORTANT): got command failComponent hardware DockingStepper 2025-10-27T03:41:56.513Z,1761536516.513 [CommandExec](IMPORTANT): DockingStepper failureMode is Hardware Fault 2025-10-27T03:41:56.516Z,1761536516.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574966 2025-10-27T03:41:56.768Z,1761536516.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827189 2025-10-27T03:41:56.886Z,1761536516.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041074,0.999137,0.006209],[-0.998887,-0.041206,0.022948],[0.023184,-0.005259,0.999717]] 2025-10-27T03:41:57.020Z,1761536517.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078945 2025-10-27T03:41:57.251Z,1761536517.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037060,0.999291,0.006697],[-0.999178,-0.037165,0.016193],[0.016431,-0.006091,0.999846]] 2025-10-27T03:41:57.272Z,1761536517.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331055 2025-10-27T03:41:57.524Z,1761536517.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583004 2025-10-27T03:41:57.653Z,1761536517.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032494,0.999450,0.006662],[-0.999435,-0.032549,0.008395],[0.008608,-0.006386,0.999943]] 2025-10-27T03:41:57.675Z,1761536517.675 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:41:57.776Z,1761536517.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834956 2025-10-27T03:41:58.028Z,1761536518.028 [DAT](INFO): Reached modem response timeout 2025-10-27T03:41:58.028Z,1761536518.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:58.059Z,1761536518.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027769,0.999595,0.006194],[-0.999614,-0.027773,0.000494],[0.000666,-0.006178,0.999981]] 2025-10-27T03:41:58.079Z,1761536518.079 [DAT](INFO): entering command mode 2025-10-27T03:41:58.280Z,1761536518.280 [DAT](INFO): DAT read: 2025-10-27T03:41:58.280Z,1761536518.280 [DAT](INFO): DAT read: user:432> 2025-10-27T03:41:58.281Z,1761536518.281 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:58.281Z,1761536518.281 [DAT](INFO): setting remote address to 0 2025-10-27T03:41:58.465Z,1761536518.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022477,0.999734,0.005218],[-0.999721,-0.022439,-0.007339],[-0.007220,-0.005381,0.999959]] 2025-10-27T03:41:58.532Z,1761536518.532 [DAT](INFO): DAT read: user:432> 2025-10-27T03:41:58.533Z,1761536518.533 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:41:58.533Z,1761536518.533 [DAT](INFO): set remote address to 0 2025-10-27T03:41:58.533Z,1761536518.533 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:41:58.534Z,1761536518.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:41:58.785Z,1761536518.785 [DAT](INFO): DAT read: user:433> 2025-10-27T03:41:58.785Z,1761536518.785 [DAT](INFO): DAT read: Tx time:03:42:00.1628 2025-10-27T03:41:58.786Z,1761536518.786 [DAT](INFO): Ping request sent. 2025-10-27T03:41:58.786Z,1761536518.786 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:41:58.786Z,1761536518.786 [DAT](INFO): publishing transmit ping time 2025-10-27T03:41:58.786Z,1761536518.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723 2025-10-27T03:41:58.884Z,1761536518.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017119,0.999845,0.004082],[-0.999753,-0.017060,-0.014244],[-0.014173,-0.004325,0.999890]] 2025-10-27T03:41:59.036Z,1761536519.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250206 2025-10-27T03:41:59.269Z,1761536519.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012284,0.999920,0.002860],[-0.999730,-0.012226,-0.019751],[-0.019714,-0.003102,0.999801]] 2025-10-27T03:41:59.288Z,1761536519.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502206 2025-10-27T03:41:59.540Z,1761536519.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754103 2025-10-27T03:41:59.673Z,1761536519.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007687,0.999970,0.000674],[-0.999687,-0.007669,-0.023791],[-0.023786,-0.000857,0.999717]] 2025-10-27T03:41:59.792Z,1761536519.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006173 2025-10-27T03:42:00.044Z,1761536520.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258138 2025-10-27T03:42:00.079Z,1761536520.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003956,0.999990,-0.002211],[-0.999652,-0.004013,-0.026084],[-0.026092,0.002107,0.999657]] 2025-10-27T03:42:00.296Z,1761536520.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510152 2025-10-27T03:42:00.494Z,1761536520.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000836,0.999992,-0.003821],[-0.999652,-0.000936,-0.026371],[-0.026374,0.003798,0.999645]] 2025-10-27T03:42:00.548Z,1761536520.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762270 2025-10-27T03:42:00.802Z,1761536520.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016485 2025-10-27T03:42:00.890Z,1761536520.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001042,0.999990,-0.004458],[-0.999698,0.000932,-0.024558],[-0.024554,0.004483,0.999688]] 2025-10-27T03:42:01.052Z,1761536521.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266444 2025-10-27T03:42:01.290Z,1761536521.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001394,0.999981,-0.006082],[-0.999775,0.001265,-0.021191],[-0.021183,0.006111,0.999757]] 2025-10-27T03:42:01.304Z,1761536521.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518269 2025-10-27T03:42:01.556Z,1761536521.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770129 2025-10-27T03:42:01.698Z,1761536521.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000079,0.999973,-0.007291],[-0.999864,-0.000041,-0.016500],[-0.016500,0.007291,0.999837]] 2025-10-27T03:42:01.808Z,1761536521.808 [DAT](INFO): DAT read: Rx Time:03:42:02.5677 2025-10-27T03:42:01.809Z,1761536521.809 [DAT](INFO): Rx dataTimestamp_ set to:1761536521.808500 2025-10-27T03:42:01.809Z,1761536521.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023605 2025-10-27T03:42:02.060Z,1761536522.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274172 2025-10-27T03:42:02.128Z,1761536522.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003423,0.999963,-0.007844],[-0.999935,-0.003508,-0.010819],[-0.010846,0.007806,0.999911]] 2025-10-27T03:42:02.317Z,1761536522.317 [DAT](INFO): DAT read: 03:42:02.5677 LVL= 18928, 11713, 16754, 20019, AGC= 35, IDX= 244, 0.23, 0.426, 0.288, 0.154, 1.597, PHS=-1.070,-1.264,-1.487, RAW= 57.8, 75.0, CAL= 56.7, 76.8, ROT= 93.3, -76.8 2025-10-27T03:42:02.318Z,1761536522.318 [DAT](INFO): got valid direction response: 03:42:02.5677 LVL= 18928, 11713, 16754, 20019, AGC= 35, IDX= 244, 0.23, 0.426, 0.288, 0.154, 1.597, PHS=-1.070,-1.264,-1.487, RAW= 57.8, 75.0, CAL= 56.7, 76.8, ROT= 93.3, -76.8 2025-10-27T03:42:02.319Z,1761536522.319 [DAT](INFO): DAT read: Range 11 to 50 : 0.5 m (Round-trip 0.7 ms) speed 0.0 m/s 2025-10-27T03:42:02.320Z,1761536522.320 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:42:02.321Z,1761536522.321 [DAT](INFO): direction in FSK: [-0.013145,0.227972,0.973579] 2025-10-27T03:42:02.321Z,1761536522.321 [DAT](INFO): publishing direction and range info 2025-10-27T03:42:02.501Z,1761536522.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009285,0.999915,-0.009193],[-0.999946,-0.009326,-0.004486],[-0.004572,0.009151,0.999948]] 2025-10-27T03:42:02.905Z,1761536522.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017156,0.999810,-0.009286],[-0.999851,-0.017138,0.002007],[0.001847,0.009319,0.999955]] 2025-10-27T03:42:03.312Z,1761536523.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026937,0.999596,-0.009073],[-0.999606,-0.026863,0.008135],[0.007888,0.009289,0.999926]] 2025-10-27T03:42:03.732Z,1761536523.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038100,0.999222,-0.010228],[-0.999186,-0.037959,0.013642],[0.013244,0.010740,0.999855]] 2025-10-27T03:42:04.117Z,1761536524.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050405,0.998672,-0.010637],[-0.998566,-0.050201,0.018617],[0.018058,0.011561,0.999770]] 2025-10-27T03:42:04.522Z,1761536524.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063743,0.997926,-0.009001],[-0.997715,-0.063522,0.023003],[0.022383,0.010447,0.999695]] 2025-10-27T03:42:04.927Z,1761536524.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077368,0.996966,-0.008593],[-0.996665,-0.077115,0.026673],[0.025929,0.010628,0.999607]] 2025-10-27T03:42:05.329Z,1761536525.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090789,0.995827,-0.009315],[-0.995454,-0.090477,0.029765],[0.028798,0.011975,0.999514]] 2025-10-27T03:42:05.735Z,1761536525.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103599,0.994587,-0.008007],[-0.994118,-0.103288,0.032571],[0.031568,0.011334,0.999437]] 2025-10-27T03:42:06.139Z,1761536526.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115545,0.993289,-0.005220],[-0.992704,-0.115291,0.035304],[0.034465,0.009261,0.999363]] 2025-10-27T03:42:06.546Z,1761536526.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126213,0.991998,-0.003237],[-0.991307,-0.126002,0.037869],[0.037158,0.007988,0.999277]] 2025-10-27T03:42:06.946Z,1761536526.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135508,0.990776,-0.001206],[-0.989996,-0.135352,0.039852],[0.039321,0.006594,0.999205]] 2025-10-27T03:42:07.349Z,1761536527.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142587,0.989781,0.001634],[-0.988941,-0.142533,0.040994],[0.040808,0.004229,0.999158]] 2025-10-27T03:42:07.755Z,1761536527.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147019,0.989119,0.005405],[-0.988277,-0.147117,0.040796],[0.041147,0.000657,0.999153]] 2025-10-27T03:42:07.770Z,1761536527.770 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:42:07.868Z,1761536527.868 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:42:07.868Z,1761536527.868 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:42:07.868Z,1761536527.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:42:08.120Z,1761536528.120 [DAT](INFO): DAT read: user:434> 2025-10-27T03:42:08.121Z,1761536528.121 [DAT](INFO): DAT read: Tx time:03:42:09.4628 2025-10-27T03:42:08.121Z,1761536528.121 [DAT](INFO): Ping request sent. 2025-10-27T03:42:08.121Z,1761536528.121 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:42:08.121Z,1761536528.121 [DAT](INFO): publishing transmit ping time 2025-10-27T03:42:08.122Z,1761536528.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T03:42:08.157Z,1761536528.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148529,0.988863,0.009453],[-0.988100,-0.148787,0.039002],[0.039974,-0.003548,0.999194]] 2025-10-27T03:42:08.372Z,1761536528.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251230 2025-10-27T03:42:08.561Z,1761536528.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146445,0.989131,0.013152],[-0.988534,-0.146826,0.035251],[0.036799,-0.007839,0.999292]] 2025-10-27T03:42:08.624Z,1761536528.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502831 2025-10-27T03:42:08.876Z,1761536528.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754913 2025-10-27T03:42:08.965Z,1761536528.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141137,0.989864,0.015817],[-0.989497,-0.141553,0.029285],[0.031228,-0.011517,0.999446]] 2025-10-27T03:42:09.128Z,1761536529.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006858 2025-10-27T03:42:09.370Z,1761536529.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133132,0.990967,0.016147],[-0.990830,-0.133457,0.021094],[0.023058,-0.013190,0.999647]] 2025-10-27T03:42:09.380Z,1761536529.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259042 2025-10-27T03:42:09.632Z,1761536529.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875 2025-10-27T03:42:09.774Z,1761536529.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122804,0.992309,0.015583],[-0.992345,-0.122985,0.011234],[0.013064,-0.014084,0.999815]] 2025-10-27T03:42:09.884Z,1761536529.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762858 2025-10-27T03:42:10.136Z,1761536530.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015025 2025-10-27T03:42:10.178Z,1761536530.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111068,0.993708,0.014401],[-0.993811,-0.111084,0.000362],[0.001960,-0.014271,0.999896]] 2025-10-27T03:42:10.388Z,1761536530.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266886 2025-10-27T03:42:10.584Z,1761536530.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098643,0.995044,0.012513],[-0.995080,-0.098514,-0.010575],[-0.009290,-0.013494,0.999866]] 2025-10-27T03:42:10.640Z,1761536530.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518925 2025-10-27T03:42:10.892Z,1761536530.892 [DAT](INFO): DAT read: Rx Time:03:42:11.8678 2025-10-27T03:42:10.893Z,1761536530.893 [DAT](INFO): Rx dataTimestamp_ set to:1761536530.892383 2025-10-27T03:42:10.893Z,1761536530.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772200 2025-10-27T03:42:10.987Z,1761536530.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085135,0.996315,0.010368],[-0.996166,-0.084902,-0.021096],[-0.020138,-0.012124,0.999724]] 2025-10-27T03:42:11.144Z,1761536531.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022822 2025-10-27T03:42:11.399Z,1761536531.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277190 2025-10-27T03:42:11.432Z,1761536531.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070578,0.997471,0.008383],[-0.997066,-0.070294,-0.030287],[-0.029621,-0.010496,0.999506]] 2025-10-27T03:42:11.653Z,1761536531.653 [DAT](INFO): DAT read: 03:42:11.8678 LVL= 18160, 12129, 20770, 24819, AGC= 38, IDX= 437,-0.02,-2.875, 2.152, 2.792,-2.104, PHS=-0.669,-1.981,-1.431, RAW= 114.7, 51.6, CAL= 113.0, 57.2, ROT= 37.0, -57.2 2025-10-27T03:42:11.654Z,1761536531.654 [DAT](INFO): got valid direction response: 03:42:11.8678 LVL= 18160, 12129, 20770, 24819, AGC= 38, IDX= 437,-0.02,-2.875, 2.152, 2.792,-2.104, PHS=-0.669,-1.981,-1.431, RAW= 114.7, 51.6, CAL= 113.0, 57.2, ROT= 37.0, -57.2 2025-10-27T03:42:11.655Z,1761536531.655 [DAT](INFO): DAT read: Bearing 126.2, 18.3 (Local) 2025-10-27T03:42:11.656Z,1761536531.656 [DAT](INFO): Local bearing/azimuth received: Bearing 126.2, 18.3 (Local) 2025-10-27T03:42:11.657Z,1761536531.657 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s 2025-10-27T03:42:11.657Z,1761536531.657 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:42:11.658Z,1761536531.658 [DAT](INFO): direction in FSK: [0.432627,0.326008,0.840567] 2025-10-27T03:42:11.659Z,1761536531.659 [DAT](INFO): publishing direction and range info 2025-10-27T03:42:11.793Z,1761536531.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055468,0.998434,0.007245],[-0.997777,-0.055160,-0.037406],[-0.036948,-0.009304,0.999274]] 2025-10-27T03:42:12.199Z,1761536532.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040740,0.999156,0.005219],[-0.998297,-0.040486,-0.041990],[-0.041743,-0.006921,0.999104]] 2025-10-27T03:42:12.601Z,1761536532.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027267,0.999627,0.001461],[-0.998662,-0.027176,-0.043985],[-0.043929,-0.002659,0.999031]] 2025-10-27T03:42:13.046Z,1761536533.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016323,0.999866,-0.001204],[-0.998945,-0.016360,-0.042917],[-0.042930,0.000502,0.999078]] 2025-10-27T03:42:13.410Z,1761536533.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007824,0.999967,-0.002191],[-0.999203,-0.007904,-0.039134],[-0.039150,0.001883,0.999232]] 2025-10-27T03:42:13.815Z,1761536533.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001907,0.999986,-0.004985],[-0.999448,-0.002071,-0.033166],[-0.033176,0.004919,0.999437]] 2025-10-27T03:42:14.218Z,1761536534.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001165,0.999974,-0.007086],[-0.999671,0.000983,-0.025627],[-0.025619,0.007114,0.999646]] 2025-10-27T03:42:14.274Z,1761536534.274 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:42:14.275Z,1761536534.275 [DockingStepper] No Fault, FailCount= 2 2025-10-27T03:42:14.621Z,1761536534.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001754,0.999969,-0.007641],[-0.999853,0.001623,-0.017080],[-0.017067,0.007670,0.999825]] 2025-10-27T03:42:14.661Z,1761536534.661 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:42:14.662Z,1761536534.662 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:42:15.025Z,1761536535.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000092,0.999959,-0.009078],[-0.999966,-0.000167,-0.008253],[-0.008254,0.009077,0.999925]] 2025-10-27T03:42:15.433Z,1761536535.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003860,0.999947,-0.009511],[-0.999993,-0.003859,0.000058],[0.000021,0.009511,0.999955]] 2025-10-27T03:42:15.833Z,1761536535.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009592,0.999909,-0.009444],[-0.999927,-0.009522,0.007404],[0.007313,0.009514,0.999928]] 2025-10-27T03:42:16.237Z,1761536536.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016930,0.999801,-0.010544],[-0.999767,-0.016786,0.013585],[0.013405,0.010771,0.999852]] 2025-10-27T03:42:16.642Z,1761536536.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025894,0.999599,-0.011462],[-0.999496,-0.025677,0.018645],[0.018344,0.011939,0.999760]] 2025-10-27T03:42:17.047Z,1761536537.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036444,0.999281,-0.010503],[-0.999085,-0.036198,0.022762],[0.022366,0.011323,0.999686]] 2025-10-27T03:42:17.450Z,1761536537.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047958,0.998802,-0.009676],[-0.998522,-0.047692,0.026069],[0.025576,0.010912,0.999613]] 2025-10-27T03:42:17.853Z,1761536537.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059901,0.998151,-0.010320],[-0.997815,-0.059586,0.028526],[0.027858,0.012006,0.999540]] 2025-10-27T03:42:17.892Z,1761536537.892 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:42:17.952Z,1761536537.952 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:42:17.952Z,1761536537.952 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:42:17.952Z,1761536537.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:42:18.204Z,1761536538.204 [DAT](INFO): DAT read: user:435> 2025-10-27T03:42:18.205Z,1761536538.205 [DAT](INFO): DAT read: Tx time:03:42:19.5628 2025-10-27T03:42:18.205Z,1761536538.205 [DAT](INFO): Ping request sent. 2025-10-27T03:42:18.205Z,1761536538.205 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:42:18.205Z,1761536538.205 [DAT](INFO): publishing transmit ping time 2025-10-27T03:42:18.206Z,1761536538.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-27T03:42:18.280Z,1761536538.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072217,0.997343,-0.009544],[-0.996938,-0.071893,0.030758],[0.029990,0.011736,0.999481]] 2025-10-27T03:42:18.329Z,1761536538.329 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T03:42:18.456Z,1761536538.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250825 2025-10-27T03:42:18.663Z,1761536538.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084679,0.996382,-0.007177],[-0.995894,-0.084401,0.032730],[0.032005,0.009919,0.999438]] 2025-10-27T03:42:18.718Z,1761536538.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.512512 2025-10-27T03:42:18.968Z,1761536538.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762751 2025-10-27T03:42:19.066Z,1761536539.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098907,0.995077,-0.006289],[-0.994473,-0.098619,0.036012],[0.035214,0.009816,0.999332]] 2025-10-27T03:42:19.223Z,1761536539.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.017675 2025-10-27T03:42:19.469Z,1761536539.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111600,0.993740,-0.005024],[-0.993023,-0.111323,0.038885],[0.038082,0.009329,0.999231]] 2025-10-27T03:42:19.472Z,1761536539.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266958 2025-10-27T03:42:19.724Z,1761536539.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519108 2025-10-27T03:42:19.874Z,1761536539.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121887,0.992541,-0.002621],[-0.991728,-0.121679,0.040862],[0.040238,0.007580,0.999161]] 2025-10-27T03:42:19.976Z,1761536539.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770810 2025-10-27T03:42:20.230Z,1761536540.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024798 2025-10-27T03:42:20.278Z,1761536540.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131076,0.991372,-0.000447],[-0.990472,-0.130938,0.042675],[0.042248,0.006036,0.999089]] 2025-10-27T03:42:20.480Z,1761536540.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274941 2025-10-27T03:42:20.682Z,1761536540.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.137892,0.990443,0.002861],[-0.989495,-0.137885,0.043441],[0.043420,0.003160,0.999052]] 2025-10-27T03:42:20.732Z,1761536540.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526886 2025-10-27T03:42:20.984Z,1761536540.984 [DAT](INFO): DAT read: Rx Time:03:42:21.9678 2025-10-27T03:42:20.985Z,1761536540.985 [DAT](INFO): Rx dataTimestamp_ set to:1761536540.984274 2025-10-27T03:42:20.985Z,1761536540.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780050 2025-10-27T03:42:21.085Z,1761536541.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140554,0.990052,0.006391],[-0.989153,-0.140698,0.042189],[0.042669,-0.000392,0.999089]] 2025-10-27T03:42:21.239Z,1761536541.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033014 2025-10-27T03:42:21.489Z,1761536541.489 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s 2025-10-27T03:42:21.489Z,1761536541.489 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T03:42:21.497Z,1761536541.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140681,0.990022,0.008024],[-0.989228,-0.140890,0.039721],[0.040456,-0.002350,0.999179]] 2025-10-27T03:42:21.509Z,1761536541.509 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050307303978,35., 0.0,1494.2, 0 2025-10-27T03:42:21.894Z,1761536541.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138259,0.990347,0.009886],[-0.989702,-0.138529,0.036042],[0.037064,-0.004801,0.999301]] 2025-10-27T03:42:22.297Z,1761536542.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131836,0.991200,0.011865],[-0.990768,-0.132141,0.030274],[0.031575,-0.007764,0.999471]] 2025-10-27T03:42:22.707Z,1761536542.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122893,0.992350,0.011755],[-0.992117,-0.123140,0.023228],[0.024498,-0.008808,0.999661]] 2025-10-27T03:42:23.107Z,1761536543.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113498,0.993484,0.010385],[-0.993391,-0.113655,0.016033],[0.017109,-0.008497,0.999817]] 2025-10-27T03:42:23.512Z,1761536543.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100030,0.994939,0.009522],[-0.994950,-0.100101,0.007381],[0.008297,-0.008735,0.999927]] 2025-10-27T03:42:23.914Z,1761536543.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086561,0.996213,0.008141],[-0.996246,-0.086562,-0.000191],[0.000515,-0.008127,0.999967]] 2025-10-27T03:42:24.317Z,1761536544.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070773,0.997465,0.007342],[-0.997469,-0.070719,-0.007353],[-0.006815,-0.007844,0.999946]] 2025-10-27T03:42:24.727Z,1761536544.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053282,0.998557,0.006655],[-0.998490,-0.053187,-0.013754],[-0.013381,-0.007378,0.999883]] 2025-10-27T03:42:25.125Z,1761536545.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036899,0.999306,0.005077],[-0.999158,-0.036801,-0.018158],[-0.017959,-0.005743,0.999822]] 2025-10-27T03:42:25.530Z,1761536545.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020733,0.999781,0.002759],[-0.999562,-0.020670,-0.021186],[-0.021124,-0.003197,0.999772]] 2025-10-27T03:42:25.934Z,1761536545.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004680,0.999987,0.001892],[-0.999728,-0.004636,-0.022871],[-0.022862,-0.001999,0.999737]] 2025-10-27T03:42:26.340Z,1761536546.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009476,0.999954,0.001239],[-0.999697,0.009502,-0.022700],[-0.022711,-0.001024,0.999742]] 2025-10-27T03:42:26.778Z,1761536546.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021526,0.999768,-0.001065],[-0.999548,0.021499,-0.021002],[-0.020975,0.001516,0.999779]] 2025-10-27T03:42:27.146Z,1761536547.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032963,0.999452,-0.002879],[-0.999290,0.032905,-0.018378],[-0.018273,0.003483,0.999827]] 2025-10-27T03:42:27.285Z,1761536547.285 [DockingStepper](FAULT): Timed out moving from: 13087 to: 6111 response: ÿ 2025-10-27T03:42:27.285Z,1761536547.285 [DockingStepper] Hardware Fault, FailCount= 3 2025-10-27T03:42:27.286Z,1761536547.286 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:42:27.312Z,1761536547.312 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:42:27.551Z,1761536547.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042578,0.999088,-0.003182],[-0.998987,0.042527,-0.014742],[-0.014593,0.003806,0.999886]] 2025-10-27T03:42:27.615Z,1761536547.615 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:42:27.615Z,1761536547.615 [DockingStepper](INFO): Powering down 2025-10-27T03:42:27.955Z,1761536547.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049168,0.998783,-0.003946],[-0.998741,0.049126,-0.010123],[-0.009917,0.004439,0.999941]] 2025-10-27T03:42:27.970Z,1761536547.970 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:42:28.044Z,1761536548.044 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:42:28.044Z,1761536548.044 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:42:28.044Z,1761536548.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:42:28.298Z,1761536548.298 [DAT](INFO): DAT read: user:436> 2025-10-27T03:42:28.301Z,1761536548.301 [DAT](INFO): DAT read: Tx time:03:42:29.6627 2025-10-27T03:42:28.302Z,1761536548.302 [DAT](INFO): Ping request sent. 2025-10-27T03:42:28.302Z,1761536548.302 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:42:28.302Z,1761536548.302 [DAT](INFO): publishing transmit ping time 2025-10-27T03:42:28.307Z,1761536548.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004668 2025-10-27T03:42:28.362Z,1761536548.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051716,0.998641,-0.006504],[-0.998653,0.051688,-0.004440],[-0.004098,0.006725,0.999969]] 2025-10-27T03:42:28.548Z,1761536548.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246285 2025-10-27T03:42:28.761Z,1761536548.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052087,0.998608,-0.008365],[-0.998641,0.052101,0.001418],[0.001852,0.008280,0.999964]] 2025-10-27T03:42:28.800Z,1761536548.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498330 2025-10-27T03:42:29.052Z,1761536549.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750554 2025-10-27T03:42:29.166Z,1761536549.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051467,0.998643,-0.007942],[-0.998650,0.051520,0.006584],[0.006985,0.007593,0.999947]] 2025-10-27T03:42:29.304Z,1761536549.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002349 2025-10-27T03:42:29.556Z,1761536549.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254231 2025-10-27T03:42:29.576Z,1761536549.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049521,0.998740,-0.008188],[-0.998711,0.049608,0.010740],[0.011132,0.007645,0.999909]] 2025-10-27T03:42:29.808Z,1761536549.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506280 2025-10-27T03:42:29.974Z,1761536549.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046304,0.998875,-0.010260],[-0.998829,0.046441,0.013588],[0.014049,0.009619,0.999855]] 2025-10-27T03:42:30.060Z,1761536550.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758326 2025-10-27T03:42:30.314Z,1761536550.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011625 2025-10-27T03:42:30.389Z,1761536550.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041465,0.999083,-0.010713],[-0.999005,0.041634,0.015995],[0.016426,0.010039,0.999815]] 2025-10-27T03:42:30.564Z,1761536550.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262293 2025-10-27T03:42:30.781Z,1761536550.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034981,0.999345,-0.009281],[-0.999221,0.035143,0.017956],[0.018271,0.008645,0.999796]] 2025-10-27T03:42:30.820Z,1761536550.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518285 2025-10-27T03:42:31.068Z,1761536551.068 [DAT](INFO): DAT read: Rx Time:03:42:32.0677 2025-10-27T03:42:31.068Z,1761536551.068 [DAT](INFO): Rx dataTimestamp_ set to:1761536551.068107 2025-10-27T03:42:31.069Z,1761536551.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767347 2025-10-27T03:42:31.185Z,1761536551.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026849,0.999600,-0.008885],[-0.999449,0.027017,0.019305],[0.019537,0.008362,0.999774]] 2025-10-27T03:42:31.320Z,1761536551.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018250 2025-10-27T03:42:31.584Z,1761536551.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273071 2025-10-27T03:42:31.644Z,1761536551.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006083,0.999935,-0.009673],[-0.999765,0.006282,0.020771],[0.020831,0.009545,0.999737]] 2025-10-27T03:42:31.829Z,1761536551.829 [DAT](INFO): DAT read: 03:42:32.0677 LVL= 15856, 10769, 20050, 15971, AGC= 31, IDX= 437,-0.01, 2.300, 0.607, 1.520, 2.995, PHS=-0.592,-2.342,-1.518, RAW= 118.1, 46.1, CAL= 116.6, 52.9, ROT= 33.4, -52.9 2025-10-27T03:42:31.830Z,1761536551.830 [DAT](INFO): got valid direction response: 03:42:32.0677 LVL= 15856, 10769, 20050, 15971, AGC= 31, IDX= 437,-0.01, 2.300, 0.607, 1.520, 2.995, PHS=-0.592,-2.342,-1.518, RAW= 118.1, 46.1, CAL= 116.6, 52.9, ROT= 33.4, -52.9 2025-10-27T03:42:31.831Z,1761536551.831 [DAT](INFO): DAT read: Bearing 129.5, 19.5 (Local) 2025-10-27T03:42:31.832Z,1761536551.832 [DAT](INFO): Local bearing/azimuth received: Bearing 129.5, 19.5 (Local) 2025-10-27T03:42:31.833Z,1761536551.833 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s 2025-10-27T03:42:31.834Z,1761536551.834 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:42:31.835Z,1761536551.835 [DAT](INFO): direction in FSK: [0.503587,0.332054,0.797584] 2025-10-27T03:42:31.835Z,1761536551.835 [DAT](INFO): publishing direction and range info 2025-10-27T03:42:32.417Z,1761536552.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006113,0.999950,-0.007916],[-0.999752,-0.005942,0.021468],[0.021420,0.008045,0.999738]] 2025-10-27T03:42:32.802Z,1761536552.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018679,0.999801,-0.007013],[-0.999588,-0.018521,0.021906],[0.021772,0.007419,0.999735]] 2025-10-27T03:42:33.614Z,1761536553.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043937,0.999026,-0.004144],[-0.998803,-0.043837,0.021695],[0.021492,0.005092,0.999756]] 2025-10-27T03:42:34.015Z,1761536554.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054916,0.998489,-0.002032],[-0.998277,-0.054862,0.020793],[0.020650,0.003170,0.999782]] 2025-10-27T03:42:34.447Z,1761536554.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070916,0.997476,0.003663],[-0.997340,-0.070968,0.016624],[0.016842,-0.002474,0.999855]] 2025-10-27T03:42:35.225Z,1761536555.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075228,0.997152,0.005400],[-0.997073,-0.075294,0.013250],[0.013619,-0.004387,0.999898]] 2025-10-27T03:42:35.645Z,1761536555.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075590,0.997104,0.008369],[-0.997125,-0.075631,0.004665],[0.005285,-0.007992,0.999954]] 2025-10-27T03:42:36.473Z,1761536556.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065323,0.997828,0.008535],[-0.997855,-0.065284,-0.004747],[-0.004179,-0.008827,0.999952]] 2025-10-27T03:42:36.846Z,1761536556.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056035,0.998404,0.007039],[-0.998388,-0.055968,-0.009408],[-0.008999,-0.007555,0.999931]] 2025-10-27T03:42:37.253Z,1761536557.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044375,0.998996,0.006113],[-0.998929,-0.044290,-0.013401],[-0.013117,-0.006701,0.999892]] 2025-10-27T03:42:37.653Z,1761536557.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030892,0.999509,0.005232],[-0.999394,-0.030804,-0.016238],[-0.016069,-0.005730,0.999854]] 2025-10-27T03:42:38.054Z,1761536558.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016467,0.999857,0.003879],[-0.999706,-0.016395,-0.017884],[-0.017818,-0.004172,0.999833]] 2025-10-27T03:42:38.076Z,1761536558.076 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:42:38.124Z,1761536558.124 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:42:38.124Z,1761536558.124 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:42:38.124Z,1761536558.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:42:38.376Z,1761536558.376 [DAT](INFO): DAT read: user:437> 2025-10-27T03:42:38.377Z,1761536558.377 [DAT](INFO): DAT read: Tx time:03:42:39.7627 2025-10-27T03:42:38.377Z,1761536558.377 [DAT](INFO): Ping request sent. 2025-10-27T03:42:38.377Z,1761536558.377 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:42:38.377Z,1761536558.377 [DAT](INFO): publishing transmit ping time 2025-10-27T03:42:38.378Z,1761536558.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-27T03:42:38.502Z,1761536558.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001610,0.999996,0.002153],[-0.999827,-0.001569,-0.018522],[-0.018519,-0.002183,0.999826]] 2025-10-27T03:42:38.628Z,1761536558.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250848 2025-10-27T03:42:38.862Z,1761536558.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012925,0.999916,0.000493],[-0.999752,0.012932,-0.018149],[-0.018154,-0.000259,0.999835]] 2025-10-27T03:42:38.880Z,1761536558.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502825 2025-10-27T03:42:39.132Z,1761536559.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754983 2025-10-27T03:42:39.266Z,1761536559.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027022,0.999634,-0.000981],[-0.999489,0.027002,-0.017097],[-0.017064,0.001442,0.999853]] 2025-10-27T03:42:39.384Z,1761536559.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006749 2025-10-27T03:42:39.638Z,1761536559.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260232 2025-10-27T03:42:39.671Z,1761536559.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040095,0.999194,-0.001750],[-0.999077,0.040063,-0.015526],[-0.015444,0.002371,0.999878]] 2025-10-27T03:42:39.888Z,1761536559.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510967 2025-10-27T03:42:40.075Z,1761536560.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051121,0.998690,-0.002410],[-0.998604,0.051084,-0.013462],[-0.013322,0.003095,0.999906]] 2025-10-27T03:42:40.140Z,1761536560.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762823 2025-10-27T03:42:40.392Z,1761536560.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015172 2025-10-27T03:42:40.517Z,1761536560.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060301,0.998174,-0.003436],[-0.998117,0.060258,-0.011505],[-0.011277,0.004123,0.999928]] 2025-10-27T03:42:40.644Z,1761536560.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266614 2025-10-27T03:42:40.881Z,1761536560.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067034,0.997739,-0.004828],[-0.997705,0.066984,-0.009864],[-0.009518,0.005478,0.999940]] 2025-10-27T03:42:40.896Z,1761536560.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518879 2025-10-27T03:42:41.148Z,1761536561.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770676 2025-10-27T03:42:41.286Z,1761536561.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071297,0.997441,-0.005370],[-0.997422,0.071249,-0.008583],[-0.008179,0.005968,0.999949]] 2025-10-27T03:42:41.400Z,1761536561.400 [DAT](INFO): DAT read: Rx Time:03:42:42.1677 2025-10-27T03:42:41.401Z,1761536561.401 [DAT](INFO): Rx dataTimestamp_ set to:1761536561.400283 2025-10-27T03:42:41.401Z,1761536561.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023939 2025-10-27T03:42:41.652Z,1761536561.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274818 2025-10-27T03:42:41.733Z,1761536561.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072290,0.997368,-0.005596],[-0.997356,0.072245,-0.007869],[-0.007444,0.006150,0.999953]] 2025-10-27T03:42:41.909Z,1761536561.909 [DAT](INFO): DAT read: 03:42:42.1677 LVL= 17968, 11089, 19074, 19907, AGC= 33, IDX= 437,-0.20,-1.282,-2.004,-1.803,-0.332, PHS=-0.848,-1.627,-1.515, RAW= 97.7, 62.6, CAL= 96.7, 66.4, ROT= 53.3, -66.4 2025-10-27T03:42:41.910Z,1761536561.910 [DAT](INFO): got valid direction response: 03:42:42.1677 LVL= 17968, 11089, 19074, 19907, AGC= 33, IDX= 437,-0.20,-1.282,-2.004,-1.803,-0.332, PHS=-0.848,-1.627,-1.515, RAW= 97.7, 62.6, CAL= 96.7, 66.4, ROT= 53.3, -66.4 2025-10-27T03:42:41.911Z,1761536561.911 [DAT](INFO): DAT read: Bearing 149.0, 18.1 (Local) 2025-10-27T03:42:41.912Z,1761536561.912 [DAT](INFO): Local bearing/azimuth received: Bearing 149.0, 18.1 (Local) 2025-10-27T03:42:41.913Z,1761536561.913 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s 2025-10-27T03:42:41.913Z,1761536561.913 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:42:41.914Z,1761536561.914 [DAT](INFO): direction in FSK: [0.239259,0.320990,0.916363] 2025-10-27T03:42:41.915Z,1761536561.915 [DAT](INFO): publishing direction and range info 2025-10-27T03:42:42.093Z,1761536562.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071086,0.997451,-0.006181],[-0.997443,0.071037,-0.007854],[-0.007395,0.006723,0.999950]] 2025-10-27T03:42:42.527Z,1761536562.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066653,0.997751,-0.007119],[-0.997745,0.066593,-0.008400],[-0.007907,0.007663,0.999939]] 2025-10-27T03:42:42.902Z,1761536562.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060014,0.998173,-0.007035],[-0.998156,0.059945,-0.009571],[-0.009132,0.007597,0.999929]] 2025-10-27T03:42:43.308Z,1761536563.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050824,0.998688,-0.006208],[-0.998653,0.050755,-0.010749],[-0.010420,0.006746,0.999923]] 2025-10-27T03:42:43.718Z,1761536563.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039270,0.999212,-0.005836],[-0.999156,0.039196,-0.012294],[-0.012056,0.006314,0.999907]] 2025-10-27T03:42:44.113Z,1761536564.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026193,0.999642,-0.005473],[-0.999560,0.026114,-0.014048],[-0.013900,0.005839,0.999886]] 2025-10-27T03:42:44.522Z,1761536564.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011154,0.999926,-0.004772],[-0.999819,0.011078,-0.015489],[-0.015435,0.004944,0.999869]] 2025-10-27T03:42:44.922Z,1761536564.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004670,0.999982,-0.003784],[-0.999847,-0.004733,-0.016840],[-0.016858,0.003705,0.999851]] 2025-10-27T03:42:45.327Z,1761536565.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021233,0.999770,-0.003113],[-0.999614,-0.021286,-0.017855],[-0.017917,0.002733,0.999836]] 2025-10-27T03:42:45.732Z,1761536565.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037723,0.999284,-0.002729],[-0.999116,-0.037767,-0.018483],[-0.018573,0.002029,0.999825]] 2025-10-27T03:42:46.134Z,1761536566.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053530,0.998564,-0.002181],[-0.998390,-0.053561,-0.018654],[-0.018744,0.001179,0.999824]] 2025-10-27T03:42:46.542Z,1761536566.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068461,0.997653,-0.001516],[-0.997487,-0.068478,-0.018155],[-0.018216,0.000270,0.999834]] 2025-10-27T03:42:46.945Z,1761536566.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081839,0.996645,-0.000693],[-0.996498,-0.081839,-0.017129],[-0.017129,-0.000711,0.999853]] 2025-10-27T03:42:47.345Z,1761536567.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093329,0.995635,0.000125],[-0.995512,-0.093315,-0.015727],[-0.015647,-0.001592,0.999876]] 2025-10-27T03:42:47.749Z,1761536567.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102547,0.994727,0.001212],[-0.994631,-0.102520,-0.014073],[-0.013875,-0.002649,0.999900]] 2025-10-27T03:42:48.153Z,1761536568.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109209,0.994016,0.002294],[-0.993946,-0.109173,-0.012359],[-0.012034,-0.003629,0.999921]] 2025-10-27T03:42:48.172Z,1761536568.172 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:42:48.181Z,1761536568.181 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:42:48.181Z,1761536568.181 [DockingStepper] No Fault, FailCount= 3 2025-10-27T03:42:48.204Z,1761536568.204 [DAT](INFO): ****** received valid address query ****** 2025-10-27T03:42:48.204Z,1761536568.204 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T03:42:48.204Z,1761536568.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T03:42:48.456Z,1761536568.456 [DAT](INFO): DAT read: user:438> 2025-10-27T03:42:48.457Z,1761536568.457 [DAT](INFO): DAT read: Tx time:03:42:49.8127 2025-10-27T03:42:48.457Z,1761536568.457 [DAT](INFO): Ping request sent. 2025-10-27T03:42:48.457Z,1761536568.457 [DAT](INFO): transmitted an acoustic signal 2025-10-27T03:42:48.457Z,1761536568.457 [DAT](INFO): publishing transmit ping time 2025-10-27T03:42:48.458Z,1761536568.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-27T03:42:48.558Z,1761536568.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113489,0.993534,0.003317],[-0.993490,-0.113450,-0.010317],[-0.009874,-0.004466,0.999941]] 2025-10-27T03:42:48.609Z,1761536568.609 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:42:48.610Z,1761536568.610 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:42:48.708Z,1761536568.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251252 2025-10-27T03:42:48.960Z,1761536568.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502902 2025-10-27T03:42:48.963Z,1761536568.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114700,0.993392,0.004128],[-0.993369,-0.114663,-0.008364],[-0.007835,-0.005060,0.999956]] 2025-10-27T03:42:49.212Z,1761536569.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754820 2025-10-27T03:42:49.366Z,1761536569.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112982,0.993585,0.004851],[-0.993578,-0.112949,-0.006713],[-0.006122,-0.005578,0.999966]] 2025-10-27T03:42:49.464Z,1761536569.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006803 2025-10-27T03:42:49.717Z,1761536569.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259669 2025-10-27T03:42:49.777Z,1761536569.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108704,0.994061,0.005094],[-0.994063,-0.108677,-0.005299],[-0.004714,-0.005640,0.999973]] 2025-10-27T03:42:49.968Z,1761536569.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510911 2025-10-27T03:42:50.175Z,1761536570.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101690,0.994802,0.005260],[-0.994810,-0.101669,-0.004186],[-0.003629,-0.005658,0.999977]] 2025-10-27T03:42:50.220Z,1761536570.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762831 2025-10-27T03:42:50.472Z,1761536570.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014837 2025-10-27T03:42:50.578Z,1761536570.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092718,0.995679,0.005086],[-0.995688,-0.092701,-0.003500],[-0.003013,-0.005389,0.999981]] 2025-10-27T03:42:50.724Z,1761536570.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267199 2025-10-27T03:42:50.976Z,1761536570.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518832 2025-10-27T03:42:50.984Z,1761536570.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081821,0.996638,0.004362],[-0.996643,-0.081806,-0.003372],[-0.003004,-0.004623,0.999985]] 2025-10-27T03:42:51.228Z,1761536571.228 [DAT](INFO): DAT read: Rx Time:03:42:52.2177 2025-10-27T03:42:51.229Z,1761536571.229 [DAT](INFO): Rx dataTimestamp_ set to:1761536571.228358 2025-10-27T03:42:51.229Z,1761536571.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772130 2025-10-27T03:42:51.385Z,1761536571.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069358,0.997584,0.003963],[-0.997585,-0.069342,-0.003965],[-0.003681,-0.004228,0.999984]] 2025-10-27T03:42:51.480Z,1761536571.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022869 2025-10-27T03:42:51.734Z,1761536571.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276768 2025-10-27T03:42:51.794Z,1761536571.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056348,0.998404,0.003854],[-0.998400,-0.056330,-0.004845],[-0.004620,-0.004121,0.999981]] 2025-10-27T03:42:51.989Z,1761536571.989 [DAT](INFO): DAT read: 03:42:52.2177 LVL= 16176, 10977, 21042, 21715, AGC= 35, IDX= 437,-0.35, 1.661, 0.172, 0.989, 2.429, PHS=-0.665,-2.212,-1.484, RAW= 118.1, 49.0, CAL= 116.8, 55.4, ROT= 33.2, -55.4 2025-10-27T03:42:51.990Z,1761536571.990 [DAT](INFO): got valid direction response: 03:42:52.2177 LVL= 16176, 10977, 21042, 21715, AGC= 35, IDX= 437,-0.35, 1.661, 0.172, 0.989, 2.429, PHS=-0.665,-2.212,-1.484, RAW= 118.1, 49.0, CAL= 116.8, 55.4, ROT= 33.2, -55.4 2025-10-27T03:42:51.992Z,1761536571.992 [DAT](INFO): DAT read: Bearing 124.6, 17.3 (Local) 2025-10-27T03:42:51.992Z,1761536571.992 [DAT](INFO): Local bearing/azimuth received: Bearing 124.6, 17.3 (Local) 2025-10-27T03:42:51.993Z,1761536571.993 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m (Round-trip 0.8 ms) speed 0.0 m/s 2025-10-27T03:42:51.994Z,1761536571.994 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T03:42:51.995Z,1761536571.995 [DAT](INFO): direction in FSK: [0.475151,0.310930,0.823136] 2025-10-27T03:42:51.995Z,1761536571.995 [DAT](INFO): publishing direction and range info 2025-10-27T03:42:52.193Z,1761536572.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.042930,0.999072,0.003325],[-0.999058,-0.042908,-0.006501],[-0.006352,-0.003601,0.999973]] 2025-10-27T03:42:52.238Z,1761536572.238 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T03:42:52.598Z,1761536572.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030141,0.999542,0.002568],[-0.999510,-0.030118,-0.008557],[-0.008475,-0.002825,0.999960]] 2025-10-27T03:42:53.003Z,1761536573.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017613,0.999842,0.002456],[-0.999781,-0.017584,-0.011379],[-0.011334,-0.002656,0.999932]] 2025-10-27T03:42:53.406Z,1761536573.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007400,0.999970,0.002163],[-0.999875,-0.007369,-0.014013],[-0.013997,-0.002267,0.999899]] 2025-10-27T03:42:53.810Z,1761536573.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001553,0.999997,0.001816],[-0.999848,0.001585,-0.017381],[-0.017384,-0.001789,0.999847]] 2025-10-27T03:42:54.000Z,1761536574.000 [DAT](INFO): DAT read: user:439>Rx Time:03:42:54.8596 2025-10-27T03:42:54.001Z,1761536574.001 [DAT](INFO): Rx dataTimestamp_ set to:1761536574.000453 2025-10-27T03:42:54.214Z,1761536574.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008498,0.999963,0.001025],[-0.999742,0.008518,-0.021057],[-0.021065,-0.000845,0.999778]] 2025-10-27T03:42:54.617Z,1761536574.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012232,0.999925,-0.000074],[-0.999632,0.012227,-0.024222],[-0.024219,0.000370,0.999707]] 2025-10-27T03:42:54.782Z,1761536574.782 [DAT](INFO): DAT read: 03:42:54.8596 LVL= 16080, 9713, 18242, 17907, AGC= 33, IDX= 386, 0.26,-0.193,-1.190,-0.804, 0.663, PHS=-0.754,-1.808,-1.512, RAW= 105.8, 56.8, CAL= 104.3, 61.3, ROT= 45.7, -61.3 2025-10-27T03:42:54.784Z,1761536574.784 [DAT](INFO): got valid direction response: 03:42:54.8596 LVL= 16080, 9713, 18242, 17907, AGC= 33, IDX= 386, 0.26,-0.193,-1.190,-0.804, 0.663, PHS=-0.754,-1.808,-1.512, RAW= 105.8, 56.8, CAL= 104.3, 61.3, ROT= 45.7, -61.3 2025-10-27T03:42:54.784Z,1761536574.784 [DAT](INFO): DAT read: 2025-10-27T03:42:54.785Z,1761536574.785 [DAT](INFO): DAT read: DATA(0023):failc h dockingStepper 2025-10-27T03:42:54.785Z,1761536574.785 [DAT](INFO): Got DATA 23 2025-10-27T03:42:54.786Z,1761536574.786 [DAT](INFO): DAT read: 2025-10-27T03:42:54.786Z,1761536574.786 [DAT](INFO): DAT read: Source:050 Destination:011 2025-10-27T03:42:54.787Z,1761536574.787 [DAT](INFO): Got Src/Dest after DATA 2025-10-27T03:42:54.788Z,1761536574.788 [DAT](INFO): DATA Src=50, Dst=11 2025-10-27T03:42:54.789Z,1761536574.789 [DAT](INFO): DAT read: CRC:Pass MPD:03.6 PSNR:18.5 AGC:30 SPD:-0.1 CCERR:013 2025-10-27T03:42:54.789Z,1761536574.789 [DAT](INFO): Got CRC:Pass 2025-10-27T03:42:54.789Z,1761536574.789 [DAT](INFO): Got CRC:Pass 2025-10-27T03:42:54.789Z,1761536574.789 [DAT](INFO): Incoming data is intended for us 2025-10-27T03:42:54.789Z,1761536574.789 [DAT](INFO): Received command: failc h dockingStepper 2025-10-27T03:42:54.790Z,1761536574.790 [DAT](INFO): #Outgoing data=1 2025-10-27T03:42:54.790Z,1761536574.790 [DAT](INFO): Sending ack 2025-10-27T03:42:54.790Z,1761536574.790 [DAT](INFO): DAT read: 2025-10-27T03:42:54.790Z,1761536574.790 [DAT](INFO): DAT read: 2025-10-27T03:42:54.791Z,1761536574.791 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-27T03:42:54.791Z,1761536574.791 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-27T03:42:54.792Z,1761536574.792 [DAT](INFO): direction in FSK: [0.335395,0.343692,0.877146] 2025-10-27T03:42:55.008Z,1761536575.008 [DAT](INFO): setting remote address to 50 2025-10-27T03:42:55.027Z,1761536575.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013834,0.999903,-0.001308],[-0.999536,0.013793,-0.027142],[-0.027122,0.001682,0.999631]] 2025-10-27T03:42:55.119Z,1761536575.119 [CommandExec](IMPORTANT): got command failComponent hardware DockingStepper 2025-10-27T03:42:55.119Z,1761536575.119 [DockingStepper] Hardware Fault, FailCount= 4 2025-10-27T03:42:55.119Z,1761536575.119 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:42:55.119Z,1761536575.119 [CommandExec](IMPORTANT): DockingStepper failureMode is Hardware Fault 2025-10-27T03:42:55.124Z,1761536575.124 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:42:55.124Z,1761536575.124 [DockingStepper](INFO): Powering down 2025-10-27T03:42:55.133Z,1761536575.133 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:42:55.260Z,1761536575.260 [DAT](INFO): DAT read: 2025-10-27T03:42:55.261Z,1761536575.261 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:42:55.261Z,1761536575.261 [DAT](INFO): set remote address to 50 2025-10-27T03:42:55.261Z,1761536575.261 [DAT](INFO): entering online mode 2025-10-27T03:42:55.428Z,1761536575.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014726,0.999890,-0.001496],[-0.999431,0.014674,-0.030358],[-0.030333,0.001943,0.999538]] 2025-10-27T03:42:55.512Z,1761536575.512 [DAT](INFO): DAT read: user:440> 2025-10-27T03:42:55.512Z,1761536575.512 [DAT](INFO): DAT read: 2025-10-27T03:42:55.513Z,1761536575.513 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:42:55.514Z,1761536575.514 [DAT](INFO): commRate: 600 2025-10-27T03:42:55.514Z,1761536575.514 [DAT](INFO): online mode acknowledged 2025-10-27T03:42:55.829Z,1761536575.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010405,0.999943,-0.002583],[-0.999458,0.010319,-0.031275],[-0.031247,0.002907,0.999507]] 2025-10-27T03:42:56.250Z,1761536576.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004671,0.999983,-0.003365],[-0.999488,0.004562,-0.031685],[-0.031669,0.003511,0.999492]] 2025-10-27T03:42:56.637Z,1761536576.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002669,0.999987,-0.004394],[-0.999505,-0.002805,-0.031323],[-0.031335,0.004309,0.999500]] 2025-10-27T03:42:57.042Z,1761536577.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011638,0.999919,-0.005060],[-0.999483,-0.011785,-0.029913],[-0.029970,0.004709,0.999540]] 2025-10-27T03:42:57.445Z,1761536577.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022276,0.999737,-0.005365],[-0.999380,-0.022414,-0.027158],[-0.027271,0.004757,0.999617]] 2025-10-27T03:42:57.850Z,1761536577.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034033,0.999402,-0.006043],[-0.999139,-0.034167,-0.023528],[-0.023721,0.005237,0.999705]] 2025-10-27T03:42:58.254Z,1761536578.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047062,0.998872,-0.006359],[-0.998708,-0.047174,-0.018892],[-0.019171,0.005462,0.999801]] 2025-10-27T03:42:58.270Z,1761536578.270 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:42:58.284Z,1761536578.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:42:58.335Z,1761536578.335 [DAT](INFO): entering command mode 2025-10-27T03:42:58.536Z,1761536578.536 [DAT](INFO): DAT read: 2025-10-27T03:42:58.536Z,1761536578.536 [DAT](INFO): DAT read: user:441> 2025-10-27T03:42:58.537Z,1761536578.537 [DAT](INFO): entering online mode 2025-10-27T03:42:58.658Z,1761536578.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060334,0.998160,-0.006058],[-0.998080,-0.060412,-0.013651],[-0.013992,0.005222,0.999888]] 2025-10-27T03:42:58.790Z,1761536578.790 [DAT](INFO): DAT read: user:441> 2025-10-27T03:42:58.792Z,1761536578.792 [DAT](INFO): DAT read: 2025-10-27T03:42:58.797Z,1761536578.797 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:42:58.798Z,1761536578.798 [DAT](INFO): commRate: 600 2025-10-27T03:42:58.798Z,1761536578.798 [DAT](INFO): online mode acknowledged 2025-10-27T03:42:58.799Z,1761536578.799 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:42:59.040Z,1761536579.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:42:59.062Z,1761536579.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073853,0.997251,-0.005958],[-0.997235,-0.073899,-0.007828],[-0.008247,0.005363,0.999952]] 2025-10-27T03:42:59.292Z,1761536579.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:42:59.466Z,1761536579.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086903,0.996201,-0.005667],[-0.996214,-0.086915,-0.001829],[-0.002314,0.005487,0.999982]] 2025-10-27T03:42:59.544Z,1761536579.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:42:59.798Z,1761536579.798 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:42:59.870Z,1761536579.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099212,0.995053,-0.005188],[-0.995059,-0.099190,0.004247],[0.003712,0.005583,0.999977]] 2025-10-27T03:43:00.048Z,1761536580.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:00.273Z,1761536580.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110257,0.993892,-0.004749],[-0.993856,-0.110204,0.010276],[0.009690,0.005853,0.999936]] 2025-10-27T03:43:00.300Z,1761536580.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:00.552Z,1761536580.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:00.678Z,1761536580.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119943,0.992770,-0.004562],[-0.992656,-0.119853,0.016403],[0.015738,0.006496,0.999855]] 2025-10-27T03:43:00.807Z,1761536580.807 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:00.860Z,1761536580.860 [DAT](INFO): entering command mode 2025-10-27T03:43:01.055Z,1761536581.055 [DAT](INFO): DAT read: 2025-10-27T03:43:01.056Z,1761536581.056 [DAT](INFO): DAT read: user:442> 2025-10-27T03:43:01.057Z,1761536581.057 [DAT](INFO): entering online mode 2025-10-27T03:43:01.086Z,1761536581.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128340,0.991723,-0.003904],[-0.991488,-0.128221,0.022620],[0.021932,0.006774,0.999737]] 2025-10-27T03:43:01.308Z,1761536581.308 [DAT](INFO): DAT read: user:442> 2025-10-27T03:43:01.308Z,1761536581.308 [DAT](INFO): DAT read: 2025-10-27T03:43:01.310Z,1761536581.309 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:01.310Z,1761536581.310 [DAT](INFO): commRate: 600 2025-10-27T03:43:01.310Z,1761536581.310 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:01.310Z,1761536581.310 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:01.488Z,1761536581.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134821,0.990867,-0.002563],[-0.990469,-0.134692,0.028807],[0.028199,0.006422,0.999582]] 2025-10-27T03:43:01.560Z,1761536581.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:01.815Z,1761536581.815 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:01.889Z,1761536581.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139364,0.990241,-0.001245],[-0.989649,-0.139237,0.034753],[0.034240,0.006076,0.999395]] 2025-10-27T03:43:02.065Z,1761536582.065 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:02.293Z,1761536582.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141610,0.989922,0.001393],[-0.989125,-0.141552,0.039926],[0.039720,0.004276,0.999202]] 2025-10-27T03:43:02.320Z,1761536582.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:02.572Z,1761536582.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:02.826Z,1761536582.826 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:03.076Z,1761536583.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:03.105Z,1761536583.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138571,0.990318,0.008244],[-0.989221,-0.138806,0.046635],[0.047328,-0.001693,0.998878]] 2025-10-27T03:43:03.328Z,1761536583.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:03.379Z,1761536583.379 [DAT](INFO): entering command mode 2025-10-27T03:43:03.505Z,1761536583.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132812,0.991066,0.012182],[-0.989972,-0.133242,0.046929],[0.048133,-0.005827,0.998824]] 2025-10-27T03:43:03.580Z,1761536583.580 [DAT](INFO): DAT read: 2025-10-27T03:43:03.580Z,1761536583.580 [DAT](INFO): DAT read: user:443> 2025-10-27T03:43:03.581Z,1761536583.581 [DAT](INFO): entering online mode 2025-10-27T03:43:03.834Z,1761536583.834 [DAT](INFO): DAT read: user:443> 2025-10-27T03:43:03.836Z,1761536583.836 [DAT](INFO): DAT read: 2025-10-27T03:43:03.840Z,1761536583.840 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:03.841Z,1761536583.841 [DAT](INFO): commRate: 600 2025-10-27T03:43:03.841Z,1761536583.841 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:03.842Z,1761536583.842 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:03.910Z,1761536583.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124414,0.992118,0.014947],[-0.991146,-0.124968,0.044858],[0.046373,-0.009234,0.998882]] 2025-10-27T03:43:04.084Z,1761536584.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:04.314Z,1761536584.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.114131,0.993324,0.016760],[-0.992587,-0.114724,0.040120],[0.041775,-0.012057,0.999054]] 2025-10-27T03:43:04.336Z,1761536584.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:04.588Z,1761536584.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:04.725Z,1761536584.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102392,0.994602,0.016824],[-0.994153,-0.102899,0.032737],[0.034291,-0.013374,0.999322]] 2025-10-27T03:43:04.843Z,1761536584.843 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:05.092Z,1761536585.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:05.122Z,1761536585.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090193,0.995799,0.015794],[-0.995619,-0.090547,0.023334],[0.024666,-0.013620,0.999603]] 2025-10-27T03:43:05.344Z,1761536585.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:05.525Z,1761536585.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077234,0.996917,0.013840],[-0.996924,-0.077405,0.012271],[0.013304,-0.012849,0.999829]] 2025-10-27T03:43:05.596Z,1761536585.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:05.848Z,1761536585.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:05.899Z,1761536585.899 [DAT](INFO): entering command mode 2025-10-27T03:43:05.940Z,1761536585.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064272,0.997866,0.011475],[-0.997931,-0.064285,0.000778],[0.001514,-0.011401,0.999934]] 2025-10-27T03:43:06.100Z,1761536586.100 [DAT](INFO): DAT read: 2025-10-27T03:43:06.100Z,1761536586.100 [DAT](INFO): DAT read: user:444> 2025-10-27T03:43:06.101Z,1761536586.101 [DAT](INFO): entering online mode 2025-10-27T03:43:06.333Z,1761536586.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051704,0.998618,0.009379],[-0.998613,-0.051605,-0.010468],[-0.009969,-0.009907,0.999901]] 2025-10-27T03:43:06.352Z,1761536586.352 [DAT](INFO): DAT read: user:444> 2025-10-27T03:43:06.352Z,1761536586.352 [DAT](INFO): DAT read: 2025-10-27T03:43:06.354Z,1761536586.354 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:06.354Z,1761536586.354 [DAT](INFO): commRate: 600 2025-10-27T03:43:06.354Z,1761536586.354 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:06.354Z,1761536586.354 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:06.604Z,1761536586.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:06.739Z,1761536586.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040147,0.999170,0.006874],[-0.998987,-0.039997,-0.020638],[-0.020346,-0.007696,0.999763]] 2025-10-27T03:43:06.858Z,1761536586.858 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:07.108Z,1761536587.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:07.141Z,1761536587.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030340,0.999534,0.003399],[-0.999127,-0.030229,-0.028842],[-0.028726,-0.004271,0.999578]] 2025-10-27T03:43:07.360Z,1761536587.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:07.548Z,1761536587.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022580,0.999745,-0.000692],[-0.999139,-0.022591,-0.034807],[-0.034814,-0.000095,0.999394]] 2025-10-27T03:43:07.612Z,1761536587.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:07.864Z,1761536587.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:07.963Z,1761536587.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016432,0.999857,-0.003886],[-0.999129,-0.016569,-0.038300],[-0.038359,0.003254,0.999259]] 2025-10-27T03:43:08.116Z,1761536588.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:08.353Z,1761536588.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011666,0.999915,-0.005766],[-0.999164,-0.011882,-0.039118],[-0.039183,0.005305,0.999218]] 2025-10-27T03:43:08.368Z,1761536588.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:08.372Z,1761536588.372 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:43:08.419Z,1761536588.419 [DAT](INFO): entering command mode 2025-10-27T03:43:08.620Z,1761536588.620 [DAT](INFO): DAT read: 2025-10-27T03:43:08.620Z,1761536588.620 [DAT](INFO): DAT read: user:445> 2025-10-27T03:43:08.621Z,1761536588.621 [DAT](INFO): entering online mode 2025-10-27T03:43:08.757Z,1761536588.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008560,0.999939,-0.006946],[-0.999273,-0.008812,-0.037087],[-0.037146,0.006624,0.999288]] 2025-10-27T03:43:08.872Z,1761536588.872 [DAT](INFO): DAT read: user:445> 2025-10-27T03:43:08.873Z,1761536588.873 [DAT](INFO): DAT read: 2025-10-27T03:43:08.874Z,1761536588.874 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:08.874Z,1761536588.874 [DAT](INFO): commRate: 600 2025-10-27T03:43:08.874Z,1761536588.874 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:08.875Z,1761536588.875 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:09.124Z,1761536589.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:09.161Z,1761536589.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007254,0.999946,-0.007491],[-0.999434,-0.007496,-0.032804],[-0.032858,0.007249,0.999434]] 2025-10-27T03:43:09.376Z,1761536589.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:09.565Z,1761536589.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008223,0.999941,-0.007157],[-0.999616,-0.008410,-0.026418],[-0.026477,0.006937,0.999625]] 2025-10-27T03:43:09.628Z,1761536589.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:09.880Z,1761536589.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:09.986Z,1761536589.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012023,0.999902,-0.007235],[-0.999752,-0.012156,-0.018663],[-0.018749,0.007009,0.999800]] 2025-10-27T03:43:10.132Z,1761536590.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:10.374Z,1761536590.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018443,0.999798,-0.007941],[-0.999775,-0.018525,-0.010343],[-0.010488,0.007749,0.999915]] 2025-10-27T03:43:10.384Z,1761536590.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:10.636Z,1761536590.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:10.888Z,1761536590.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:10.940Z,1761536590.940 [DAT](INFO): entering command mode 2025-10-27T03:43:11.140Z,1761536591.140 [DAT](INFO): DAT read: 2025-10-27T03:43:11.140Z,1761536591.140 [DAT](INFO): DAT read: user:446> 2025-10-27T03:43:11.141Z,1761536591.141 [DAT](INFO): entering online mode 2025-10-27T03:43:11.187Z,1761536591.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036188,0.999300,-0.009536],[-0.999333,-0.036140,0.005196],[0.004847,0.009717,0.999941]] 2025-10-27T03:43:11.392Z,1761536591.392 [DAT](INFO): DAT read: user:446> 2025-10-27T03:43:11.393Z,1761536591.393 [DAT](INFO): DAT read: 2025-10-27T03:43:11.394Z,1761536591.394 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:11.394Z,1761536591.394 [DAT](INFO): commRate: 600 2025-10-27T03:43:11.394Z,1761536591.394 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:11.396Z,1761536591.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:11.585Z,1761536591.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046935,0.998838,-0.010898],[-0.998836,-0.046809,0.011624],[0.011100,0.011431,0.999873]] 2025-10-27T03:43:11.644Z,1761536591.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:11.896Z,1761536591.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:12.013Z,1761536592.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058253,0.998251,-0.010097],[-0.998168,-0.058076,0.016943],[0.016327,0.011065,0.999806]] 2025-10-27T03:43:12.148Z,1761536592.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:12.396Z,1761536592.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070616,0.997469,-0.008334],[-0.997293,-0.070427,0.021152],[0.020512,0.009805,0.999741]] 2025-10-27T03:43:12.401Z,1761536592.401 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:12.652Z,1761536592.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:12.798Z,1761536592.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083414,0.996483,-0.008007],[-0.996243,-0.083201,0.024030],[0.023279,0.009981,0.999679]] 2025-10-27T03:43:12.904Z,1761536592.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:13.156Z,1761536593.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:13.201Z,1761536593.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096314,0.995319,-0.007980],[-0.995042,-0.096081,0.025676],[0.024789,0.010413,0.999638]] 2025-10-27T03:43:13.408Z,1761536593.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:13.459Z,1761536593.459 [DAT](INFO): entering command mode 2025-10-27T03:43:13.605Z,1761536593.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109172,0.994001,-0.006644],[-0.993699,-0.108963,0.026243],[0.025361,0.009467,0.999634]] 2025-10-27T03:43:13.660Z,1761536593.660 [DAT](INFO): DAT read: 2025-10-27T03:43:13.660Z,1761536593.660 [DAT](INFO): DAT read: user:447> 2025-10-27T03:43:13.661Z,1761536593.661 [DAT](INFO): entering online mode 2025-10-27T03:43:13.912Z,1761536593.912 [DAT](INFO): DAT read: user:447> 2025-10-27T03:43:13.913Z,1761536593.913 [DAT](INFO): DAT read: 2025-10-27T03:43:13.914Z,1761536593.914 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:13.914Z,1761536593.914 [DAT](INFO): commRate: 600 2025-10-27T03:43:13.914Z,1761536593.914 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:13.915Z,1761536593.915 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:14.050Z,1761536594.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121875,0.992534,-0.004690],[-0.992223,-0.121714,0.026070],[0.025305,0.007831,0.999649]] 2025-10-27T03:43:14.164Z,1761536594.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:14.414Z,1761536594.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133974,0.990976,-0.004195],[-0.990689,-0.133829,0.024996],[0.024209,0.007505,0.999679]] 2025-10-27T03:43:14.416Z,1761536594.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:14.668Z,1761536594.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:14.822Z,1761536594.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145721,0.989317,-0.004135],[-0.989068,-0.145587,0.023422],[0.022570,0.007503,0.999717]] 2025-10-27T03:43:14.920Z,1761536594.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:15.172Z,1761536595.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:15.221Z,1761536595.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156665,0.987647,-0.003160],[-0.987439,-0.156564,0.021253],[0.020496,0.006450,0.999769]] 2025-10-27T03:43:15.424Z,1761536595.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:15.625Z,1761536595.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167035,0.985949,-0.001754],[-0.985783,-0.166973,0.018775],[0.018219,0.004866,0.999822]] 2025-10-27T03:43:15.649Z,1761536595.649 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:43:15.649Z,1761536595.649 [DockingStepper] No Fault, FailCount= 4 2025-10-27T03:43:15.678Z,1761536595.678 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:15.928Z,1761536595.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:15.979Z,1761536595.979 [DAT](INFO): entering command mode 2025-10-27T03:43:16.081Z,1761536596.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182600,0.983187,0.001024],[-0.983106,-0.182598,0.012638],[0.012613,0.001301,0.999920]] 2025-10-27T03:43:16.139Z,1761536596.139 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:43:16.139Z,1761536596.139 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:43:16.180Z,1761536596.180 [DAT](INFO): DAT read: 2025-10-27T03:43:16.180Z,1761536596.180 [DAT](INFO): DAT read: user:448> 2025-10-27T03:43:16.181Z,1761536596.181 [DAT](INFO): entering online mode 2025-10-27T03:43:16.432Z,1761536596.432 [DAT](INFO): DAT read: user:448> 2025-10-27T03:43:16.433Z,1761536596.433 [DAT](INFO): DAT read: 2025-10-27T03:43:16.434Z,1761536596.434 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:16.434Z,1761536596.434 [DAT](INFO): commRate: 600 2025-10-27T03:43:16.434Z,1761536596.434 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:16.434Z,1761536596.434 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:16.684Z,1761536596.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:16.837Z,1761536596.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188120,0.982144,0.001900],[-0.982101,-0.188129,0.009230],[0.009423,-0.000130,0.999956]] 2025-10-27T03:43:16.936Z,1761536596.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:17.188Z,1761536597.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:17.242Z,1761536597.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192548,0.981283,0.003070],[-0.981268,-0.192563,0.005677],[0.006162,-0.001919,0.999979]] 2025-10-27T03:43:17.440Z,1761536597.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:17.647Z,1761536597.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196425,0.980511,0.004023],[-0.980515,-0.196434,0.002188],[0.002935,-0.003515,0.999990]] 2025-10-27T03:43:17.693Z,1761536597.693 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:17.944Z,1761536597.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:18.092Z,1761536598.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200737,0.979640,0.003066],[-0.979640,-0.200725,-0.003995],[-0.003298,-0.003806,0.999987]] 2025-10-27T03:43:18.196Z,1761536598.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:18.448Z,1761536598.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:18.493Z,1761536598.493 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:43:18.499Z,1761536598.499 [DAT](INFO): entering command mode 2025-10-27T03:43:18.700Z,1761536598.700 [DAT](INFO): DAT read: 2025-10-27T03:43:18.701Z,1761536598.701 [DAT](INFO): DAT read: user:449> 2025-10-27T03:43:18.702Z,1761536598.702 [DAT](INFO): entering online mode 2025-10-27T03:43:18.857Z,1761536598.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200251,0.979742,0.002372],[-0.979728,-0.200233,-0.006330],[-0.005727,-0.003591,0.999977]] 2025-10-27T03:43:18.952Z,1761536598.952 [DAT](INFO): DAT read: user:449> 2025-10-27T03:43:18.952Z,1761536598.952 [DAT](INFO): DAT read: 2025-10-27T03:43:18.953Z,1761536598.953 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:18.954Z,1761536598.954 [DAT](INFO): commRate: 600 2025-10-27T03:43:18.954Z,1761536598.954 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:18.954Z,1761536598.954 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:19.204Z,1761536599.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:19.261Z,1761536599.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197941,0.980212,0.002064],[-0.980183,-0.197917,-0.008390],[-0.007816,-0.003684,0.999963]] 2025-10-27T03:43:19.456Z,1761536599.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:19.666Z,1761536599.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194537,0.980894,0.001557],[-0.980851,-0.194513,-0.009813],[-0.009323,-0.003436,0.999951]] 2025-10-27T03:43:19.708Z,1761536599.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:19.716Z,1761536599.716 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T03:43:19.960Z,1761536599.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:20.096Z,1761536600.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185399,0.982663,0.000462],[-0.982605,-0.185383,-0.010975],[-0.010699,-0.002489,0.999940]] 2025-10-27T03:43:20.212Z,1761536600.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:20.464Z,1761536600.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:20.716Z,1761536600.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:20.883Z,1761536600.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178761,0.983892,0.000621],[-0.983824,-0.178741,-0.011876],[-0.011574,-0.002734,0.999929]] 2025-10-27T03:43:20.968Z,1761536600.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:21.019Z,1761536601.019 [DAT](INFO): entering command mode 2025-10-27T03:43:21.219Z,1761536601.219 [DAT](INFO): DAT read: 2025-10-27T03:43:21.220Z,1761536601.220 [DAT](INFO): DAT read: user:450> 2025-10-27T03:43:21.221Z,1761536601.221 [DAT](INFO): entering online mode 2025-10-27T03:43:21.306Z,1761536601.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166322,0.986071,-0.000030],[-0.986009,-0.166312,-0.011274],[-0.011122,-0.001845,0.999936]] 2025-10-27T03:43:21.472Z,1761536601.472 [DAT](INFO): DAT read: user:450> 2025-10-27T03:43:21.472Z,1761536601.472 [DAT](INFO): DAT read: 2025-10-27T03:43:21.473Z,1761536601.473 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:21.474Z,1761536601.474 [DAT](INFO): commRate: 600 2025-10-27T03:43:21.474Z,1761536601.474 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:21.474Z,1761536601.474 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:21.691Z,1761536601.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158698,0.987327,-0.000035],[-0.987266,-0.158689,-0.011138],[-0.011003,-0.001733,0.999938]] 2025-10-27T03:43:21.725Z,1761536601.725 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:21.976Z,1761536601.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:22.113Z,1761536602.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151478,0.988460,-0.000359],[-0.988402,-0.151473,-0.010873],[-0.010802,-0.001292,0.999941]] 2025-10-27T03:43:22.228Z,1761536602.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:22.483Z,1761536602.483 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:22.504Z,1761536602.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146240,0.989248,-0.001312],[-0.989196,-0.146246,-0.010181],[-0.010264,-0.000192,0.999947]] 2025-10-27T03:43:22.732Z,1761536602.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:22.901Z,1761536602.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140845,0.990030,-0.001884],[-0.989977,-0.140857,-0.010214],[-0.010377,0.000426,0.999946]] 2025-10-27T03:43:22.984Z,1761536602.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:23.236Z,1761536603.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:23.306Z,1761536603.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135118,0.990828,-0.001679],[-0.990766,-0.135129,-0.011122],[-0.011247,0.000161,0.999937]] 2025-10-27T03:43:23.488Z,1761536603.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:23.543Z,1761536603.543 [DAT](INFO): entering command mode 2025-10-27T03:43:23.716Z,1761536603.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131521,0.991311,-0.002044],[-0.991241,-0.131536,-0.011826],[-0.011992,0.000471,0.999928]] 2025-10-27T03:43:23.743Z,1761536603.743 [DAT](INFO): DAT read: 2025-10-27T03:43:23.743Z,1761536603.743 [DAT](INFO): DAT read: user:451> 2025-10-27T03:43:23.744Z,1761536603.744 [DAT](INFO): entering online mode 2025-10-27T03:43:23.992Z,1761536603.992 [DAT](INFO): DAT read: user:451> 2025-10-27T03:43:23.992Z,1761536603.992 [DAT](INFO): DAT read: 2025-10-27T03:43:23.994Z,1761536603.994 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:23.994Z,1761536603.994 [DAT](INFO): commRate: 600 2025-10-27T03:43:23.994Z,1761536603.994 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:23.994Z,1761536603.994 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:24.118Z,1761536604.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128476,0.991710,-0.002408],[-0.991623,-0.128497,-0.013138],[-0.013338,0.000700,0.999911]] 2025-10-27T03:43:24.244Z,1761536604.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:24.496Z,1761536604.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:24.517Z,1761536604.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126518,0.991959,-0.003284],[-0.991851,-0.126553,-0.014682],[-0.014980,0.001400,0.999887]] 2025-10-27T03:43:24.748Z,1761536604.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:24.921Z,1761536604.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123835,0.992298,-0.003187],[-0.992146,-0.123872,-0.017397],[-0.017658,0.001007,0.999844]] 2025-10-27T03:43:24.000Z,1761536605.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:25.252Z,1761536605.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:25.327Z,1761536605.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122431,0.992472,-0.003202],[-0.992260,-0.122471,-0.020498],[-0.020736,0.000668,0.999785]] 2025-10-27T03:43:25.504Z,1761536605.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:25.736Z,1761536605.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122895,0.992413,-0.003492],[-0.992137,-0.122943,-0.023437],[-0.023688,0.000584,0.999719]] 2025-10-27T03:43:25.756Z,1761536605.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:26.008Z,1761536606.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:26.059Z,1761536606.059 [DAT](INFO): entering command mode 2025-10-27T03:43:26.133Z,1761536606.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123149,0.992381,-0.003668],[-0.992013,-0.123204,-0.027048],[-0.027294,0.000308,0.999627]] 2025-10-27T03:43:26.260Z,1761536606.260 [DAT](INFO): DAT read: 2025-10-27T03:43:26.261Z,1761536606.261 [DAT](INFO): DAT read: use:452> 2025-10-27T03:43:26.262Z,1761536606.262 [DAT](INFO): unknown deviceResponse_: use:452> 2025-10-27T03:43:26.262Z,1761536606.262 [DAT](INFO): entering online mode 2025-10-27T03:43:26.512Z,1761536606.512 [DAT](INFO): DAT read: user:452> 2025-10-27T03:43:26.512Z,1761536606.512 [DAT](INFO): DAT read: 2025-10-27T03:43:26.513Z,1761536606.513 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:26.514Z,1761536606.514 [DAT](INFO): commRate: 600 2025-10-27T03:43:26.514Z,1761536606.514 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:26.514Z,1761536606.514 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:26.542Z,1761536606.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123581,0.992326,-0.004142],[-0.991844,-0.123650,-0.030938],[-0.031213,0.000285,0.999513]] 2025-10-27T03:43:26.764Z,1761536606.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:26.942Z,1761536606.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126110,0.992006,-0.004461],[-0.991419,-0.126189,-0.034124],[-0.034414,0.000120,0.999408]] 2025-10-27T03:43:27.016Z,1761536607.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:27.268Z,1761536607.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:27.346Z,1761536607.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129220,0.991606,-0.004497],[-0.990916,-0.129298,-0.036989],[-0.037260,-0.000323,0.999306]] 2025-10-27T03:43:27.520Z,1761536607.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:27.749Z,1761536607.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131686,0.991283,-0.004195],[-0.990470,-0.131748,-0.040136],[-0.040339,-0.001130,0.999185]] 2025-10-27T03:43:27.772Z,1761536607.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:28.024Z,1761536608.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:28.156Z,1761536608.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134945,0.990843,-0.004580],[-0.989944,-0.135018,-0.042211],[-0.042443,-0.001163,0.999098]] 2025-10-27T03:43:28.276Z,1761536608.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:28.528Z,1761536608.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:28.557Z,1761536608.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138458,0.990357,-0.004729],[-0.989405,-0.138533,-0.043432],[-0.043669,-0.001334,0.999045]] 2025-10-27T03:43:28.579Z,1761536608.579 [DAT](INFO): entering command mode 2025-10-27T03:43:28.602Z,1761536608.602 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:43:28.716Z,1761536608.716 [DockingStepper](FAULT): Timed out moving from: 13087 to: 6111 response: ÿ 2025-10-27T03:43:28.716Z,1761536608.716 [DockingStepper] Hardware Fault, FailCount= 5 2025-10-27T03:43:28.717Z,1761536608.717 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:43:28.728Z,1761536608.728 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:43:28.728Z,1761536608.728 [CBIT](CRITICAL): Hardware Fault in component: DockingStepper 2025-10-27T03:43:28.780Z,1761536608.780 [DAT](INFO): DAT read: 2025-10-27T03:43:28.780Z,1761536608.780 [DAT](INFO): DAT read: user:453> 2025-10-27T03:43:28.781Z,1761536608.781 [DAT](INFO): entering online mode 2025-10-27T03:43:28.961Z,1761536608.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141010,0.989999,-0.004275],[-0.988987,-0.141059,-0.044796],[-0.044951,-0.002089,0.998987]] 2025-10-27T03:43:29.001Z,1761536609.001 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:43:29.001Z,1761536609.001 [DockingStepper](INFO): Powering down 2025-10-27T03:43:29.004Z,1761536609.004 [CBIT](INFO): Critical error at 20251027T034328 2025-10-27T03:43:29.044Z,1761536609.044 [DAT](INFO): DAT read: user:453> 2025-10-27T03:43:29.044Z,1761536609.044 [DAT](INFO): DAT read: 2025-10-27T03:43:29.046Z,1761536609.046 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:29.046Z,1761536609.046 [DAT](INFO): commRate: 600 2025-10-27T03:43:29.046Z,1761536609.046 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:29.046Z,1761536609.046 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:29.296Z,1761536609.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:29.366Z,1761536609.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145955,0.989284,-0.003853],[-0.988278,-0.145980,-0.044670],[-0.044754,-0.002712,0.998994]] 2025-10-27T03:43:29.548Z,1761536609.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:29.771Z,1761536609.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152222,0.988339,-0.003848],[-0.987394,-0.152245,-0.043298],[-0.043379,-0.002791,0.999055]] 2025-10-27T03:43:29.800Z,1761536609.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:30.052Z,1761536610.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:30.173Z,1761536610.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158309,0.987381,-0.004156],[-0.986514,-0.158345,-0.041446],[-0.041581,-0.002461,0.999132]] 2025-10-27T03:43:30.304Z,1761536610.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:30.556Z,1761536610.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:30.578Z,1761536610.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164135,0.986428,-0.004389],[-0.985652,-0.164180,-0.039186],[-0.039375,-0.002106,0.999222]] 2025-10-27T03:43:30.808Z,1761536610.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:30.981Z,1761536610.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169939,0.985444,-0.004573],[-0.984778,-0.169993,-0.036258],[-0.036507,-0.001658,0.999332]] 2025-10-27T03:43:31.060Z,1761536611.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:31.111Z,1761536611.111 [DAT](INFO): entering command mode 2025-10-27T03:43:31.312Z,1761536611.312 [DAT](INFO): DAT read: 2025-10-27T03:43:31.312Z,1761536611.312 [DAT](INFO): DAT read: user:45> 2025-10-27T03:43:31.313Z,1761536611.313 [DAT](INFO): entering online mode 2025-10-27T03:43:31.388Z,1761536611.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175487,0.984472,-0.004446],[-0.983925,-0.175538,-0.032828],[-0.033099,-0.001386,0.999451]] 2025-10-27T03:43:31.564Z,1761536611.564 [DAT](INFO): DAT read: user:454> 2025-10-27T03:43:31.564Z,1761536611.564 [DAT](INFO): DAT read: 2025-10-27T03:43:31.566Z,1761536611.566 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:31.566Z,1761536611.566 [DAT](INFO): commRate: 600 2025-10-27T03:43:31.566Z,1761536611.566 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:31.566Z,1761536611.566 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:31.790Z,1761536611.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180560,0.983555,-0.004327],[-0.983131,-0.180609,-0.028881],[-0.029187,-0.000960,0.999573]] 2025-10-27T03:43:31.816Z,1761536611.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:32.068Z,1761536612.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:32.193Z,1761536612.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185089,0.982713,-0.004141],[-0.982407,-0.185135,-0.024530],[-0.024872,-0.000472,0.999691]] 2025-10-27T03:43:32.320Z,1761536612.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:32.572Z,1761536612.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:32.598Z,1761536612.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188910,0.981988,-0.003557],[-0.981788,-0.188943,-0.019840],[-0.020154,-0.000256,0.999797]] 2025-10-27T03:43:32.824Z,1761536612.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:33.004Z,1761536613.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191971,0.981397,-0.002521],[-0.981285,-0.191987,-0.014868],[-0.015075,-0.000381,0.999886]] 2025-10-27T03:43:33.076Z,1761536613.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:33.328Z,1761536613.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:33.407Z,1761536613.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193901,0.981020,-0.001554],[-0.980971,-0.193907,-0.009835],[-0.009949,-0.000382,0.999950]] 2025-10-27T03:43:33.580Z,1761536613.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:33.631Z,1761536613.631 [DAT](INFO): entering command mode 2025-10-27T03:43:33.809Z,1761536613.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195524,0.980699,-0.000770],[-0.980687,-0.195526,-0.004788],[-0.004846,-0.000181,0.999988]] 2025-10-27T03:43:33.832Z,1761536613.832 [DAT](INFO): DAT read: 2025-10-27T03:43:33.832Z,1761536613.832 [DAT](INFO): DAT read: user:455> 2025-10-27T03:43:33.833Z,1761536613.833 [DAT](INFO): entering online mode 2025-10-27T03:43:34.084Z,1761536614.084 [DAT](INFO): DAT read: user:455> 2025-10-27T03:43:34.084Z,1761536614.084 [DAT](INFO): DAT read: 2025-10-27T03:43:34.085Z,1761536614.085 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:43:34.086Z,1761536614.086 [DAT](INFO): commRate: 600 2025-10-27T03:43:34.086Z,1761536614.086 [DAT](INFO): online mode acknowledged 2025-10-27T03:43:34.086Z,1761536614.086 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:34.214Z,1761536614.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197022,0.980399,0.000236],[-0.980399,-0.197023,0.000194],[0.000237,-0.000194,1.000000]] 2025-10-27T03:43:34.337Z,1761536614.337 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:34.588Z,1761536614.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:34.617Z,1761536614.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196960,0.980410,0.001813],[-0.980400,-0.196967,0.004560],[0.004827,-0.000879,0.999988]] 2025-10-27T03:43:34.840Z,1761536614.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:35.021Z,1761536615.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195194,0.980760,0.003101],[-0.980725,-0.195213,0.008342],[0.008787,-0.001413,0.999960]] 2025-10-27T03:43:35.092Z,1761536615.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:35.344Z,1761536615.344 [DAT](INFO): DAT read: Rx Time:03:43:36.3108 2025-10-27T03:43:35.344Z,1761536615.344 [DAT](INFO): Rx dataTimestamp_ set to:1761536615.344148 2025-10-27T03:43:35.345Z,1761536615.345 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:35.426Z,1761536615.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191837,0.981417,0.004360],[-0.981354,-0.191875,0.011293],[0.011920,-0.002113,0.999927]] 2025-10-27T03:43:35.596Z,1761536615.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:35.830Z,1761536615.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187296,0.982286,0.005821],[-0.982205,-0.187358,0.013063],[0.013923,-0.003271,0.999898]] 2025-10-27T03:43:35.848Z,1761536615.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:36.100Z,1761536616.100 [DAT](INFO): DAT read: 2025-10-27T03:43:36.100Z,1761536616.100 [DAT](INFO): DAT read: DATA(0005):stop 2025-10-27T03:43:36.101Z,1761536616.101 [DAT](INFO): Got DATA 5 2025-10-27T03:43:36.101Z,1761536616.101 [DAT](INFO): DAT read: 2025-10-27T03:43:36.102Z,1761536616.102 [DAT](INFO): DAT read: Source:050 Destination:011 2025-10-27T03:43:36.102Z,1761536616.102 [DAT](INFO): Got Src/Dest after DATA 2025-10-27T03:43:36.102Z,1761536616.102 [DAT](INFO): DATA Src=50, Dst=11 2025-10-27T03:43:36.104Z,1761536616.104 [DAT](INFO): DAT read: CRC:Pass MPD:03.5 PSNR:18.3 AGC:32 SPD:-0.1 CCERR:013 2025-10-27T03:43:36.104Z,1761536616.104 [DAT](INFO): Got CRC:Pass 2025-10-27T03:43:36.104Z,1761536616.104 [DAT](INFO): Got CRC:Pass 2025-10-27T03:43:36.104Z,1761536616.104 [DAT](INFO): Incoming data is intended for us 2025-10-27T03:43:36.104Z,1761536616.104 [DAT](INFO): Received command: stop 2025-10-27T03:43:36.104Z,1761536616.104 [DAT](INFO): Sending ack 2025-10-27T03:43:36.105Z,1761536616.105 [DAT](INFO): DAT read: 2025-10-27T03:43:36.105Z,1761536616.105 [DAT](INFO): DAT read: 2025-10-27T03:43:36.105Z,1761536616.105 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:36.116Z,1761536616.116 [CommandExec](IMPORTANT): got command stop 2025-10-27T03:43:36.116Z,1761536616.116 [CommandExec](IMPORTANT): Scheduling is paused for 1 commands 2025-10-27T03:43:36.159Z,1761536616.159 [DAT](INFO): entering command mode 2025-10-27T03:43:36.234Z,1761536616.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181239,0.983413,0.007178],[-0.983330,-0.181323,0.013578],[0.014655,-0.004598,0.999882]] 2025-10-27T03:43:36.354Z,1761536616.354 [DAT](INFO): entering online mode 2025-10-27T03:43:36.604Z,1761536616.604 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:36.637Z,1761536616.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173592,0.984783,0.008323],[-0.984720,-0.173687,0.012628],[0.013881,-0.006004,0.999886]] 2025-10-27T03:43:36.856Z,1761536616.856 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:37.041Z,1761536617.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164741,0.986297,0.008846],[-0.986269,-0.164828,0.010226],[0.011544,-0.007040,0.999909]] 2025-10-27T03:43:37.107Z,1761536617.107 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:37.361Z,1761536617.361 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:37.446Z,1761536617.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.154512,0.987952,0.008764],[-0.987959,-0.154572,0.006669],[0.007943,-0.007628,0.999939]] 2025-10-27T03:43:37.612Z,1761536617.612 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:37.852Z,1761536617.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.143027,0.989685,0.008144],[-0.989714,-0.143047,0.001870],[0.003016,-0.007793,0.999965]] 2025-10-27T03:43:37.864Z,1761536617.864 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:38.116Z,1761536618.116 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:38.253Z,1761536618.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131240,0.991325,0.007048],[-0.991347,-0.131218,-0.003538],[-0.002583,-0.007451,0.999969]] 2025-10-27T03:43:38.369Z,1761536618.369 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:38.620Z,1761536618.620 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:38.657Z,1761536618.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119167,0.992860,0.005325],[-0.992837,-0.119115,-0.009292],[-0.008592,-0.006394,0.999943]] 2025-10-27T03:43:38.716Z,1761536618.716 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:43:38.872Z,1761536618.872 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:39.063Z,1761536619.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106973,0.994255,0.003701],[-0.994156,-0.106906,-0.014981],[-0.014500,-0.005282,0.999881]] 2025-10-27T03:43:39.124Z,1761536619.124 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:39.378Z,1761536619.378 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:39.470Z,1761536619.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094652,0.995508,0.002325],[-0.995310,-0.094586,-0.020288],[-0.019977,-0.004235,0.999792]] 2025-10-27T03:43:39.628Z,1761536619.628 [DAT](INFO): DAT read: Forwarding Delay UpTx time:03:43:41.0615 2025-10-27T03:43:39.629Z,1761536619.629 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:39.869Z,1761536619.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082478,0.996593,0.000816],[-0.996294,-0.082433,-0.024573],[-0.024422,-0.002840,0.999698]] 2025-10-27T03:43:39.891Z,1761536619.891 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:40.132Z,1761536620.132 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:40.273Z,1761536620.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070826,0.997488,-0.000919],[-0.997105,-0.070824,-0.027654],[-0.027649,-0.001042,0.999617]] 2025-10-27T03:43:40.386Z,1761536620.386 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:40.636Z,1761536620.636 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:40.678Z,1761536620.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060345,0.998174,-0.002554],[-0.997752,-0.060394,-0.029049],[-0.029150,0.000796,0.999575]] 2025-10-27T03:43:40.888Z,1761536620.888 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:41.083Z,1761536621.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051739,0.998653,-0.003804],[-0.998246,-0.051827,-0.028626],[-0.028785,0.002316,0.999583]] 2025-10-27T03:43:41.140Z,1761536621.140 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:41.395Z,1761536621.395 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:41.485Z,1761536621.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044946,0.998980,-0.004452],[-0.998638,-0.045048,-0.026329],[-0.026502,0.003263,0.999643]] 2025-10-27T03:43:41.644Z,1761536621.644 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:41.889Z,1761536621.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040719,0.999154,-0.005691],[-0.998912,-0.040838,-0.022509],[-0.022723,0.004768,0.999730]] 2025-10-27T03:43:41.900Z,1761536621.900 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:42.152Z,1761536622.152 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:42.295Z,1761536622.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039109,0.999208,-0.007288],[-0.999075,-0.039232,-0.017589],[-0.017861,0.006593,0.999819]] 2025-10-27T03:43:42.406Z,1761536622.406 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:42.656Z,1761536622.656 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:42.705Z,1761536622.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040434,0.999147,-0.008395],[-0.999110,-0.040531,-0.011672],[-0.012002,0.007915,0.999897]] 2025-10-27T03:43:42.908Z,1761536622.908 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:43.101Z,1761536623.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044468,0.998966,-0.009521],[-0.998994,-0.044521,-0.005429],[-0.005848,0.009270,0.999940]] 2025-10-27T03:43:43.160Z,1761536623.160 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:43.414Z,1761536623.414 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:43.505Z,1761536623.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051398,0.998622,-0.010568],[-0.998678,-0.051393,0.000783],[0.000238,0.010595,0.999944]] 2025-10-27T03:43:43.663Z,1761536623.663 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:43.916Z,1761536623.916 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:43.917Z,1761536623.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060972,0.998076,-0.011238],[-0.998121,-0.060899,0.006755],[0.006058,0.011629,0.999914]] 2025-10-27T03:43:44.168Z,1761536624.168 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:44.314Z,1761536624.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073557,0.997226,-0.011357],[-0.997224,-0.073415,0.012424],[0.011556,0.012239,0.999858]] 2025-10-27T03:43:44.420Z,1761536624.420 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:44.672Z,1761536624.672 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:44.722Z,1761536624.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088412,0.996023,-0.011050],[-0.995952,-0.088214,0.017285],[0.016241,0.012533,0.999790]] 2025-10-27T03:43:44.924Z,1761536624.924 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:45.122Z,1761536625.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105055,0.994406,-0.010918],[-0.994264,-0.104806,0.021315],[0.020052,0.013094,0.999713]] 2025-10-27T03:43:45.176Z,1761536625.176 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:45.430Z,1761536625.430 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:45.527Z,1761536625.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123104,0.992339,-0.010412],[-0.992128,-0.122821,0.024443],[0.022977,0.013339,0.999647]] 2025-10-27T03:43:45.680Z,1761536625.680 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:45.929Z,1761536625.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142387,0.989766,-0.009474],[-0.989486,-0.142088,0.026973],[0.025351,0.013215,0.999591]] 2025-10-27T03:43:45.931Z,1761536625.931 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:46.184Z,1761536626.184 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:46.334Z,1761536626.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.162542,0.986666,-0.008389],[-0.986327,-0.162240,0.028921],[0.027174,0.012975,0.999547]] 2025-10-27T03:43:46.437Z,1761536626.437 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:46.688Z,1761536626.688 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:46.738Z,1761536626.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183618,0.982973,-0.006916],[-0.982571,-0.183327,0.030751],[0.028959,0.012441,0.999503]] 2025-10-27T03:43:46.940Z,1761536626.940 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:47.142Z,1761536627.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203784,0.979003,-0.004968],[-0.978544,-0.203526,0.032066],[0.030382,0.011396,0.999473]] 2025-10-27T03:43:47.192Z,1761536627.192 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:47.444Z,1761536627.444 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:47.546Z,1761536627.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222383,0.974957,-0.002311],[-0.974442,-0.222188,0.033084],[0.031742,0.009609,0.999450]] 2025-10-27T03:43:47.696Z,1761536627.696 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:47.948Z,1761536627.948 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:47.951Z,1761536627.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239160,0.970979,0.001184],[-0.970426,-0.239065,0.033490],[0.032801,0.006861,0.999438]] 2025-10-27T03:43:48.200Z,1761536628.200 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:48.354Z,1761536628.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254101,0.967167,0.004573],[-0.966601,-0.254109,0.033339],[0.033406,0.004051,0.999434]] 2025-10-27T03:43:48.452Z,1761536628.452 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:48.704Z,1761536628.704 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:48.761Z,1761536628.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266673,0.963756,0.007810],[-0.963208,-0.266784,0.032510],[0.033415,0.001147,0.999441]] 2025-10-27T03:43:48.802Z,1761536628.802 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:43:48.956Z,1761536628.956 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:49.162Z,1761536629.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275602,0.961208,0.011069],[-0.960720,-0.275816,0.030691],[0.032554,-0.002176,0.999468]] 2025-10-27T03:43:49.208Z,1761536629.208 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:49.459Z,1761536629.459 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:49.566Z,1761536629.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280475,0.959767,0.013442],[-0.959375,-0.280751,0.027911],[0.030562,-0.005067,0.999520]] 2025-10-27T03:43:49.713Z,1761536629.713 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:49.964Z,1761536629.964 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:49.976Z,1761536629.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282861,0.959051,0.014518],[-0.958767,-0.283146,0.024381],[0.027493,-0.007023,0.999597]] 2025-10-27T03:43:50.216Z,1761536630.216 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:50.375Z,1761536630.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282367,0.959204,0.014045],[-0.959016,-0.282612,0.020481],[0.023614,-0.007686,0.999692]] 2025-10-27T03:43:50.468Z,1761536630.468 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:50.720Z,1761536630.720 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:50.777Z,1761536630.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278347,0.960386,0.013450],[-0.960297,-0.278541,0.015665],[0.018791,-0.008556,0.999787]] 2025-10-27T03:43:50.972Z,1761536630.972 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:51.182Z,1761536631.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270794,0.962559,0.012281],[-0.962545,-0.270923,0.010423],[0.013360,-0.008999,0.999870]] 2025-10-27T03:43:51.224Z,1761536631.224 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:51.476Z,1761536631.476 [DAT](DEBUG): checking for online mode acknowledgment 2025-10-27T03:43:51.476Z,1761536631.476 [DAT](FAULT): failed to enter online mode 2025-10-27T03:43:51.476Z,1761536631.476 [DAT](FAULT): Failure returning to online mode 2025-10-27T03:43:51.476Z,1761536631.476 [DAT] Communications Fault, FailCount= 1 2025-10-27T03:43:51.476Z,1761536631.476 [DAT](ERROR): Communications Fault 2025-10-27T03:43:51.477Z,1761536631.477 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:43:51.532Z,1761536631.532 [DAT](INFO): entering command mode 2025-10-27T03:43:51.591Z,1761536631.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260596,0.965393,0.010332],[-0.965418,-0.260657,0.005067],[0.007585,-0.008654,0.999934]] 2025-10-27T03:43:51.652Z,1761536631.652 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-27T03:43:51.935Z,1761536631.935 [DAT](INFO): Powering down 2025-10-27T03:43:52.396Z,1761536632.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233471,0.972333,0.007710],[-0.972356,-0.233430,-0.005870],[-0.003908,-0.008868,0.999953]] 2025-10-27T03:43:52.797Z,1761536632.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218233,0.975880,0.005684],[-0.975853,-0.218164,-0.010751],[-0.009251,-0.007893,0.999926]] 2025-10-27T03:43:52.846Z,1761536632.846 [CBIT](INFO): Clearing failed state for component DAT 2025-10-27T03:43:52.846Z,1761536632.846 [DAT] No Fault, FailCount= 1 2025-10-27T03:43:53.201Z,1761536633.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202738,0.979228,0.003197],[-0.979133,-0.202670,-0.014963],[-0.014004,-0.006164,0.999883]] 2025-10-27T03:43:53.617Z,1761536633.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187213,0.982319,0.001121],[-0.982153,-0.187160,-0.018630],[-0.018091,-0.004589,0.999826]] 2025-10-27T03:43:54.011Z,1761536634.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172931,0.984934,-0.000787],[-0.984707,-0.172908,-0.021309],[-0.021124,-0.002910,0.999773]] 2025-10-27T03:43:54.414Z,1761536634.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160863,0.986971,-0.003279],[-0.986702,-0.160896,-0.023070],[-0.023297,-0.000476,0.999728]] 2025-10-27T03:43:54.818Z,1761536634.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152334,0.988312,-0.005771],[-0.988022,-0.152429,-0.024044],[-0.024643,0.002039,0.999694]] 2025-10-27T03:43:55.163Z,1761536635.163 [DAT](INFO): Powering up 2025-10-27T03:43:55.163Z,1761536635.163 [DAT](DEBUG): Initializing DAT. 2025-10-27T03:43:55.222Z,1761536635.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146242,0.989222,-0.007314],[-0.988928,-0.146378,-0.024394],[-0.025202,0.003666,0.999676]] 2025-10-27T03:43:55.646Z,1761536635.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141965,0.989835,-0.008541],[-0.989549,-0.142134,-0.024286],[-0.025253,0.005004,0.999669]] 2025-10-27T03:43:56.029Z,1761536636.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140724,0.989998,-0.010076],[-0.989739,-0.140927,-0.023594],[-0.024778,0.006652,0.999671]] 2025-10-27T03:43:56.434Z,1761536636.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142561,0.989729,-0.010610],[-0.989495,-0.142771,-0.022721],[-0.024003,0.007259,0.999686]] 2025-10-27T03:43:56.838Z,1761536636.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147681,0.988978,-0.010661],[-0.988769,-0.147882,-0.021588],[-0.022927,0.007353,0.999710]] 2025-10-27T03:43:57.241Z,1761536637.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156587,0.987600,-0.011275],[-0.987421,-0.156791,-0.020395],[-0.021910,0.007940,0.999728]] 2025-10-27T03:43:57.675Z,1761536637.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169042,0.985537,-0.011884],[-0.985388,-0.169247,-0.019116],[-0.020851,0.008479,0.999747]] 2025-10-27T03:43:58.050Z,1761536638.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183388,0.982969,-0.011867],[-0.982839,-0.183581,-0.018033],[-0.019905,0.008356,0.999767]] 2025-10-27T03:43:58.454Z,1761536638.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200192,0.979686,-0.011762],[-0.979571,-0.200374,-0.017084],[-0.019094,0.008101,0.999785]] 2025-10-27T03:43:58.857Z,1761536638.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220129,0.975398,-0.011965],[-0.975298,-0.220304,-0.016134],[-0.018373,0.008118,0.999798]] 2025-10-27T03:43:58.905Z,1761536638.905 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:43:58.914Z,1761536638.914 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:43:58.914Z,1761536638.914 [DockingStepper] No Fault, FailCount= 5 2025-10-27T03:43:59.261Z,1761536639.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242342,0.970114,-0.012203],[-0.970026,-0.242514,-0.015390],[-0.017890,0.008107,0.999807]] 2025-10-27T03:43:59.285Z,1761536639.285 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:43:59.286Z,1761536639.286 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:43:59.701Z,1761536639.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266343,0.963806,-0.011805],[-0.963723,-0.266500,-0.014670],[-0.017285,0.007470,0.999823]] 2025-10-27T03:44:00.069Z,1761536640.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290915,0.956686,-0.011000],[-0.956604,-0.291052,-0.014025],[-0.016619,0.006443,0.999841]] 2025-10-27T03:44:00.474Z,1761536640.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315379,0.948910,-0.010331],[-0.948832,-0.315499,-0.013365],[-0.015942,0.005587,0.999857]] 2025-10-27T03:44:00.878Z,1761536640.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339573,0.940530,-0.009618],[-0.940462,-0.339675,-0.012335],[-0.014869,0.004857,0.999878]] 2025-10-27T03:44:01.304Z,1761536641.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362655,0.931886,-0.008369],[-0.931827,-0.362732,-0.011136],[-0.013413,0.003760,0.999903]] 2025-10-27T03:44:01.729Z,1761536641.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383844,0.923376,-0.006342],[-0.923325,-0.383891,-0.009940],[-0.011613,0.002040,0.999931]] 2025-10-27T03:44:02.089Z,1761536642.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402968,0.915207,-0.003740],[-0.915170,-0.402985,-0.008220],[-0.009030,0.000110,0.999959]] 2025-10-27T03:44:02.494Z,1761536642.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419362,0.907818,-0.001228],[-0.907798,-0.419361,-0.006207],[-0.006150,-0.001488,0.999980]] 2025-10-27T03:44:02.897Z,1761536642.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432378,0.901690,0.002041],[-0.901688,-0.432367,-0.004257],[-0.002956,-0.003680,0.999989]] 2025-10-27T03:44:02.974Z,1761536642.974 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T03:44:03.301Z,1761536643.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441823,0.897081,0.006178],[-0.897102,-0.441816,-0.002430],[0.000549,-0.006616,0.999978]] 2025-10-27T03:44:03.756Z,1761536643.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450889,0.892504,0.011634],[-0.892554,-0.450936,0.001705],[0.006768,-0.009616,0.999931]] 2025-10-27T03:44:04.515Z,1761536644.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447962,0.893953,0.013347],[-0.894013,-0.448033,0.002725],[0.008416,-0.010711,0.999907]] 2025-10-27T03:44:04.917Z,1761536644.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440687,0.897541,0.014681],[-0.897613,-0.440773,0.003091],[0.009245,-0.011815,0.999887]] 2025-10-27T03:44:05.321Z,1761536645.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427799,0.903744,0.015348],[-0.903837,-0.427873,0.001766],[0.008163,-0.013116,0.999881]] 2025-10-27T03:44:05.754Z,1761536645.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391056,0.920274,0.013072],[-0.920366,-0.391032,-0.004411],[0.001052,-0.013756,0.999905]] 2025-10-27T03:44:06.136Z,1761536646.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368481,0.929577,0.010455],[-0.929624,-0.368398,-0.008996],[-0.004511,-0.013034,0.999905]] 2025-10-27T03:44:06.545Z,1761536646.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342996,0.939303,0.008026],[-0.939265,-0.342852,-0.015287],[-0.011607,-0.012782,0.999851]] 2025-10-27T03:44:06.766Z,1761536646.766 [DAT](INFO): DAT read: 2025-10-27T03:44:06.769Z,1761536646.769 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-27T03:44:06.942Z,1761536646.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316944,0.948429,0.005346],[-0.948252,-0.316761,-0.021919],[-0.019095,-0.012016,0.999745]] 2025-10-27T03:44:07.345Z,1761536647.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291520,0.956561,0.002501],[-0.956204,-0.291338,-0.028203],[-0.026249,-0.010613,0.999599]] 2025-10-27T03:44:07.755Z,1761536647.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266924,0.963717,-0.000031],[-0.963158,-0.266771,-0.034056],[-0.032828,-0.009061,0.999420]] 2025-10-27T03:44:08.150Z,1761536648.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243718,0.969844,-0.001876],[-0.969086,-0.243603,-0.039127],[-0.038404,-0.007718,0.999232]] 2025-10-27T03:44:08.276Z,1761536648.276 [DAT](INFO): DAT read: MF Frequency Band 2025-10-27T03:44:08.277Z,1761536648.277 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-10-27T03:44:08.278Z,1761536648.278 [DAT](INFO): DAT read: Oct 27 2025 03:44:05 2025-10-27T03:44:08.554Z,1761536648.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221544,0.975145,-0.003385],[-0.974195,-0.221479,-0.043485],[-0.043154,-0.006336,0.999048]] 2025-10-27T03:44:08.957Z,1761536648.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203411,0.979078,-0.005548],[-0.978030,-0.203451,-0.045451],[-0.045629,-0.003819,0.998951]] 2025-10-27T03:44:09.013Z,1761536649.013 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:44:09.284Z,1761536649.284 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-27T03:44:09.285Z,1761536649.285 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:44:09.286Z,1761536649.286 [DAT](INFO): commRate: 600 2025-10-27T03:44:09.362Z,1761536649.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187366,0.982271,-0.006145],[-0.981180,-0.187448,-0.046361],[-0.046691,-0.002657,0.998906]] 2025-10-27T03:44:09.773Z,1761536649.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174688,0.984604,-0.006283],[-0.983551,-0.174791,-0.045558],[-0.045955,-0.001779,0.998942]] 2025-10-27T03:44:10.169Z,1761536650.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166053,0.986089,-0.007449],[-0.985161,-0.166220,-0.042775],[-0.043419,0.000236,0.999057]] 2025-10-27T03:44:10.573Z,1761536650.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.161125,0.986890,-0.009342],[-0.986141,-0.161368,-0.038550],[-0.039552,0.003001,0.999213]] 2025-10-27T03:44:10.979Z,1761536650.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.158872,0.987244,-0.010432],[-0.986685,-0.159137,-0.033585],[-0.034817,0.004958,0.999381]] 2025-10-27T03:44:11.351Z,1761536651.351 [DAT](INFO): entering command mode 2025-10-27T03:44:11.389Z,1761536651.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160784,0.986935,-0.010362],[-0.986564,-0.161014,-0.027682],[-0.028988,0.005772,0.999563]] 2025-10-27T03:44:11.552Z,1761536651.552 [DAT](INFO): DAT read: 2025-10-27T03:44:11.552Z,1761536651.552 [DAT](INFO): DAT read: user:1> 2025-10-27T03:44:11.552Z,1761536651.552 [DAT](INFO): setting verbose to 3 2025-10-27T03:44:11.785Z,1761536651.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.166684,0.985961,-0.009893],[-0.985756,-0.166861,-0.021053],[-0.022408,0.006243,0.999729]] 2025-10-27T03:44:11.804Z,1761536651.804 [DAT](INFO): DAT read: user:1> 2025-10-27T03:44:11.805Z,1761536651.805 [DAT](INFO): DAT read: Verbose | 3 2025-10-27T03:44:11.805Z,1761536651.805 [DAT](INFO): set verbose to 3 2025-10-27T03:44:11.805Z,1761536651.805 [DAT](INFO): setting DatVerbose to 27440 2025-10-27T03:44:12.056Z,1761536652.056 [DAT](INFO): DAT read: user:2> 2025-10-27T03:44:12.057Z,1761536652.057 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-27T03:44:12.057Z,1761536652.057 [DAT](INFO): set DatVerbose to 27440 2025-10-27T03:44:12.057Z,1761536652.057 [DAT](INFO): setting transmit power to 8 2025-10-27T03:44:12.190Z,1761536652.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175478,0.984436,-0.009651],[-0.984353,-0.175606,-0.014582],[-0.016050,0.006941,0.999847]] 2025-10-27T03:44:12.311Z,1761536652.311 [DAT](INFO): DAT read: user:3> 2025-10-27T03:44:12.312Z,1761536652.312 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-27T03:44:12.313Z,1761536652.313 [DAT](INFO): set transmit power to 8 2025-10-27T03:44:12.313Z,1761536652.313 [DAT](INFO): setting local address to 11 2025-10-27T03:44:12.346Z,1761536652.346 [DockingStepper](FAULT): Timed out moving from: 13088 to: 6111 response: ÿ 2025-10-27T03:44:12.346Z,1761536652.346 [DockingStepper] Hardware Fault, FailCount= 1 2025-10-27T03:44:12.346Z,1761536652.346 [DockingStepper](ERROR): Hardware Fault 2025-10-27T03:44:12.361Z,1761536652.361 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-27T03:44:12.560Z,1761536652.560 [DAT](INFO): DAT read: user:4> 2025-10-27T03:44:12.561Z,1761536652.561 [DAT](INFO): DAT read: LocalAddr | 11 2025-10-27T03:44:12.561Z,1761536652.561 [DAT](INFO): set local address to 11 2025-10-27T03:44:12.562Z,1761536652.562 [DAT](INFO): Setting time to: 3:44:12 And date to:10/27/2025 2025-10-27T03:44:12.594Z,1761536652.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188005,0.982121,-0.009582],[-0.982124,-0.188079,-0.007605],[-0.009272,0.007981,0.999925]] 2025-10-27T03:44:12.659Z,1761536652.659 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T03:44:12.660Z,1761536652.660 [DockingStepper](INFO): Powering down 2025-10-27T03:44:12.812Z,1761536652.812 [DAT](INFO): DAT read: user:5> 2025-10-27T03:44:12.813Z,1761536652.813 [DAT](INFO): DAT read: Mon Oct 27, 2025 03:44:12 2025-10-27T03:44:12.813Z,1761536652.813 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025 03:44:12 2025-10-27T03:44:12.814Z,1761536652.814 [DAT](INFO): setting remote address to 50 2025-10-27T03:44:12.814Z,1761536652.814 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:44:12.814Z,1761536652.814 [DAT](INFO): setting remote address to 0 2025-10-27T03:44:12.997Z,1761536652.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202434,0.979257,-0.008711],[-0.979293,-0.202448,-0.000832],[-0.002578,0.008362,0.999962]] 2025-10-27T03:44:13.064Z,1761536653.064 [DAT](INFO): DAT read: user:6> 2025-10-27T03:44:13.065Z,1761536653.065 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:44:13.065Z,1761536653.065 [DAT](ERROR): failed to set remote address to 0, device returned 50 instead. 2025-10-27T03:44:13.066Z,1761536653.066 [DAT] Communications Fault, FailCount= 2 2025-10-27T03:44:13.066Z,1761536653.066 [DAT](ERROR): Communications Fault 2025-10-27T03:44:13.066Z,1761536653.066 [DAT](INFO): DAT read: user:7> 2025-10-27T03:44:13.067Z,1761536653.067 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:44:13.068Z,1761536653.068 [DAT](INFO): set remote address to 0 2025-10-27T03:44:13.068Z,1761536653.068 [DAT](INFO): setting remote address to 50 2025-10-27T03:44:13.070Z,1761536653.070 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:44:13.071Z,1761536653.071 [DAT](INFO): setting remote address to 0 2025-10-27T03:44:13.101Z,1761536653.101 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-27T03:44:13.402Z,1761536653.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217508,0.976033,-0.007124],[-0.976052,-0.217474,0.005219],[0.003545,0.008089,0.999961]] 2025-10-27T03:44:13.475Z,1761536653.475 [DAT](INFO): Powering down 2025-10-27T03:44:13.805Z,1761536653.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232520,0.972573,-0.006012],[-0.972556,-0.232454,0.009987],[0.008315,0.008169,0.999932]] 2025-10-27T03:44:14.210Z,1761536654.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248243,0.968685,-0.005066],[-0.968618,-0.248152,0.014147],[0.012447,0.008419,0.999887]] 2025-10-27T03:44:14.615Z,1761536654.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264282,0.964435,-0.004495],[-0.964313,-0.264166,0.017815],[0.015994,0.009043,0.999831]] 2025-10-27T03:44:14.639Z,1761536654.639 [CBIT](INFO): Clearing failed state for component DAT 2025-10-27T03:44:14.639Z,1761536654.639 [DAT] No Fault, FailCount= 2 2025-10-27T03:44:15.017Z,1761536655.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280173,0.959945,-0.002995],[-0.959753,-0.280051,0.021107],[0.019423,0.008788,0.999773]] 2025-10-27T03:44:15.421Z,1761536655.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294452,0.955666,-0.000200],[-0.955394,-0.294364,0.023919],[0.022800,0.007234,0.999714]] 2025-10-27T03:44:15.826Z,1761536655.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306476,0.951874,0.002788],[-0.951524,-0.306441,0.026374],[0.025959,0.005430,0.999648]] 2025-10-27T03:44:16.231Z,1761536656.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316261,0.948652,0.006151],[-0.948235,-0.316305,0.028313],[0.028805,0.003122,0.999580]] 2025-10-27T03:44:16.634Z,1761536656.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322783,0.946413,0.010625],[-0.945970,-0.322957,0.028971],[0.030850,-0.000700,0.999524]] 2025-10-27T03:44:16.703Z,1761536656.703 [DAT](INFO): Powering up 2025-10-27T03:44:16.704Z,1761536656.704 [DAT](DEBUG): Initializing DAT. 2025-10-27T03:44:17.042Z,1761536657.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325687,0.945349,0.015581],[-0.944941,-0.326013,0.028325],[0.031857,-0.005498,0.999477]] 2025-10-27T03:44:17.442Z,1761536657.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324373,0.945727,0.019564],[-0.945418,-0.324808,0.026151],[0.031087,-0.010013,0.999466]] 2025-10-27T03:44:17.848Z,1761536657.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319292,0.947403,0.021903],[-0.947233,-0.319755,0.022516],[0.028335,-0.013558,0.999507]] 2025-10-27T03:44:18.250Z,1761536658.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310203,0.950420,0.021820],[-0.950382,-0.310592,0.017493],[0.023403,-0.015311,0.999609]] 2025-10-27T03:44:18.653Z,1761536658.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298042,0.954337,0.020300],[-0.954406,-0.298302,0.011157],[0.016703,-0.016049,0.999732]] 2025-10-27T03:44:19.062Z,1761536659.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283256,0.958873,0.018123],[-0.959005,-0.283366,0.003726],[0.008708,-0.016325,0.999829]] 2025-10-27T03:44:19.111Z,1761536659.111 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:44:19.463Z,1761536659.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266307,0.963780,0.014466],[-0.963888,-0.266275,-0.004121],[-0.000120,-0.015041,0.999887]] 2025-10-27T03:44:19.865Z,1761536659.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248052,0.968701,0.009367],[-0.968705,-0.247940,-0.011689],[-0.009001,-0.011974,0.999888]] 2025-10-27T03:44:20.269Z,1761536660.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228995,0.973413,0.005257],[-0.973279,-0.228862,-0.018719],[-0.017019,-0.009403,0.999811]] 2025-10-27T03:44:20.675Z,1761536660.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209550,0.977791,0.003702],[-0.977516,-0.209397,-0.024799],[-0.023473,-0.008815,0.999686]] 2025-10-27T03:44:21.082Z,1761536661.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190187,0.981746,0.001893],[-0.981333,-0.190050,-0.029434],[-0.028537,-0.007456,0.999565]] 2025-10-27T03:44:21.481Z,1761536661.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172785,0.984959,-0.000844],[-0.984446,-0.172722,-0.032150],[-0.031812,-0.004725,0.999483]] 2025-10-27T03:44:21.885Z,1761536661.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157640,0.987493,-0.002892],[-0.986940,-0.157648,-0.033108],[-0.033150,-0.002365,0.999448]] 2025-10-27T03:44:22.289Z,1761536662.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.146027,0.989272,-0.004200],[-0.988748,-0.146086,-0.032208],[-0.032476,-0.000551,0.999472]] 2025-10-27T03:44:22.699Z,1761536662.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139077,0.990263,-0.005996],[-0.989821,-0.139194,-0.029643],[-0.030189,0.001812,0.999543]] 2025-10-27T03:44:23.098Z,1761536663.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134847,0.990835,-0.007933],[-0.990501,-0.135010,-0.026059],[-0.026891,0.004344,0.999629]] 2025-10-27T03:44:23.501Z,1761536663.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132452,0.991149,-0.009001],[-0.990923,-0.132622,-0.021958],[-0.022957,0.006011,0.999718]] 2025-10-27T03:44:23.905Z,1761536663.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132180,0.991178,-0.009695],[-0.991047,-0.132336,-0.017691],[-0.018818,0.007269,0.999797]] 2025-10-27T03:44:24.312Z,1761536664.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134165,0.990911,-0.009775],[-0.990846,-0.134292,-0.013767],[-0.014955,0.007839,0.999857]] 2025-10-27T03:44:24.724Z,1761536664.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.138378,0.990343,-0.008479],[-0.990311,-0.138464,-0.010537],[-0.011609,0.006939,0.999909]] 2025-10-27T03:44:25.118Z,1761536665.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144987,0.989405,-0.007563],[-0.989392,-0.145047,-0.008097],[-0.009108,0.006309,0.999939]] 2025-10-27T03:44:25.521Z,1761536665.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153931,0.988050,-0.007946],[-0.988052,-0.153984,-0.006554],[-0.007699,0.006842,0.999947]] 2025-10-27T03:44:25.927Z,1761536665.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165247,0.986222,-0.007708],[-0.986227,-0.165294,-0.005862],[-0.007055,0.006633,0.999953]] 2025-10-27T03:44:26.329Z,1761536666.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178314,0.983951,-0.006734],[-0.983948,-0.178354,-0.006002],[-0.007106,0.005556,0.999959]] 2025-10-27T03:44:26.735Z,1761536666.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193346,0.981103,-0.007286],[-0.981097,-0.193396,-0.006812],[-0.008092,0.005831,0.999950]] 2025-10-27T03:44:27.140Z,1761536667.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208588,0.977964,-0.008808],[-0.977959,-0.208655,-0.007649],[-0.009318,0.007019,0.999932]] 2025-10-27T03:44:27.542Z,1761536667.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225318,0.974246,-0.008782],[-0.974227,-0.225395,-0.008938],[-0.010687,0.006541,0.999922]] 2025-10-27T03:44:27.945Z,1761536667.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242518,0.970116,-0.007771],[-0.970075,-0.242590,-0.010245],[-0.011824,0.005054,0.999917]] 2025-10-27T03:44:28.296Z,1761536668.296 [DAT](INFO): DAT read: 2025-10-27T03:44:28.296Z,1761536668.296 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-27T03:44:28.362Z,1761536668.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259788,0.965636,-0.007548],[-0.965580,-0.259861,-0.011307],[-0.012880,0.004351,0.999908]] 2025-10-27T03:44:28.753Z,1761536668.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276579,0.960960,-0.007785],[-0.960895,-0.276657,-0.011947],[-0.013634,0.004177,0.999898]] 2025-10-27T03:44:29.161Z,1761536669.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292553,0.956224,-0.006963],[-0.956151,-0.292620,-0.012188],[-0.013692,0.003092,0.999901]] 2025-10-27T03:44:29.204Z,1761536669.204 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:44:29.567Z,1761536669.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308028,0.951363,-0.005278],[-0.951289,-0.308070,-0.011936],[-0.012981,0.001345,0.999915]] 2025-10-27T03:44:29.808Z,1761536669.808 [DAT](INFO): DAT read: MF Frequency Band 2025-10-27T03:44:29.809Z,1761536669.809 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-10-27T03:44:29.810Z,1761536669.810 [DAT](INFO): DAT read: Oct 27 2025 03:44:24 2025-10-27T03:44:29.965Z,1761536669.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322046,0.946717,-0.003561],[-0.946651,-0.322066,-0.011181],[-0.011732,-0.000230,0.999931]] 2025-10-27T03:44:30.369Z,1761536670.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334534,0.942380,-0.002514],[-0.942328,-0.334542,-0.009986],[-0.010252,-0.000971,0.999947]] 2025-10-27T03:44:30.774Z,1761536670.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345785,0.938314,-0.000739],[-0.938278,-0.345778,-0.008511],[-0.008241,-0.002249,0.999964]] 2025-10-27T03:44:30.816Z,1761536670.816 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-27T03:44:30.817Z,1761536670.817 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:44:30.818Z,1761536670.818 [DAT](INFO): commRate: 600 2025-10-27T03:44:31.191Z,1761536671.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354728,0.934968,0.001414],[-0.934948,-0.354710,-0.007254],[-0.006281,-0.003895,0.999973]] 2025-10-27T03:44:31.582Z,1761536671.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361872,0.932223,0.003075],[-0.932218,-0.361851,-0.005799],[-0.004293,-0.004965,0.999978]] 2025-10-27T03:44:31.985Z,1761536671.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366709,0.930325,0.004420],[-0.930332,-0.366690,-0.004585],[-0.002645,-0.005794,0.999980]] 2025-10-27T03:44:32.389Z,1761536672.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369132,0.929360,0.005605],[-0.929376,-0.369115,-0.003764],[-0.001430,-0.006599,0.999977]] 2025-10-27T03:44:32.795Z,1761536672.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369243,0.929311,0.006295],[-0.929332,-0.369228,-0.003484],[-0.000913,-0.007137,0.999974]] 2025-10-27T03:44:32.899Z,1761536672.899 [DAT](INFO): entering command mode 2025-10-27T03:44:33.099Z,1761536673.099 [DAT](INFO): DAT read: 2025-10-27T03:44:33.100Z,1761536673.100 [DAT](INFO): DAT read: user:1> 2025-10-27T03:44:33.100Z,1761536673.100 [DAT](INFO): setting verbose to 3 2025-10-27T03:44:33.226Z,1761536673.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367251,0.930100,0.006421],[-0.930122,-0.367237,-0.003273],[-0.000686,-0.007174,0.999974]] 2025-10-27T03:44:33.297Z,1761536673.297 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T03:44:33.297Z,1761536673.297 [DockingStepper] No Fault, FailCount= 1 2025-10-27T03:44:33.355Z,1761536673.355 [DAT](INFO): DAT read: user:1> 2025-10-27T03:44:33.357Z,1761536673.357 [DAT](INFO): DAT read: Verbose | 3 2025-10-27T03:44:33.358Z,1761536673.358 [DAT](INFO): set verbose to 3 2025-10-27T03:44:33.358Z,1761536673.358 [DAT](INFO): setting DatVerbose to 27440 2025-10-27T03:44:33.601Z,1761536673.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362829,0.931837,0.005844],[-0.931855,-0.362814,-0.003435],[-0.001081,-0.006692,0.999977]] 2025-10-27T03:44:33.604Z,1761536673.604 [DAT](INFO): DAT read: user:2> 2025-10-27T03:44:33.605Z,1761536673.605 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-27T03:44:33.605Z,1761536673.605 [DAT](INFO): set DatVerbose to 27440 2025-10-27T03:44:33.605Z,1761536673.605 [DAT](INFO): setting transmit power to 8 2025-10-27T03:44:33.649Z,1761536673.649 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T03:44:33.649Z,1761536673.649 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T03:44:33.856Z,1761536673.856 [DAT](INFO): DAT read: user:3> 2025-10-27T03:44:33.857Z,1761536673.857 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-27T03:44:33.857Z,1761536673.857 [DAT](INFO): set transmit power to 8 2025-10-27T03:44:33.857Z,1761536673.857 [DAT](INFO): setting local address to 11 2025-10-27T03:44:34.007Z,1761536674.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356557,0.934259,0.005235],[-0.934271,-0.356539,-0.004144],[-0.002005,-0.006369,0.999978]] 2025-10-27T03:44:34.108Z,1761536674.108 [DAT](INFO): DAT read: user:4> 2025-10-27T03:44:34.109Z,1761536674.109 [DAT](INFO): DAT read: LocalAddr | 11 2025-10-27T03:44:34.109Z,1761536674.109 [DAT](INFO): set local address to 11 2025-10-27T03:44:34.110Z,1761536674.110 [DAT](INFO): Setting time to: 3:44:34 And date to:10/27/2025 2025-10-27T03:44:34.360Z,1761536674.360 [DAT](INFO): DAT read: user:5> 2025-10-27T03:44:34.361Z,1761536674.361 [DAT](INFO): DAT read: Mon Oct 27, 2025 03:44:34 2025-10-27T03:44:34.361Z,1761536674.361 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025 03:44:34 2025-10-27T03:44:34.362Z,1761536674.362 [DAT](INFO): setting remote address to 50 2025-10-27T03:44:34.362Z,1761536674.362 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:44:34.362Z,1761536674.362 [DAT](INFO): setting remote address to 0 2025-10-27T03:44:34.410Z,1761536674.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348528,0.937284,0.005105],[-0.937293,-0.348503,-0.005198],[-0.003093,-0.006597,0.999973]] 2025-10-27T03:44:34.612Z,1761536674.612 [DAT](INFO): DAT read: user:6> 2025-10-27T03:44:34.613Z,1761536674.613 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:44:34.613Z,1761536674.613 [DAT](ERROR): failed to set remote address to 0, device returned 50 instead. 2025-10-27T03:44:34.613Z,1761536674.613 [DAT] Communications Fault, FailCount= 3 2025-10-27T03:44:34.613Z,1761536674.613 [DAT](ERROR): Communications Fault 2025-10-27T03:44:34.614Z,1761536674.614 [DAT](INFO): DAT read: user:7> 2025-10-27T03:44:34.616Z,1761536674.616 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:44:34.616Z,1761536674.616 [DAT](INFO): set remote address to 0 2025-10-27T03:44:34.616Z,1761536674.616 [DAT](INFO): setting remote address to 50 2025-10-27T03:44:34.617Z,1761536674.617 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:44:34.617Z,1761536674.617 [DAT](INFO): setting remote address to 0 2025-10-27T03:44:34.813Z,1761536674.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338795,0.940847,0.005039],[-0.940850,-0.338761,-0.006506],[-0.004414,-0.006945,0.999966]] 2025-10-27T03:44:34.943Z,1761536674.943 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-27T03:44:35.019Z,1761536675.019 [DAT](INFO): Powering down 2025-10-27T03:44:35.243Z,1761536675.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327936,0.944692,0.003777],[-0.944680,-0.327901,-0.007752],[-0.006084,-0.006110,0.999963]] 2025-10-27T03:44:35.621Z,1761536675.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316572,0.948567,0.001664],[-0.948537,-0.316546,-0.008768],[-0.007790,-0.004354,0.999960]] 2025-10-27T03:44:36.028Z,1761536676.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305070,0.952330,-0.000112],[-0.952285,-0.305057,-0.009694],[-0.009266,-0.002851,0.999953]] 2025-10-27T03:44:36.057Z,1761536676.057 [CBIT](INFO): Clearing failed state for component DAT 2025-10-27T03:44:36.057Z,1761536676.057 [DAT] No Fault, FailCount= 3 2025-10-27T03:44:36.430Z,1761536676.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293791,0.955869,-0.001081],[-0.955814,-0.293786,-0.010441],[-0.010298,-0.002035,0.999945]] 2025-10-27T03:44:36.834Z,1761536676.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282951,0.959132,-0.002298],[-0.959070,-0.282959,-0.010914],[-0.011118,-0.000884,0.999938]] 2025-10-27T03:44:37.271Z,1761536677.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273214,0.961945,-0.003914],[-0.961883,-0.273241,-0.010997],[-0.011648,0.000760,0.999932]] 2025-10-27T03:44:37.316Z,1761536677.316 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T03:44:37.642Z,1761536677.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264257,0.964441,-0.004746],[-0.964379,-0.264294,-0.011025],[-0.011888,0.001663,0.999928]] 2025-10-27T03:44:38.045Z,1761536678.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255857,0.966701,-0.005100],[-0.966636,-0.255900,-0.011442],[-0.012366,0.002002,0.999922]] 2025-10-27T03:44:38.248Z,1761536678.248 [DAT](INFO): Powering up 2025-10-27T03:44:38.249Z,1761536678.249 [DAT](DEBUG): Initializing DAT. 2025-10-27T03:44:38.450Z,1761536678.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248726,0.968556,-0.005847],[-0.968492,-0.248779,-0.011519],[-0.012611,0.002798,0.999917]] 2025-10-27T03:44:38.855Z,1761536678.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242702,0.970078,-0.006619],[-0.970017,-0.242765,-0.011465],[-0.012729,0.003638,0.999912]] 2025-10-27T03:44:39.296Z,1761536679.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237525,0.971358,-0.006716],[-0.971297,-0.237589,-0.011549],[-0.012814,0.003781,0.999911]] 2025-10-27T03:44:39.344Z,1761536679.344 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:44:39.661Z,1761536679.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234522,0.972085,-0.007077],[-0.972031,-0.234590,-0.011102],[-0.012452,0.004275,0.999913]] 2025-10-27T03:44:40.066Z,1761536680.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232606,0.972542,-0.007555],[-0.972496,-0.232678,-0.010620],[-0.012086,0.004877,0.999915]] 2025-10-27T03:44:40.472Z,1761536680.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231921,0.972707,-0.007309],[-0.972662,-0.231989,-0.010478],[-0.011887,0.004680,0.999918]] 2025-10-27T03:44:40.873Z,1761536680.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232365,0.972601,-0.007279],[-0.972563,-0.232430,-0.009877],[-0.011298,0.004785,0.999925]] 2025-10-27T03:44:41.341Z,1761536681.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234442,0.972100,-0.007675],[-0.972072,-0.234507,-0.009090],[-0.010636,0.005330,0.999929]] 2025-10-27T03:44:41.383Z,1761536681.383 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-27T03:44:41.383Z,1761536681.383 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-27T03:44:41.383Z,1761536681.383 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-27T03:44:41.500Z,1761536681.500 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-27T03:44:41.681Z,1761536681.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238912,0.971015,-0.007188],[-0.970999,-0.238964,-0.007587],[-0.009085,0.005167,0.999945]] 2025-10-27T03:44:41.685Z,1761536681.685 [RDI_Pathfinder](INFO): Powering down 2025-10-27T03:44:42.088Z,1761536682.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241460,0.970409,-0.001752],[-0.970371,-0.241466,-0.008670],[-0.008837,-0.000394,0.999961]] 2025-10-27T03:44:42.490Z,1761536682.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245732,0.969290,0.009585],[-0.969301,-0.245624,-0.011187],[-0.008489,-0.012039,0.999891]] 2025-10-27T03:44:42.584Z,1761536682.584 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-27T03:44:42.584Z,1761536682.584 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-27T03:44:42.893Z,1761536682.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251687,0.967638,0.018192],[-0.967779,-0.251487,-0.012565],[-0.007583,-0.020769,0.999756]] 2025-10-27T03:44:42.897Z,1761536682.897 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-27T03:44:43.299Z,1761536683.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259997,0.965429,0.018675],[-0.965589,-0.259816,-0.011589],[-0.006336,-0.021045,0.999758]] 2025-10-27T03:44:43.710Z,1761536683.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270044,0.962747,0.013971],[-0.962833,-0.269930,-0.009499],[-0.005374,-0.016017,0.999857]] 2025-10-27T03:44:44.106Z,1761536684.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281346,0.959546,0.010805],[-0.959596,-0.281272,-0.007887],[-0.004529,-0.012588,0.999911]] 2025-10-27T03:44:44.510Z,1761536684.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292206,0.956335,0.006188],[-0.956345,-0.292166,-0.006573],[-0.004478,-0.007838,0.999959]] 2025-10-27T03:44:44.913Z,1761536684.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303378,0.952859,0.004569],[-0.952862,-0.303351,-0.005775],[-0.004117,-0.006105,0.999973]] 2025-10-27T03:44:45.320Z,1761536685.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314001,0.949381,0.008920],[-0.949413,-0.313943,-0.007363],[-0.004190,-0.010781,0.999933]] 2025-10-27T03:44:45.726Z,1761536685.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323973,0.945899,0.017772],[-0.946056,-0.323827,-0.010647],[-0.004316,-0.020263,0.999785]] 2025-10-27T03:44:46.127Z,1761536686.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333551,0.942408,0.024692],[-0.942722,-0.333311,-0.013404],[-0.004402,-0.027749,0.999605]] 2025-10-27T03:44:46.141Z,1761536686.141 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock 2025-10-27T03:44:46.141Z,1761536686.141 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off. 2025-10-27T03:44:46.192Z,1761536686.192 [DockingStepper](INFO): Failure count cleared after critical for DockingStepper 2025-10-27T03:44:46.529Z,1761536686.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342559,0.939138,0.025939],[-0.939484,-0.342284,-0.014544],[-0.004781,-0.029351,0.999558]] 2025-10-27T03:44:46.556Z,1761536686.556 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-27T03:44:46.934Z,1761536686.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351307,0.936015,0.021422],[-0.936246,-0.351082,-0.013605],[-0.005214,-0.024836,0.999678]] 2025-10-27T03:44:47.338Z,1761536687.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359868,0.932899,0.013922],[-0.932986,-0.359729,-0.011518],[-0.005737,-0.017134,0.999837]] 2025-10-27T03:44:47.743Z,1761536687.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368552,0.929569,0.008400],[-0.929587,-0.368469,-0.009949],[-0.006153,-0.011476,0.999915]] 2025-10-27T03:44:48.145Z,1761536688.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376617,0.926336,0.007785],[-0.926345,-0.376534,-0.010330],[-0.006638,-0.011102,0.999916]] 2025-10-27T03:44:48.549Z,1761536688.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384190,0.923182,0.011501],[-0.923226,-0.384051,-0.012614],[-0.007228,-0.015464,0.999854]] 2025-10-27T03:44:48.954Z,1761536688.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391061,0.920210,0.016879],[-0.920332,-0.390828,-0.015581],[-0.007741,-0.021628,0.999736]] 2025-10-27T03:44:49.360Z,1761536689.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397773,0.917254,0.020529],[-0.917448,-0.397460,-0.017736],[-0.008109,-0.025889,0.999632]] 2025-10-27T03:44:49.379Z,1761536689.379 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:44:49.762Z,1761536689.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404310,0.914394,0.020397],[-0.914582,-0.403985,-0.018330],[-0.008521,-0.026065,0.999624]] 2025-10-27T03:44:49.844Z,1761536689.844 [DAT](INFO): DAT read: 2025-10-27T03:44:49.845Z,1761536689.845 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-27T03:44:50.165Z,1761536690.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410966,0.911495,0.016852],[-0.911609,-0.410701,-0.017161],[-0.008721,-0.022416,0.999711]] 2025-10-27T03:44:50.579Z,1761536690.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417672,0.908516,0.012196],[-0.908555,-0.417484,-0.015316],[-0.008824,-0.017478,0.999808]] 2025-10-27T03:44:50.981Z,1761536690.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430397,0.902589,0.009557],[-0.902599,-0.430253,-0.014033],[-0.008554,-0.014666,0.999856]] 2025-10-27T03:44:51.356Z,1761536691.356 [DAT](INFO): DAT read: MF Frequency Band 2025-10-27T03:44:51.357Z,1761536691.357 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-10-27T03:44:51.358Z,1761536691.358 [DAT](INFO): DAT read: Oct 27 2025 03:44:46 2025-10-27T03:44:51.382Z,1761536691.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436009,0.899852,0.012718],[-0.899904,-0.435817,-0.015391],[-0.008307,-0.018155,0.999801]] 2025-10-27T03:44:51.786Z,1761536691.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441382,0.897169,0.016427],[-0.897284,-0.441129,-0.016924],[-0.007938,-0.022210,0.999722]] 2025-10-27T03:44:52.189Z,1761536692.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446298,0.894692,0.018566],[-0.894853,-0.446012,-0.017657],[-0.007517,-0.024495,0.999672]] 2025-10-27T03:44:52.364Z,1761536692.364 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-27T03:44:52.365Z,1761536692.365 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:44:52.366Z,1761536692.366 [DAT](INFO): commRate: 600 2025-10-27T03:44:52.590Z,1761536692.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451175,0.892254,0.018005],[-0.892409,-0.450914,-0.016832],[-0.006900,-0.023662,0.999696]] 2025-10-27T03:44:52.993Z,1761536692.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455947,0.889872,0.015526],[-0.889986,-0.455747,-0.014806],[-0.006099,-0.020569,0.999770]] 2025-10-27T03:44:53.399Z,1761536693.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460519,0.887556,0.012928],[-0.887634,-0.460375,-0.012634],[-0.005261,-0.017293,0.999837]] 2025-10-27T03:44:53.803Z,1761536693.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464568,0.885458,0.011836],[-0.885526,-0.464454,-0.011241],[-0.004456,-0.015704,0.999867]] 2025-10-27T03:44:54.205Z,1761536694.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468311,0.883470,0.012891],[-0.883556,-0.468196,-0.010983],[-0.003667,-0.016533,0.999857]] 2025-10-27T03:44:54.431Z,1761536694.431 [DAT](INFO): entering command mode 2025-10-27T03:44:54.609Z,1761536694.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471836,0.881553,0.015330],[-0.881682,-0.471707,-0.011393],[-0.002812,-0.018891,0.999818]] 2025-10-27T03:44:54.632Z,1761536694.632 [DAT](INFO): DAT read: 2025-10-27T03:44:54.632Z,1761536694.632 [DAT](INFO): DAT read: user:1> 2025-10-27T03:44:54.633Z,1761536694.633 [DAT](INFO): setting verbose to 3 2025-10-27T03:44:54.884Z,1761536694.884 [DAT](INFO): DAT read: user:1> 2025-10-27T03:44:54.885Z,1761536694.885 [DAT](INFO): DAT read: Verbose | 3 2025-10-27T03:44:54.885Z,1761536694.885 [DAT](INFO): set verbose to 3 2025-10-27T03:44:54.885Z,1761536694.885 [DAT](INFO): setting DatVerbose to 27440 2025-10-27T03:44:55.015Z,1761536695.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474708,0.879958,0.018062],[-0.880141,-0.474562,-0.011938],[-0.001934,-0.021565,0.999766]] 2025-10-27T03:44:55.136Z,1761536695.136 [DAT](INFO): DAT read: user:2> 2025-10-27T03:44:55.137Z,1761536695.137 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-27T03:44:55.137Z,1761536695.137 [DAT](INFO): set DatVerbose to 27440 2025-10-27T03:44:55.137Z,1761536695.137 [DAT](INFO): setting transmit power to 8 2025-10-27T03:44:55.388Z,1761536695.388 [DAT](INFO): DAT read: user:3> 2025-10-27T03:44:55.389Z,1761536695.389 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-27T03:44:55.389Z,1761536695.389 [DAT](INFO): set transmit power to 8 2025-10-27T03:44:55.389Z,1761536695.389 [DAT](INFO): setting local address to 11 2025-10-27T03:44:55.418Z,1761536695.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477259,0.878552,0.019221],[-0.878762,-0.477118,-0.011665],[-0.001077,-0.022458,0.999747]] 2025-10-27T03:44:55.640Z,1761536695.640 [DAT](INFO): DAT read: user:4> 2025-10-27T03:44:55.641Z,1761536695.641 [DAT](INFO): DAT read: LocalAddr | 11 2025-10-27T03:44:55.641Z,1761536695.641 [DAT](INFO): set local address to 11 2025-10-27T03:44:55.642Z,1761536695.642 [DAT](INFO): Setting time to: 3:44:55 And date to:10/27/2025 2025-10-27T03:44:55.822Z,1761536695.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479354,0.877419,0.018853],[-0.877622,-0.479237,-0.010596],[-0.000262,-0.021625,0.999766]] 2025-10-27T03:44:55.897Z,1761536695.897 [DAT](INFO): DAT read: user:5> 2025-10-27T03:44:55.898Z,1761536695.898 [DAT](INFO): DAT read: Mon Oct 27, 2025 03:44:55 2025-10-27T03:44:55.898Z,1761536695.898 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025 03:44:55 2025-10-27T03:44:55.900Z,1761536695.900 [DAT](INFO): setting remote address to 50 2025-10-27T03:44:55.900Z,1761536695.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:44:55.901Z,1761536695.901 [DAT](INFO): setting remote address to 0 2025-10-27T03:44:56.148Z,1761536696.148 [DAT](INFO): DAT read: user:6> 2025-10-27T03:44:56.149Z,1761536696.149 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:44:56.149Z,1761536696.149 [DAT](ERROR): failed to set remote address to 0, device returned 50 instead. 2025-10-27T03:44:56.149Z,1761536696.149 [DAT] Communications Fault, FailCount= 4 2025-10-27T03:44:56.150Z,1761536696.150 [DAT](ERROR): Communications Fault 2025-10-27T03:44:56.150Z,1761536696.150 [DAT](INFO): DAT read: user:7> 2025-10-27T03:44:56.151Z,1761536696.151 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:44:56.152Z,1761536696.152 [DAT](INFO): set remote address to 0 2025-10-27T03:44:56.152Z,1761536696.152 [DAT](INFO): setting remote address to 50 2025-10-27T03:44:56.152Z,1761536696.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:44:56.152Z,1761536696.152 [DAT](INFO): setting remote address to 0 2025-10-27T03:44:56.238Z,1761536696.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481473,0.876292,0.017212],[-0.876461,-0.481395,-0.008721],[0.000644,-0.019285,0.999814]] 2025-10-27T03:44:56.408Z,1761536696.408 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-27T03:44:56.559Z,1761536696.559 [DAT](INFO): Powering down 2025-10-27T03:44:56.630Z,1761536696.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483430,0.875242,0.015717],[-0.875382,-0.483384,-0.006831],[0.001619,-0.017060,0.999853]] 2025-10-27T03:44:57.033Z,1761536697.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484840,0.874468,0.015386],[-0.874600,-0.484811,-0.005799],[0.002388,-0.016269,0.999865]] 2025-10-27T03:44:57.437Z,1761536697.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486319,0.873623,0.016643],[-0.873775,-0.486301,-0.005391],[0.003384,-0.017163,0.999847]] 2025-10-27T03:44:57.540Z,1761536697.540 [CBIT](INFO): Clearing failed state for component DAT 2025-10-27T03:44:57.540Z,1761536697.540 [DAT] No Fault, FailCount= 4 2025-10-27T03:44:57.842Z,1761536697.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487810,0.872749,0.018704],[-0.872939,-0.487799,-0.005462],[0.004357,-0.018992,0.999810]] 2025-10-27T03:44:58.250Z,1761536698.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489083,0.871993,0.020655],[-0.872221,-0.489080,-0.005561],[0.005253,-0.020736,0.999771]] 2025-10-27T03:44:58.649Z,1761536698.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489911,0.871496,0.021958],[-0.871750,-0.489923,-0.005215],[0.006213,-0.021697,0.999745]] 2025-10-27T03:44:59.053Z,1761536699.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491484,0.870617,0.021651],[-0.870856,-0.491524,-0.003785],[0.007347,-0.020715,0.999758]] 2025-10-27T03:44:59.457Z,1761536699.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492976,0.869793,0.020869],[-0.870001,-0.493045,-0.002050],[0.008506,-0.019166,0.999780]] 2025-10-27T03:44:59.510Z,1761536699.510 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:44:59.787Z,1761536699.787 [DAT](INFO): Powering up 2025-10-27T03:44:59.787Z,1761536699.787 [DAT](DEBUG): Initializing DAT. 2025-10-27T03:44:59.864Z,1761536699.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494724,0.868813,0.020288],[-0.868996,-0.494819,-0.000419],[0.009674,-0.017838,0.999794]] 2025-10-27T03:45:00.265Z,1761536700.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495788,0.868206,0.020299],[-0.868381,-0.495898,0.000438],[0.010447,-0.017410,0.999794]] 2025-10-27T03:45:00.669Z,1761536700.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496782,0.867605,0.021654],[-0.867800,-0.496913,0.000743],[0.011405,-0.018423,0.999765]] 2025-10-27T03:45:01.074Z,1761536701.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498420,0.866615,0.023589],[-0.866846,-0.498576,0.000836],[0.012485,-0.020031,0.999721]] 2025-10-27T03:45:01.480Z,1761536701.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499961,0.865695,0.024717],[-0.865942,-0.500143,0.001359],[0.013539,-0.020724,0.999694]] 2025-10-27T03:45:01.497Z,1761536701.497 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, 2025-10-27T03:45:01.881Z,1761536701.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501463,0.864809,0.025291],[-0.865056,-0.501670,0.002178],[0.014571,-0.020786,0.999678]] 2025-10-27T03:45:02.286Z,1761536702.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503027,0.863892,0.025570],[-0.864132,-0.503256,0.003041],[0.015496,-0.020566,0.999668]] 2025-10-27T03:45:02.690Z,1761536702.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504763,0.862886,0.025336],[-0.863104,-0.505010,0.004083],[0.016318,-0.019806,0.999671]] 2025-10-27T03:45:03.095Z,1761536703.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506377,0.861952,0.024908],[-0.862145,-0.506636,0.005052],[0.016974,-0.018916,0.999677]] 2025-10-27T03:45:03.498Z,1761536703.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507361,0.861378,0.024732],[-0.861558,-0.507629,0.005631],[0.017405,-0.018451,0.999678]] 2025-10-27T03:45:03.902Z,1761536703.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507996,0.861000,0.024873],[-0.861177,-0.508271,0.005873],[0.017699,-0.018437,0.999673]] 2025-10-27T03:45:04.310Z,1761536704.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508160,0.860889,0.025353],[-0.861080,-0.508439,0.005638],[0.017744,-0.018966,0.999663]] 2025-10-27T03:45:04.720Z,1761536704.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508016,0.860952,0.026093],[-0.861166,-0.508298,0.005150],[0.017697,-0.019854,0.999646]] 2025-10-27T03:45:05.117Z,1761536705.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507662,0.861152,0.026395],[-0.861384,-0.507935,0.004447],[0.017237,-0.020479,0.999642]] 2025-10-27T03:45:05.522Z,1761536705.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507521,0.861261,0.025530],[-0.861479,-0.507776,0.004267],[0.016639,-0.019828,0.999665]] 2025-10-27T03:45:05.928Z,1761536705.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506806,0.861735,0.023689],[-0.861919,-0.507029,0.004195],[0.015626,-0.018292,0.999711]] 2025-10-27T03:45:06.356Z,1761536706.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506114,0.862160,0.023016],[-0.862338,-0.506319,0.003749],[0.014886,-0.017950,0.999728]] 2025-10-27T03:45:06.736Z,1761536706.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505570,0.862487,0.022717],[-0.862669,-0.505759,0.003128],[0.014187,-0.018015,0.999737]] 2025-10-27T03:45:06.769Z,1761536706.769 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby. 2025-10-27T03:45:07.139Z,1761536707.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504361,0.863195,0.022674],[-0.863392,-0.504530,0.002081],[0.013236,-0.018527,0.999741]] 2025-10-27T03:45:07.159Z,1761536707.159 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T03:45:07.541Z,1761536707.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502830,0.864081,0.022910],[-0.864301,-0.502975,0.000654],[0.012088,-0.019473,0.999737]] 2025-10-27T03:45:07.945Z,1761536707.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502177,0.864462,0.022880],[-0.864695,-0.502296,-0.000612],[0.010963,-0.020092,0.999738]] 2025-10-27T03:45:08.351Z,1761536708.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501602,0.864802,0.022622],[-0.865042,-0.501697,-0.001709],[0.009872,-0.020426,0.999743]] 2025-10-27T03:45:08.754Z,1761536708.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500667,0.865378,0.021283],[-0.865598,-0.500732,-0.002509],[0.008486,-0.019679,0.999770]] 2025-10-27T03:45:09.157Z,1761536709.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499902,0.865860,0.019601],[-0.866054,-0.499941,-0.003213],[0.007018,-0.018582,0.999803]] 2025-10-27T03:45:09.561Z,1761536709.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499716,0.865981,0.018998],[-0.866167,-0.499741,-0.003717],[0.006275,-0.018312,0.999813]] 2025-10-27T03:45:09.614Z,1761536709.614 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2025-10-27T03:45:09.967Z,1761536709.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499192,0.866288,0.018770],[-0.866474,-0.499201,-0.004515],[0.005459,-0.018518,0.999814]] 2025-10-27T03:45:10.369Z,1761536710.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498289,0.866804,0.018920],[-0.867001,-0.498268,-0.006149],[0.004097,-0.019468,0.999802]] 2025-10-27T03:45:10.773Z,1761536710.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497759,0.867099,0.019392],[-0.867310,-0.497709,-0.007668],[0.003002,-0.020635,0.999783]] 2025-10-27T03:45:11.177Z,1761536711.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497902,0.867020,0.019239],[-0.867230,-0.497839,-0.008285],[0.002394,-0.020810,0.999781]] 2025-10-27T03:45:11.396Z,1761536711.396 [DAT](INFO): DAT read: 2025-10-27T03:45:11.397Z,1761536711.397 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-27T03:45:11.583Z,1761536711.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497849,0.867053,0.019121],[-0.867262,-0.497775,-0.008800],[0.001888,-0.020964,0.999778]] 2025-10-27T03:45:12.005Z,1761536712.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497913,0.867031,0.018466],[-0.867226,-0.497827,-0.009294],[0.001134,-0.020642,0.999786]] 2025-10-27T03:45:12.389Z,1761536712.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498251,0.866849,0.017829],[-0.867033,-0.498159,-0.009590],[0.000568,-0.020237,0.999795]] 2025-10-27T03:45:12.793Z,1761536712.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498176,0.866906,0.017133],[-0.867076,-0.498072,-0.010194],[-0.000304,-0.019934,0.999801]] 2025-10-27T03:45:12.909Z,1761536712.909 [DAT](INFO): DAT read: MF Frequency Band 2025-10-27T03:45:12.910Z,1761536712.910 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-10-27T03:45:12.911Z,1761536712.911 [DAT](INFO): DAT read: Oct 27 2025 03:45:07 2025-10-27T03:45:13.198Z,1761536713.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497709,0.867188,0.016449],[-0.867343,-0.497591,-0.010920],[-0.001285,-0.019701,0.999805]] 2025-10-27T03:45:13.213Z,1761536713.213 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby. 2025-10-27T03:45:13.604Z,1761536713.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496671,0.867790,0.016104],[-0.867936,-0.496534,-0.011895],[-0.002326,-0.019885,0.999800]] 2025-10-27T03:45:13.644Z,1761536713.644 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-10-27T03:45:13.644Z,1761536713.644 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2025-10-27T03:45:13.645Z,1761536713.645 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2025-10-27T03:45:13.645Z,1761536713.645 [DefaultWithUndock:LeaveDock] Stopped 2025-10-27T03:45:13.645Z,1761536713.645 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2025-10-27T03:45:13.645Z,1761536713.645 [DefaultWithUndock:LeaveDock:A.] Stopped 2025-10-27T03:45:13.645Z,1761536713.645 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-27T03:45:13.645Z,1761536713.645 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2025-10-27T03:45:13.645Z,1761536713.645 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2025-10-27T03:45:13.645Z,1761536713.645 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1 2025-10-27T03:45:13.646Z,1761536713.646 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2025-10-27T03:45:13.646Z,1761536713.646 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2025-10-27T03:45:13.646Z,1761536713.646 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2025-10-27T03:45:13.646Z,1761536713.646 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2025-10-27T03:45:13.647Z,1761536713.647 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2025-10-27T03:45:13.647Z,1761536713.647 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds. 2025-10-27T03:45:13.648Z,1761536713.648 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2025-10-27T03:45:13.916Z,1761536713.916 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-27T03:45:13.917Z,1761536713.917 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:45:13.918Z,1761536713.918 [DAT](INFO): commRate: 600 2025-10-27T03:45:14.005Z,1761536714.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496081,0.868129,0.015995],[-0.868271,-0.495927,-0.012722],[-0.003112,-0.020199,0.999791]] 2025-10-27T03:45:14.411Z,1761536714.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495399,0.868520,0.015909],[-0.868656,-0.495224,-0.013768],[-0.004079,-0.020640,0.999779]] 2025-10-27T03:45:14.579Z,1761536714.579 [Radio_Surface](INFO): Powering up 2025-10-27T03:45:14.813Z,1761536714.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494988,0.868759,0.015635],[-0.868886,-0.494797,-0.014609],[-0.004956,-0.020816,0.999771]] 2025-10-27T03:45:15.217Z,1761536715.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494434,0.869085,0.015049],[-0.869195,-0.494229,-0.015446],[-0.005986,-0.020717,0.999767]] 2025-10-27T03:45:15.622Z,1761536715.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493813,0.869449,0.014353],[-0.869540,-0.493598,-0.016188],[-0.006990,-0.020475,0.999766]] 2025-10-27T03:45:15.987Z,1761536715.987 [DAT](INFO): entering command mode 2025-10-27T03:45:16.033Z,1761536716.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493073,0.869880,0.013725],[-0.869952,-0.492848,-0.016885],[-0.007924,-0.020265,0.999763]] 2025-10-27T03:45:16.188Z,1761536716.188 [DAT](INFO): DAT read: 2025-10-27T03:45:16.188Z,1761536716.188 [DAT](INFO): DAT read: user:1> 2025-10-27T03:45:16.188Z,1761536716.188 [DAT](INFO): setting verbose to 3 2025-10-27T03:45:16.430Z,1761536716.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492197,0.870385,0.013112],[-0.870438,-0.491961,-0.017694],[-0.008950,-0.020122,0.999757]] 2025-10-27T03:45:16.440Z,1761536716.440 [DAT](INFO): DAT read: user:1> 2025-10-27T03:45:16.441Z,1761536716.441 [DAT](INFO): DAT read: Verbose | 3 2025-10-27T03:45:16.441Z,1761536716.441 [DAT](INFO): set verbose to 3 2025-10-27T03:45:16.441Z,1761536716.441 [DAT](INFO): setting DatVerbose to 27440 2025-10-27T03:45:16.692Z,1761536716.692 [DAT](INFO): DAT read: user:2> 2025-10-27T03:45:16.693Z,1761536716.693 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-27T03:45:16.693Z,1761536716.693 [DAT](INFO): set DatVerbose to 27440 2025-10-27T03:45:16.693Z,1761536716.693 [DAT](INFO): setting transmit power to 8 2025-10-27T03:45:16.944Z,1761536716.944 [DAT](INFO): DAT read: user:3> 2025-10-27T03:45:16.945Z,1761536716.945 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-27T03:45:16.945Z,1761536716.945 [DAT](INFO): set transmit power to 8 2025-10-27T03:45:16.945Z,1761536716.945 [DAT](INFO): setting local address to 11 2025-10-27T03:45:17.196Z,1761536717.196 [DAT](INFO): DAT read: user:4> 2025-10-27T03:45:17.197Z,1761536717.197 [DAT](INFO): DAT read: LocalAddr | 11 2025-10-27T03:45:17.197Z,1761536717.197 [DAT](INFO): set local address to 11 2025-10-27T03:45:17.198Z,1761536717.198 [DAT](INFO): Setting time to: 3:45:17 And date to:10/27/2025 2025-10-27T03:45:17.259Z,1761536717.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488713,0.872355,0.012527],[-0.872373,-0.488438,-0.019866],[-0.011211,-0.020637,0.999724]] 2025-10-27T03:45:17.448Z,1761536717.448 [DAT](INFO): DAT read: user:5> 2025-10-27T03:45:17.450Z,1761536717.450 [DAT](INFO): DAT read: Mon Oct 27, 2025 03:45:17 2025-10-27T03:45:17.450Z,1761536717.450 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025 03:45:17 2025-10-27T03:45:17.451Z,1761536717.451 [DAT](INFO): setting remote address to 50 2025-10-27T03:45:17.452Z,1761536717.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:45:17.453Z,1761536717.453 [DAT](INFO): setting remote address to 0 2025-10-27T03:45:17.641Z,1761536717.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486801,0.873427,0.012271],[-0.873426,-0.486506,-0.020942],[-0.012321,-0.020913,0.999705]] 2025-10-27T03:45:17.700Z,1761536717.700 [DAT](INFO): DAT read: user:6> 2025-10-27T03:45:17.701Z,1761536717.701 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:45:17.701Z,1761536717.701 [DAT](ERROR): failed to set remote address to 0, device returned 50 instead. 2025-10-27T03:45:17.702Z,1761536717.702 [DAT] Communications Fault, FailCount= 5 2025-10-27T03:45:17.702Z,1761536717.702 [DAT](ERROR): Communications Fault 2025-10-27T03:45:17.703Z,1761536717.703 [DAT](INFO): DAT read: user:7> 2025-10-27T03:45:17.705Z,1761536717.705 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:45:17.705Z,1761536717.705 [DAT](INFO): set remote address to 0 2025-10-27T03:45:17.706Z,1761536717.706 [DAT](INFO): setting remote address to 50 2025-10-27T03:45:17.708Z,1761536717.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:45:17.709Z,1761536717.709 [DAT](INFO): setting remote address to 0 2025-10-27T03:45:17.822Z,1761536717.822 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-27T03:45:18.045Z,1761536718.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484933,0.874473,0.011707],[-0.874444,-0.484621,-0.022145],[-0.013692,-0.020976,0.999686]] 2025-10-27T03:45:18.127Z,1761536718.127 [DAT](INFO): Powering down 2025-10-27T03:45:18.450Z,1761536718.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482503,0.875819,0.011470],[-0.875755,-0.482152,-0.024120],[-0.015595,-0.021683,0.999643]] 2025-10-27T03:45:18.856Z,1761536718.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479227,0.877520,0.017332],[-0.877484,-0.478591,-0.031198],[-0.019082,-0.030160,0.999363]] 2025-10-27T03:45:19.138Z,1761536719.138 [CBIT](INFO): Clearing failed state for component DAT 2025-10-27T03:45:19.138Z,1761536719.138 [DAT] No Fault, FailCount= 5 2025-10-27T03:45:19.258Z,1761536719.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475254,0.879316,0.030603],[-0.879538,-0.473874,-0.043081],[-0.023380,-0.047391,0.998603]] 2025-10-27T03:45:19.662Z,1761536719.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471012,0.881092,0.042717],[-0.881684,-0.468688,-0.054452],[-0.027956,-0.063311,0.997602]] 2025-10-27T03:45:19.832Z,1761536719.832 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11 2025-10-27T03:45:19.832Z,1761536719.832 [Radio_Surface](INFO): No local IP found 2025-10-27T03:45:20.471Z,1761536720.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464917,0.884398,0.041129],[-0.884531,-0.461981,-0.064639],[-0.038166,-0.066432,0.997061]] 2025-10-27T03:45:21.278Z,1761536721.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462257,0.886419,0.024086],[-0.885292,-0.459773,-0.069765],[-0.050767,-0.053573,0.997273]] 2025-10-27T03:45:21.356Z,1761536721.356 [DAT](INFO): Powering up 2025-10-27T03:45:21.356Z,1761536721.356 [DAT](DEBUG): Initializing DAT. 2025-10-27T03:45:22.086Z,1761536722.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461304,0.886887,0.025087],[-0.884845,-0.457796,-0.086447],[-0.065184,-0.062077,0.995941]] 2025-10-27T03:45:22.490Z,1761536722.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460971,0.886958,0.028498],[-0.884379,-0.456502,-0.097361],[-0.073346,-0.070084,0.994841]] 2025-10-27T03:45:22.893Z,1761536722.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461561,0.886636,0.028944],[-0.883302,-0.456317,-0.107480],[-0.082088,-0.075175,0.993786]] 2025-10-27T03:45:23.307Z,1761536723.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461822,0.886601,0.025678],[-0.882202,-0.456146,-0.116834],[-0.091873,-0.076610,0.992819]] 2025-10-27T03:45:23.712Z,1761536723.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463077,0.886074,0.020797],[-0.880384,-0.457139,-0.126286],[-0.102392,-0.076789,0.991776]] 2025-10-27T03:45:24.113Z,1761536724.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464334,0.885524,0.015527],[-0.878264,-0.458125,-0.137017],[-0.114219,-0.077259,0.990447]] 2025-10-27T03:45:24.518Z,1761536724.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465890,0.884783,0.010332],[-0.875680,-0.459358,-0.148913],[-0.127009,-0.078425,0.988796]] 2025-10-27T03:45:24.922Z,1761536724.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467526,0.883955,0.006499],[-0.872682,-0.460367,-0.162749],[-0.140871,-0.081761,0.986646]] 2025-10-27T03:45:25.328Z,1761536725.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469370,0.882988,0.004818],[-0.869176,-0.461052,-0.178786],[-0.155645,-0.088104,0.983876]] 2025-10-27T03:45:25.738Z,1761536725.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470879,0.882195,0.001930],[-0.865398,-0.461486,-0.195234],[-0.171344,-0.093602,0.980755]] 2025-10-27T03:45:26.176Z,1761536726.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472380,0.881393,-0.001967],[-0.861205,-0.462033,-0.211780],[-0.187570,-0.098346,0.977315]] 2025-10-27T03:45:26.580Z,1761536726.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473456,0.880794,-0.006434],[-0.856743,-0.462199,-0.228832],[-0.204528,-0.102830,0.973445]] 2025-10-27T03:45:26.982Z,1761536726.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473964,0.880470,-0.011395],[-0.852146,-0.461900,-0.245957],[-0.221821,-0.106864,0.969214]] 2025-10-27T03:45:27.385Z,1761536727.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474304,0.880193,-0.017196],[-0.847158,-0.461642,-0.263077],[-0.239497,-0.110211,0.964621]] 2025-10-27T03:45:27.790Z,1761536727.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474681,0.879893,-0.021609],[-0.841673,-0.460969,-0.281237],[-0.257419,-0.115310,0.959395]] 2025-10-27T03:45:28.194Z,1761536728.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475065,0.879554,-0.026411],[-0.835687,-0.460365,-0.299486],[-0.275573,-0.120204,0.953735]] 2025-10-27T03:45:28.598Z,1761536728.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475242,0.879280,-0.031805],[-0.829338,-0.459735,-0.317557],[-0.293844,-0.124540,0.947706]] 2025-10-27T03:45:29.001Z,1761536729.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475429,0.878959,-0.037401],[-0.822543,-0.459190,-0.335510],[-0.312074,-0.128747,0.941294]] 2025-10-27T03:45:29.406Z,1761536729.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475803,0.878477,-0.043468],[-0.815235,-0.459023,-0.353113],[-0.330155,-0.132576,0.934570]] 2025-10-27T03:45:29.818Z,1761536729.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474737,0.878331,-0.056215],[-0.800383,-0.457408,-0.387511],[-0.366077,-0.138972,0.920149]] 2025-10-27T03:45:30.623Z,1761536730.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473030,0.878535,-0.066471],[-0.785799,-0.454810,-0.419127],[-0.398449,-0.146027,0.905491]] 2025-10-27T03:45:31.027Z,1761536731.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471533,0.879128,-0.069214],[-0.778856,-0.451986,-0.434846],[-0.413569,-0.151137,0.897841]] 2025-10-27T03:45:31.432Z,1761536731.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469818,0.879780,-0.072509],[-0.772232,-0.449400,-0.449108],[-0.427702,-0.155005,0.890530]] 2025-10-27T03:45:31.834Z,1761536731.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468139,0.880275,-0.077205],[-0.765993,-0.447814,-0.461213],[-0.440567,-0.156774,0.883924]] 2025-10-27T03:45:32.236Z,1761536732.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466615,0.880425,-0.084395],[-0.759735,-0.447840,-0.471426],[-0.452850,-0.155856,0.877858]] 2025-10-27T03:45:32.637Z,1761536732.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465719,0.880138,-0.091994],[-0.753360,-0.448868,-0.480589],[-0.464278,-0.154515,0.872107]] 2025-10-27T03:45:32.959Z,1761536732.959 [DAT](INFO): DAT read: 2025-10-27T03:45:32.960Z,1761536732.960 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-27T03:45:33.042Z,1761536733.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465331,0.879654,-0.098369],[-0.746743,-0.449811,-0.489945],[-0.475229,-0.154530,0.866186]] 2025-10-27T03:45:33.447Z,1761536733.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465252,0.879045,-0.104016],[-0.739954,-0.450719,-0.499319],[-0.485806,-0.155343,0.860152]] 2025-10-27T03:45:33.862Z,1761536733.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465514,0.878681,-0.105906],[-0.732899,-0.449801,-0.510429],[-0.496141,-0.159994,0.853373]] 2025-10-27T03:45:34.258Z,1761536734.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465969,0.878150,-0.108289],[-0.725624,-0.449301,-0.521152],[-0.506303,-0.164264,0.846566]] 2025-10-27T03:45:34.476Z,1761536734.476 [DAT](INFO): DAT read: MF Frequency Band 2025-10-27T03:45:34.478Z,1761536734.478 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-10-27T03:45:34.478Z,1761536734.478 [DAT](INFO): DAT read: Oct 27 2025 03:45:29 2025-10-27T03:45:34.657Z,1761536734.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466651,0.877583,-0.109932],[-0.718266,-0.448561,-0.531871],[-0.516072,-0.169237,0.839660]] 2025-10-27T03:45:35.064Z,1761536735.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466912,0.877030,-0.113189],[-0.711399,-0.448558,-0.541025],[-0.525267,-0.172088,0.833355]] 2025-10-27T03:45:35.466Z,1761536735.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466372,0.877263,-0.113609],[-0.705078,-0.446210,-0.551146],[-0.534193,-0.176936,0.826639]] 2025-10-27T03:45:35.480Z,1761536735.480 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-27T03:45:35.481Z,1761536735.481 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:45:35.482Z,1761536735.482 [DAT](INFO): commRate: 600 2025-10-27T03:45:35.885Z,1761536735.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466247,0.877203,-0.114584],[-0.699035,-0.444697,-0.559996],[-0.542185,-0.180998,0.820534]] 2025-10-27T03:45:37.082Z,1761536737.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464540,0.876295,-0.127708],[-0.681063,-0.445708,-0.580945],[-0.566001,-0.182895,0.803861]] 2025-10-27T03:45:37.486Z,1761536737.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463649,0.875972,-0.133055],[-0.674895,-0.446461,-0.587528],[-0.574062,-0.182608,0.798190]] 2025-10-27T03:45:37.547Z,1761536737.547 [DAT](INFO): entering command mode 2025-10-27T03:45:37.748Z,1761536737.748 [DAT](INFO): DAT read: 2025-10-27T03:45:37.748Z,1761536737.748 [DAT](INFO): DAT read: user:1> 2025-10-27T03:45:37.749Z,1761536737.749 [DAT](INFO): setting verbose to 3 2025-10-27T03:45:37.914Z,1761536737.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462038,0.875814,-0.139540],[-0.669248,-0.447563,-0.593123],[-0.581918,-0.180658,0.792928]] 2025-10-27T03:45:37.000Z,1761536738.000 [DAT](INFO): DAT read: user:1> 2025-10-27T03:45:38.001Z,1761536738.001 [DAT](INFO): DAT read: Verbose | 3 2025-10-27T03:45:38.001Z,1761536738.001 [DAT](INFO): set verbose to 3 2025-10-27T03:45:38.002Z,1761536738.002 [DAT](INFO): setting DatVerbose to 27440 2025-10-27T03:45:38.252Z,1761536738.252 [DAT](INFO): DAT read: user:2> 2025-10-27T03:45:38.253Z,1761536738.253 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-27T03:45:38.253Z,1761536738.253 [DAT](INFO): set DatVerbose to 27440 2025-10-27T03:45:38.253Z,1761536738.253 [DAT](INFO): setting transmit power to 8 2025-10-27T03:45:38.320Z,1761536738.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460305,0.875898,-0.144644],[-0.664234,-0.447902,-0.598478],[-0.588992,-0.179405,0.787973]] 2025-10-27T03:45:38.504Z,1761536738.504 [DAT](INFO): DAT read: user:3> 2025-10-27T03:45:38.505Z,1761536738.505 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-27T03:45:38.505Z,1761536738.505 [DAT](INFO): set transmit power to 8 2025-10-27T03:45:38.505Z,1761536738.505 [DAT](INFO): setting local address to 11 2025-10-27T03:45:38.699Z,1761536738.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458494,0.876324,-0.147781],[-0.660370,-0.447234,-0.603236],[-0.594723,-0.178990,0.783752]] 2025-10-27T03:45:38.760Z,1761536738.760 [DAT](INFO): DAT read: user:4> 2025-10-27T03:45:38.761Z,1761536738.761 [DAT](INFO): DAT read: LocalAddr | 11 2025-10-27T03:45:38.761Z,1761536738.761 [DAT](INFO): set local address to 11 2025-10-27T03:45:38.762Z,1761536738.762 [DAT](INFO): Setting time to: 3:45:38 And date to:10/27/2025 2025-10-27T03:45:39.013Z,1761536739.013 [DAT](INFO): DAT read: user:5> 2025-10-27T03:45:39.014Z,1761536739.014 [DAT](INFO): DAT read: Mon Oct 27, 2025 03:45:38 2025-10-27T03:45:39.014Z,1761536739.014 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025 03:45:38 2025-10-27T03:45:39.015Z,1761536739.015 [DAT](INFO): setting remote address to 50 2025-10-27T03:45:39.017Z,1761536739.017 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:45:39.018Z,1761536739.018 [DAT](INFO): setting remote address to 0 2025-10-27T03:45:39.106Z,1761536739.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456837,0.877017,-0.148802],[-0.657298,-0.445518,-0.607843],[-0.599382,-0.179878,0.779990]] 2025-10-27T03:45:39.264Z,1761536739.264 [DAT](INFO): DAT read: user:6> 2025-10-27T03:45:39.265Z,1761536739.265 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:45:39.266Z,1761536739.266 [DAT](ERROR): failed to set remote address to 0, device returned 50 instead. 2025-10-27T03:45:39.266Z,1761536739.266 [DAT] Communications Fault, FailCount= 6 2025-10-27T03:45:39.266Z,1761536739.266 [DAT](ERROR): Communications Fault 2025-10-27T03:45:39.268Z,1761536739.268 [DAT](INFO): DAT read: user:7> 2025-10-27T03:45:39.269Z,1761536739.269 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:45:39.269Z,1761536739.269 [DAT](INFO): set remote address to 0 2025-10-27T03:45:39.270Z,1761536739.270 [DAT](INFO): setting remote address to 50 2025-10-27T03:45:39.270Z,1761536739.270 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:45:39.271Z,1761536739.271 [DAT](INFO): setting remote address to 0 2025-10-27T03:45:39.359Z,1761536739.359 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-27T03:45:39.507Z,1761536739.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454574,0.878090,-0.149403],[-0.654838,-0.443163,-0.612204],[-0.603780,-0.180457,0.776457]] 2025-10-27T03:45:39.676Z,1761536739.676 [DAT](INFO): Powering down 2025-10-27T03:45:39.941Z,1761536739.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452340,0.879035,-0.150617],[-0.652909,-0.441440,-0.615499],[-0.607534,-0.180075,0.773612]] 2025-10-27T03:45:40.314Z,1761536740.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449409,0.880232,-0.152394],[-0.651337,-0.439619,-0.618462],[-0.611385,-0.178682,0.770896]] 2025-10-27T03:45:40.530Z,1761536740.530 [CBIT](INFO): Clearing failed state for component DAT 2025-10-27T03:45:40.530Z,1761536740.530 [DAT] No Fault, FailCount= 6 2025-10-27T03:45:41.125Z,1761536741.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443483,0.883359,-0.151656],[-0.648723,-0.433116,-0.625754],[-0.618450,-0.179129,0.765135]] 2025-10-27T03:45:41.526Z,1761536741.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440714,0.884715,-0.151821],[-0.647523,-0.430467,-0.628819],[-0.621680,-0.178821,0.762586]] 2025-10-27T03:45:41.970Z,1761536741.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438032,0.885782,-0.153358],[-0.646593,-0.428962,-0.630800],[-0.624536,-0.177150,0.760640]] 2025-10-27T03:45:42.347Z,1761536742.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435646,0.886646,-0.155149],[-0.645845,-0.427963,-0.632244],[-0.626974,-0.175233,0.759076]] 2025-10-27T03:45:42.903Z,1761536742.903 [DAT](INFO): Powering up 2025-10-27T03:45:42.904Z,1761536742.904 [DAT](DEBUG): Initializing DAT. 2025-10-27T03:45:43.156Z,1761536743.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432226,0.888985,-0.151282],[-0.645206,-0.422073,-0.636839],[-0.629993,-0.177651,0.756009]] 2025-10-27T03:45:43.558Z,1761536743.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430892,0.890192,-0.147954],[-0.645067,-0.418500,-0.639333],[-0.631048,-0.180043,0.754562]] 2025-10-27T03:45:44.001Z,1761536744.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429831,0.891371,-0.143888],[-0.644905,-0.414619,-0.642020],[-0.631936,-0.183166,0.753065]] 2025-10-27T03:45:44.773Z,1761536744.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427661,0.893711,-0.135598],[-0.645934,-0.407078,-0.645800],[-0.632357,-0.188595,0.751369]] 2025-10-27T03:45:45.175Z,1761536745.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426476,0.894697,-0.132799],[-0.647289,-0.404443,-0.646098],[-0.631771,-0.189586,0.751613]] 2025-10-27T03:45:45.578Z,1761536745.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424982,0.895687,-0.130903],[-0.648942,-0.402288,-0.645785],[-0.631082,-0.189499,0.752214]] 2025-10-27T03:45:46.028Z,1761536746.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422965,0.896744,-0.130194],[-0.650734,-0.400581,-0.645042],[-0.630591,-0.188109,0.752974]] 2025-10-27T03:45:46.396Z,1761536746.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421021,0.897243,-0.133030],[-0.652521,-0.401475,-0.642677],[-0.630046,-0.183776,0.754499]] 2025-10-27T03:45:46.790Z,1761536746.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419159,0.897962,-0.134054],[-0.654411,-0.401157,-0.640952],[-0.629327,-0.180934,0.755785]] 2025-10-27T03:45:47.194Z,1761536747.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417670,0.897730,-0.140113],[-0.656030,-0.404652,-0.637088],[-0.628630,-0.174175,0.757949]] 2025-10-27T03:45:47.598Z,1761536747.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416011,0.897830,-0.144348],[-0.657431,-0.406616,-0.634388],[-0.628267,-0.169014,0.759418]] 2025-10-27T03:45:48.040Z,1761536748.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414794,0.898041,-0.146517],[-0.658595,-0.407417,-0.632664],[-0.627852,-0.165930,0.760440]] 2025-10-27T03:45:48.406Z,1761536748.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413860,0.898205,-0.148147],[-0.659323,-0.407959,-0.631556],[-0.627704,-0.163699,0.761045]] 2025-10-27T03:45:49.619Z,1761536749.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411294,0.901083,-0.137428],[-0.660733,-0.398594,-0.636046],[-0.627908,-0.170799,0.759315]] 2025-10-27T03:45:50.044Z,1761536750.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409948,0.902614,-0.131267],[-0.661020,-0.393167,-0.639119],[-0.628487,-0.175235,0.757823]] 2025-10-27T03:45:50.446Z,1761536750.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408283,0.904274,-0.124871],[-0.661475,-0.387339,-0.642199],[-0.629092,-0.179600,0.756299]] 2025-10-27T03:45:50.845Z,1761536750.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406280,0.905944,-0.119173],[-0.662019,-0.381735,-0.644988],[-0.629815,-0.183151,0.754844]] 2025-10-27T03:45:51.248Z,1761536751.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403724,0.907795,-0.113649],[-0.662818,-0.375852,-0.647617],[-0.630618,-0.186129,0.753443]] 2025-10-27T03:45:51.653Z,1761536751.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400869,0.909573,-0.109458],[-0.664145,-0.370823,-0.649154],[-0.631043,-0.187530,0.752740]] 2025-10-27T03:45:52.075Z,1761536752.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397655,0.911480,-0.105241],[-0.665881,-0.365596,-0.650340],[-0.631247,-0.188532,0.752318]] 2025-10-27T03:45:52.458Z,1761536752.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394096,0.913494,-0.101077],[-0.668233,-0.360306,-0.650879],[-0.630993,-0.188966,0.752422]] 2025-10-27T03:45:52.861Z,1761536752.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390718,0.915569,-0.095254],[-0.670957,-0.354109,-0.651477],[-0.630203,-0.190633,0.752665]] 2025-10-27T03:45:53.267Z,1761536753.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386994,0.917658,-0.090224],[-0.673928,-0.348270,-0.651559],[-0.629330,-0.191345,0.753214]] 2025-10-27T03:45:53.670Z,1761536753.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383583,0.919340,-0.087630],[-0.677094,-0.344493,-0.650284],[-0.628020,-0.190104,0.754620]] 2025-10-27T03:45:54.078Z,1761536754.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380560,0.920754,-0.085936],[-0.680415,-0.341729,-0.648272],[-0.626266,-0.188235,0.756544]] 2025-10-27T03:45:54.478Z,1761536754.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377390,0.922207,-0.084330],[-0.683719,-0.338893,-0.646281],[-0.624584,-0.186241,0.758426]] 2025-10-27T03:45:54.496Z,1761536754.496 [DAT](INFO): DAT read: 2025-10-27T03:45:54.497Z,1761536754.497 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-27T03:45:55.285Z,1761536755.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372416,0.924575,-0.080418],[-0.689268,-0.333574,-0.643147],[-0.621463,-0.184088,0.761508]] 2025-10-27T03:45:55.690Z,1761536755.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370694,0.925383,-0.079067],[-0.691557,-0.331845,-0.641582],[-0.619948,-0.183151,0.762968]] 2025-10-27T03:45:56.012Z,1761536756.012 [DAT](INFO): DAT read: MF Frequency Band 2025-10-27T03:45:56.013Z,1761536756.013 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-10-27T03:45:56.014Z,1761536756.014 [DAT](INFO): DAT read: Oct 27 2025 03:45:50 2025-10-27T03:45:56.094Z,1761536756.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369146,0.926189,-0.076845],[-0.693533,-0.329569,-0.640622],[-0.618663,-0.183189,0.764001]] 2025-10-27T03:45:56.497Z,1761536756.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367860,0.926901,-0.074383],[-0.695093,-0.327232,-0.640129],[-0.617677,-0.183775,0.764658]] 2025-10-27T03:45:56.904Z,1761536756.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366866,0.927366,-0.073494],[-0.696332,-0.326137,-0.639340],[-0.616872,-0.183376,0.765404]] 2025-10-27T03:45:57.020Z,1761536757.020 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-27T03:45:57.021Z,1761536757.021 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:45:57.022Z,1761536757.022 [DAT](INFO): commRate: 600 2025-10-27T03:45:57.306Z,1761536757.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365931,0.927836,-0.072212],[-0.697178,-0.324705,-0.639148],[-0.616472,-0.183539,0.765686]] 2025-10-27T03:45:58.114Z,1761536758.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363314,0.929115,-0.068903],[-0.698183,-0.320488,-0.640178],[-0.616882,-0.184479,0.765130]] 2025-10-27T03:45:58.520Z,1761536758.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362239,0.929670,-0.067060],[-0.698266,-0.318324,-0.641166],[-0.617420,-0.185430,0.764466]] 2025-10-27T03:45:58.921Z,1761536758.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360936,0.930320,-0.065038],[-0.698270,-0.315817,-0.642401],[-0.618179,-0.186452,0.763604]] 2025-10-27T03:45:59.087Z,1761536759.087 [DAT](INFO): entering command mode 2025-10-27T03:45:59.287Z,1761536759.287 [DAT](INFO): DAT read: 2025-10-27T03:45:59.288Z,1761536759.288 [DAT](INFO): DAT read: user:1> 2025-10-27T03:45:59.288Z,1761536759.288 [DAT](INFO): setting verbose to 3 2025-10-27T03:45:59.326Z,1761536759.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359318,0.931197,-0.061346],[-0.698217,-0.311870,-0.644384],[-0.619180,-0.188706,0.762237]] 2025-10-27T03:45:59.540Z,1761536759.540 [DAT](INFO): DAT read: user:1> 2025-10-27T03:45:59.541Z,1761536759.541 [DAT](INFO): DAT read: Verbose | 3 2025-10-27T03:45:59.541Z,1761536759.541 [DAT](INFO): set verbose to 3 2025-10-27T03:45:59.541Z,1761536759.541 [DAT](INFO): setting DatVerbose to 27440 2025-10-27T03:45:59.729Z,1761536759.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357141,0.932434,-0.054923],[-0.698482,-0.305646,-0.647073],[-0.620140,-0.192734,0.760447]] 2025-10-27T03:45:59.792Z,1761536759.792 [DAT](INFO): DAT read: user:2> 2025-10-27T03:45:59.793Z,1761536759.793 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-27T03:45:59.793Z,1761536759.793 [DAT](INFO): set DatVerbose to 27440 2025-10-27T03:45:59.793Z,1761536759.793 [DAT](INFO): setting transmit power to 8 2025-10-27T03:46:00.044Z,1761536760.044 [DAT](INFO): DAT read: user:3> 2025-10-27T03:46:00.045Z,1761536760.045 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-27T03:46:00.045Z,1761536760.045 [DAT](INFO): set transmit power to 8 2025-10-27T03:46:00.045Z,1761536760.045 [DAT](INFO): setting local address to 11 2025-10-27T03:46:00.135Z,1761536760.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354590,0.933746,-0.048842],[-0.699071,-0.299437,-0.649336],[-0.620940,-0.196104,0.758932]] 2025-10-27T03:46:00.296Z,1761536760.296 [DAT](INFO): DAT read: user:4> 2025-10-27T03:46:00.297Z,1761536760.297 [DAT](INFO): DAT read: LocalAddr | 11 2025-10-27T03:46:00.297Z,1761536760.297 [DAT](INFO): set local address to 11 2025-10-27T03:46:00.298Z,1761536760.298 [DAT](INFO): Setting time to: 3:46:0 And date to:10/27/2025 2025-10-27T03:46:00.537Z,1761536760.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351222,0.935299,-0.043120],[-0.699926,-0.292867,-0.651408],[-0.621890,-0.198608,0.757501]] 2025-10-27T03:46:00.548Z,1761536760.548 [DAT](INFO): DAT read: user:5> 2025-10-27T03:46:00.548Z,1761536760.548 [DAT](INFO): DAT read: Mon Oct 27, 2025 03:46:00 2025-10-27T03:46:00.549Z,1761536760.549 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025 03:46:00 2025-10-27T03:46:00.549Z,1761536760.549 [DAT](INFO): setting remote address to 50 2025-10-27T03:46:00.550Z,1761536760.550 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:46:00.550Z,1761536760.550 [DAT](INFO): setting remote address to 0 2025-10-27T03:46:00.801Z,1761536760.801 [DAT](INFO): DAT read: user:6> 2025-10-27T03:46:00.803Z,1761536760.803 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:46:00.804Z,1761536760.804 [DAT](ERROR): failed to set remote address to 0, device returned 50 instead. 2025-10-27T03:46:00.804Z,1761536760.804 [DAT] Communications Fault, FailCount= 7 2025-10-27T03:46:00.804Z,1761536760.804 [DAT](ERROR): Communications Fault 2025-10-27T03:46:00.805Z,1761536760.805 [DAT](INFO): DAT read: user:7> 2025-10-27T03:46:00.807Z,1761536760.807 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:46:00.807Z,1761536760.807 [DAT](INFO): set remote address to 0 2025-10-27T03:46:00.808Z,1761536760.808 [DAT](INFO): setting remote address to 50 2025-10-27T03:46:00.809Z,1761536760.809 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:46:00.810Z,1761536760.810 [DAT](INFO): setting remote address to 0 2025-10-27T03:46:00.876Z,1761536760.876 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-27T03:46:00.944Z,1761536760.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347282,0.936945,-0.039110],[-0.700932,-0.287056,-0.652911],[-0.622969,-0.199331,0.756424]] 2025-10-27T03:46:01.229Z,1761536761.229 [DAT](INFO): Powering down 2025-10-27T03:46:01.346Z,1761536761.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342764,0.938672,-0.037520],[-0.702074,-0.282496,-0.653673],[-0.624184,-0.197714,0.755847]] 2025-10-27T03:46:01.750Z,1761536761.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337872,0.940436,-0.037723],[-0.703296,-0.278904,-0.653901],[-0.625473,-0.194405,0.755639]] 2025-10-27T03:46:02.083Z,1761536762.083 [CBIT](INFO): Clearing failed state for component DAT 2025-10-27T03:46:02.083Z,1761536762.083 [DAT] No Fault, FailCount= 7 2025-10-27T03:46:02.154Z,1761536762.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333466,0.941923,-0.039771],[-0.704342,-0.276953,-0.653605],[-0.626660,-0.189943,0.755791]] 2025-10-27T03:46:02.962Z,1761536762.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323590,0.945210,-0.043206],[-0.706049,-0.271609,-0.654006],[-0.629908,-0.181124,0.755255]] 2025-10-27T03:46:03.368Z,1761536763.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319436,0.946631,-0.043023],[-0.707167,-0.268359,-0.654139],[-0.630774,-0.178531,0.755149]] 2025-10-27T03:46:03.771Z,1761536763.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315631,0.947954,-0.041944],[-0.708161,-0.264750,-0.654535],[-0.631574,-0.176889,0.754868]] 2025-10-27T03:46:04.459Z,1761536764.459 [DAT](INFO): Powering up 2025-10-27T03:46:04.459Z,1761536764.459 [DAT](DEBUG): Initializing DAT. 2025-10-27T03:46:04.577Z,1761536764.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309157,0.950269,-0.037566],[-0.710055,-0.256924,-0.655600],[-0.632648,-0.176009,0.754173]] 2025-10-27T03:46:04.983Z,1761536764.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306661,0.951184,-0.034759],[-0.710730,-0.253124,-0.656346],[-0.633104,-0.176572,0.753659]] 2025-10-27T03:46:05.387Z,1761536765.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304682,0.951937,-0.031382],[-0.711111,-0.249275,-0.657406],[-0.633632,-0.177984,0.752883]] 2025-10-27T03:46:05.789Z,1761536765.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303155,0.952513,-0.028569],[-0.710956,-0.246035,-0.658793],[-0.634537,-0.179405,0.751782]] 2025-10-27T03:46:06.194Z,1761536766.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302553,0.952813,-0.024696],[-0.710306,-0.242674,-0.660738],[-0.635553,-0.182367,0.750210]] 2025-10-27T03:46:07.003Z,1761536767.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302247,0.953165,-0.011073],[-0.707402,-0.232072,-0.667626],[-0.638928,-0.193955,0.744415]] 2025-10-27T03:46:07.406Z,1761536767.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302059,0.953289,-0.000441],[-0.705377,-0.223817,-0.672569],[-0.641251,-0.202844,0.740035]] 2025-10-27T03:46:07.810Z,1761536767.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302192,0.953194,0.010062],[-0.703111,-0.215756,-0.677558],[-0.643673,-0.211828,0.735400]] 2025-10-27T03:46:08.620Z,1761536768.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301821,0.953007,0.026115],[-0.697452,-0.202045,-0.687560],[-0.649973,-0.225734,0.725658]] 2025-10-27T03:46:09.060Z,1761536769.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298060,0.953845,0.036608],[-0.691353,-0.189275,-0.697285],[-0.658172,-0.233142,0.715859]] 2025-10-27T03:46:09.830Z,1761536769.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295179,0.954495,0.042533],[-0.688805,-0.181742,-0.701796],[-0.662130,-0.236453,0.711108]] 2025-10-27T03:46:10.638Z,1761536770.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287526,0.956566,0.048063],[-0.686268,-0.170755,-0.707021],[-0.668105,-0.236271,0.705558]] 2025-10-27T03:46:11.041Z,1761536771.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282293,0.958120,0.048130],[-0.686583,-0.166740,-0.707673],[-0.670011,-0.232816,0.704898]] 2025-10-27T03:46:11.445Z,1761536771.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277101,0.959710,0.046600],[-0.688097,-0.164359,-0.706759],[-0.670625,-0.227909,0.705918]] 2025-10-27T03:46:12.263Z,1761536772.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261495,0.964437,0.038489],[-0.697961,-0.161399,-0.697711],[-0.666686,-0.209312,0.715345]] 2025-10-27T03:46:12.662Z,1761536772.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256830,0.965762,0.036638],[-0.701997,-0.160362,-0.693890],[-0.664258,-0.203931,0.719148]] 2025-10-27T03:46:13.066Z,1761536773.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253047,0.966767,0.036449],[-0.706141,-0.158814,-0.690031],[-0.661311,-0.200348,0.722861]] 2025-10-27T03:46:13.471Z,1761536773.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249828,0.967615,0.036162],[-0.709884,-0.157630,-0.686453],[-0.658521,-0.197166,0.726275]] 2025-10-27T03:46:13.875Z,1761536773.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246386,0.968419,0.038192],[-0.713090,-0.154456,-0.683847],[-0.656351,-0.195725,0.728625]] 2025-10-27T03:46:14.273Z,1761536774.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243482,0.969013,0.041586],[-0.716072,-0.150676,-0.681570],[-0.654184,-0.195729,0.730571]] 2025-10-27T03:46:14.680Z,1761536774.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240156,0.969679,0.045258],[-0.718687,-0.146267,-0.679776],[-0.652545,-0.195778,0.732022]] 2025-10-27T03:46:15.084Z,1761536775.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236734,0.970281,0.050107],[-0.720926,-0.140854,-0.678547],[-0.651324,-0.196759,0.732846]] 2025-10-27T03:46:15.490Z,1761536775.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233467,0.970881,0.053701],[-0.723153,-0.136445,-0.677077],[-0.650034,-0.196909,0.733950]] 2025-10-27T03:46:15.889Z,1761536775.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230040,0.971421,0.058504],[-0.725570,-0.131136,-0.675538],[-0.648560,-0.197849,0.735000]] 2025-10-27T03:46:16.064Z,1761536776.064 [DAT](INFO): DAT read: 2025-10-27T03:46:16.064Z,1761536776.064 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-27T03:46:16.293Z,1761536776.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226673,0.971794,0.065085],[-0.727843,-0.124608,-0.674328],[-0.647197,-0.200223,0.735558]] 2025-10-27T03:46:16.699Z,1761536776.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222989,0.972117,0.072553],[-0.730082,-0.117224,-0.673230],[-0.645954,-0.203093,0.735865]] 2025-10-27T03:46:17.101Z,1761536777.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219566,0.972106,0.082461],[-0.732398,-0.108403,-0.672192],[-0.644503,-0.207985,0.735770]] 2025-10-27T03:46:17.517Z,1761536777.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216475,0.971828,0.093211],[-0.734595,-0.099254,-0.671207],[-0.643046,-0.213772,0.735386]] 2025-10-27T03:46:17.576Z,1761536777.576 [DAT](INFO): DAT read: MF Frequency Band 2025-10-27T03:46:17.577Z,1761536777.577 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0 2025-10-27T03:46:17.578Z,1761536777.578 [DAT](INFO): DAT read: Oct 27 2025 03:46:12 2025-10-27T03:46:17.911Z,1761536777.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213543,0.971045,0.107108],[-0.736952,-0.088142,-0.670174],[-0.641328,-0.222044,0.734435]] 2025-10-27T03:46:18.313Z,1761536778.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210927,0.969845,0.122111],[-0.739093,-0.076478,-0.669248],[-0.639728,-0.231414,0.732936]] 2025-10-27T03:46:18.587Z,1761536778.587 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-27T03:46:18.591Z,1761536778.591 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-27T03:46:18.593Z,1761536778.593 [DAT](INFO): commRate: 600 2025-10-27T03:46:18.717Z,1761536778.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208029,0.968706,0.135399],[-0.741108,-0.065762,-0.668157],[-0.638344,-0.239341,0.731596]] 2025-10-27T03:46:19.121Z,1761536779.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205023,0.967283,0.149432],[-0.743091,-0.054466,-0.666970],[-0.637009,-0.247786,0.729946]] 2025-10-27T03:46:19.527Z,1761536779.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202533,0.965796,0.161920],[-0.745407,-0.044809,-0.665102],[-0.635097,-0.255401,0.728987]] 2025-10-27T03:46:19.930Z,1761536779.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199344,0.964577,0.172783],[-0.747801,-0.035790,-0.662958],[-0.633290,-0.261364,0.728446]] 2025-10-27T03:46:20.334Z,1761536780.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195482,0.963746,0.181603],[-0.750351,-0.027745,-0.660457],[-0.631474,-0.265373,0.728572]] 2025-10-27T03:46:20.664Z,1761536780.664 [DAT](INFO): entering command mode 2025-10-27T03:46:20.738Z,1761536780.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191584,0.963477,0.187105],[-0.753174,-0.022090,-0.657450],[-0.629305,-0.266879,0.729898]] 2025-10-27T03:46:20.860Z,1761536780.860 [DAT](INFO): DAT read: 2025-10-27T03:46:20.861Z,1761536780.861 [DAT](INFO): DAT read: user:1> 2025-10-27T03:46:20.862Z,1761536780.862 [DAT](INFO): setting verbose to 3 2025-10-27T03:46:21.112Z,1761536781.112 [DAT](INFO): DAT read: user:1> 2025-10-27T03:46:21.113Z,1761536781.113 [DAT](INFO): DAT read: Verbose | 3 2025-10-27T03:46:21.113Z,1761536781.113 [DAT](INFO): set verbose to 3 2025-10-27T03:46:21.113Z,1761536781.113 [DAT](INFO): setting DatVerbose to 27440 2025-10-27T03:46:21.364Z,1761536781.364 [DAT](INFO): DAT read: user:2> 2025-10-27T03:46:21.365Z,1761536781.365 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-27T03:46:21.365Z,1761536781.365 [DAT](INFO): set DatVerbose to 27440 2025-10-27T03:46:21.365Z,1761536781.365 [DAT](INFO): setting transmit power to 8 2025-10-27T03:46:21.548Z,1761536781.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183362,0.964813,0.188452],[-0.759074,-0.017148,-0.650779],[-0.624648,-0.262377,0.735509]] 2025-10-27T03:46:21.617Z,1761536781.617 [DAT](INFO): DAT read: user:3> 2025-10-27T03:46:21.618Z,1761536781.618 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-27T03:46:21.618Z,1761536781.618 [DAT](INFO): set transmit power to 8 2025-10-27T03:46:21.618Z,1761536781.618 [DAT](INFO): setting local address to 11 2025-10-27T03:46:21.868Z,1761536781.868 [DAT](INFO): DAT read: user:4> 2025-10-27T03:46:21.869Z,1761536781.869 [DAT](INFO): DAT read: LocalAddr | 11 2025-10-27T03:46:21.869Z,1761536781.869 [DAT](INFO): set local address to 11 2025-10-27T03:46:21.870Z,1761536781.870 [DAT](INFO): Setting time to: 3:46:21 And date to:10/27/2025 2025-10-27T03:46:21.950Z,1761536781.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179163,0.966329,0.184689],[-0.761989,-0.017552,-0.647352],[-0.622313,-0.256712,0.739476]] 2025-10-27T03:46:22.120Z,1761536782.120 [DAT](INFO): DAT read: user:5> 2025-10-27T03:46:22.121Z,1761536782.121 [DAT](INFO): DAT read: Mon Oct 27, 2025 03:46:21 2025-10-27T03:46:22.122Z,1761536782.122 [DAT](INFO): Local DAT time set to Mon Oct 27, 2025 03:46:21 2025-10-27T03:46:22.123Z,1761536782.123 [DAT](INFO): setting remote address to 50 2025-10-27T03:46:22.123Z,1761536782.123 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:46:22.124Z,1761536782.124 [DAT](INFO): setting remote address to 0 2025-10-27T03:46:22.355Z,1761536782.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174733,0.967848,0.180940],[-0.764700,-0.017634,-0.644146],[-0.620244,-0.250918,0.743194]] 2025-10-27T03:46:22.372Z,1761536782.372 [DAT](INFO): DAT read: user:6> 2025-10-27T03:46:22.373Z,1761536782.373 [DAT](INFO): DAT read: RemoteAddr | 50 2025-10-27T03:46:22.373Z,1761536782.373 [DAT](ERROR): failed to set remote address to 0, device returned 50 instead. 2025-10-27T03:46:22.374Z,1761536782.374 [DAT] Communications Fault, FailCount= 8 2025-10-27T03:46:22.374Z,1761536782.374 [DAT](ERROR): Communications Fault 2025-10-27T03:46:22.374Z,1761536782.374 [DAT](INFO): DAT read: user:7> 2025-10-27T03:46:22.375Z,1761536782.375 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-27T03:46:22.376Z,1761536782.376 [DAT](INFO): set remote address to 0 2025-10-27T03:46:22.376Z,1761536782.376 [DAT](INFO): setting remote address to 50 2025-10-27T03:46:22.378Z,1761536782.378 [DAT](DEBUG): Acoustic response timeout 2025-10-27T03:46:22.379Z,1761536782.379 [DAT](INFO): setting remote address to 0 2025-10-27T03:46:22.558Z,1761536782.558 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-27T03:46:22.559Z,1761536782.559 [CBIT](FAULT): Communications Fault in component: DAT 2025-10-27T03:46:22.757Z,1761536782.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170541,0.969414,0.176498],[-0.767330,-0.018287,-0.640991],[-0.618159,-0.244747,0.746980]] 2025-10-27T03:46:22.783Z,1761536782.783 [DAT](INFO): Powering down 2025-10-27T03:46:23.162Z,1761536783.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165761,0.970824,0.173276],[-0.769791,-0.017554,-0.638054],[-0.616397,-0.239151,0.750241]] 2025-10-27T03:46:23.565Z,1761536783.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.160519,0.972118,0.170937],[-0.772253,-0.015837,-0.635118],[-0.614703,-0.233955,0.753263]] 2025-10-27T03:46:24.778Z,1761536784.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141502,0.976245,0.164082],[-0.779549,-0.007728,-0.626293],[-0.610148,-0.216531,0.762125]] 2025-10-27T03:46:25.181Z,1761536785.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134763,0.977343,0.163216],[-0.782130,-0.003788,-0.623104],[-0.608368,-0.211627,0.764920]] 2025-10-27T03:46:25.989Z,1761536785.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123177,0.979337,0.160394],[-0.786985,0.002062,-0.616969],[-0.604552,-0.202224,0.770469]] 2025-10-27T03:46:26.422Z,1761536786.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117608,0.980063,0.160139],[-0.789271,0.005616,-0.614020],[-0.602677,-0.198607,0.772875]] 2025-10-27T03:46:26.797Z,1761536786.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112325,0.980248,0.162777],[-0.791432,0.010799,-0.611162],[-0.600849,-0.197476,0.774586]] 2025-10-27T03:46:27.203Z,1761536787.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107827,0.979771,0.168589],[-0.793572,0.017323,-0.608230],[-0.598847,-0.199372,0.775651]] 2025-10-27T03:46:27.607Z,1761536787.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104344,0.978710,0.176746],[-0.795627,0.024485,-0.605292],[-0.596733,-0.203783,0.776133]] 2025-10-27T03:46:28.010Z,1761536788.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101227,0.977289,0.186170],[-0.797372,0.032207,-0.602628],[-0.594938,-0.209449,0.776003]] 2025-10-27T03:46:28.414Z,1761536788.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098395,0.975484,0.196847],[-0.799012,0.040472,-0.599951],[-0.593210,-0.216315,0.775442]] 2025-10-27T03:46:28.817Z,1761536788.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095494,0.973980,0.205534],[-0.800551,0.047571,-0.597374],[-0.591608,-0.221586,0.775177]] 2025-10-27T03:46:29.625Z,1761536789.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086955,0.971581,0.220158],[-0.803352,0.062301,-0.592237],[-0.589122,-0.228363,0.775104]] 2025-10-27T03:46:30.029Z,1761536790.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081721,0.970829,0.225418],[-0.805216,0.068971,-0.588957],[-0.587324,-0.229640,0.776090]] 2025-10-27T03:46:30.433Z,1761536790.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076222,0.970491,0.228774],[-0.807436,0.074540,-0.585228],[-0.585011,-0.229327,0.777927]] 2025-10-27T03:46:30.839Z,1761536790.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070236,0.971067,0.228246],[-0.809706,0.078140,-0.581609],[-0.582617,-0.225662,0.780791]] 2025-10-27T03:46:31.242Z,1761536791.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064278,0.971724,0.227203],[-0.812066,0.081396,-0.577861],[-0.580015,-0.221648,0.783872]] 2025-10-27T03:46:31.649Z,1761536791.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058391,0.972420,0.225811],[-0.814131,0.084521,-0.574497],[-0.577738,-0.217385,0.786742]] 2025-10-27T03:46:32.050Z,1761536792.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052794,0.972674,0.226094],[-0.815788,0.088571,-0.571528],[-0.575936,-0.214618,0.788820]] 2025-10-27T03:46:32.455Z,1761536792.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047572,0.972716,0.227068],[-0.817004,0.092893,-0.569101],[-0.574667,-0.212588,0.790294]] 2025-10-27T03:46:32.859Z,1761536792.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043206,0.972489,0.228908],[-0.818051,0.097092,-0.566891],[-0.573520,-0.211752,0.791351]] 2025-10-27T03:46:33.261Z,1761536793.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038531,0.971505,0.233865],[-0.818448,0.103588,-0.565166],[-0.573287,-0.213183,0.791135]] 2025-10-27T03:46:33.666Z,1761536793.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034183,0.969904,0.241078],[-0.818739,0.111158,-0.563303],[-0.573148,-0.216635,0.790298]] 2025-10-27T03:46:34.069Z,1761536794.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029460,0.967693,0.250406],[-0.819068,0.120222,-0.560959],[-0.572940,-0.221626,0.789064]] 2025-10-27T03:46:34.475Z,1761536794.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024380,0.965351,0.259813],[-0.819626,0.129499,-0.558072],[-0.572380,-0.226555,0.788069]] 2025-10-27T03:46:34.878Z,1761536794.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019166,0.962981,0.268889],[-0.820491,0.138534,-0.554620],[-0.571339,-0.231250,0.787461]] 2025-10-27T03:46:35.281Z,1761536795.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013822,0.961728,0.273659],[-0.821372,0.145156,-0.551614],[-0.570225,-0.232400,0.787930]] 2025-10-27T03:46:35.685Z,1761536795.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008641,0.960773,0.277201],[-0.822405,0.150865,-0.548534],[-0.568836,-0.232711,0.788841]] 2025-10-27T03:46:36.091Z,1761536796.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003647,0.960454,0.278414],[-0.823572,0.155034,-0.545614],[-0.567201,-0.231284,0.790437]] 2025-10-27T03:46:36.494Z,1761536796.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001830,0.959757,0.280826],[-0.824633,0.160303,-0.542479],[-0.565666,-0.230585,0.791741]] 2025-10-27T03:46:36.897Z,1761536796.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006861,0.958932,0.283553],[-0.825765,0.165357,-0.539230],[-0.563972,-0.230449,0.792987]] 2025-10-27T03:46:37.301Z,1761536797.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012300,0.958587,0.284535],[-0.826696,0.169828,-0.536406],[-0.562514,-0.228626,0.794549]] 2025-10-27T03:46:37.707Z,1761536797.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017479,0.958385,0.284945],[-0.827397,0.173866,-0.534028],[-0.561346,-0.226428,0.796003]] 2025-10-27T03:46:38.112Z,1761536798.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022340,0.958800,0.283201],[-0.827910,0.176531,-0.532354],[-0.560415,-0.222572,0.797745]] 2025-10-27T03:46:38.514Z,1761536798.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026436,0.959410,0.280772],[-0.828290,0.178274,-0.531182],[-0.559675,-0.218518,0.799383]] 2025-10-27T03:46:38.918Z,1761536798.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029970,0.959941,0.278593],[-0.828515,0.179777,-0.530323],[-0.559164,-0.214925,0.800714]] 2025-10-27T03:46:39.323Z,1761536799.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033106,0.960600,0.275956],[-0.828534,0.180795,-0.529947],[-0.558959,-0.211094,0.801875]] 2025-10-27T03:46:39.725Z,1761536799.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035916,0.961394,0.272823],[-0.828424,0.181333,-0.529936],[-0.558949,-0.206980,0.802954]] 2025-10-27T03:46:40.129Z,1761536800.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038773,0.961611,0.271664],[-0.827938,0.183134,-0.530076],[-0.559478,-0.204368,0.803254]] 2025-10-27T03:46:40.533Z,1761536800.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041577,0.961895,0.270240],[-0.827396,0.184765,-0.530357],[-0.560078,-0.201544,0.803550]] 2025-10-27T03:46:40.939Z,1761536800.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044817,0.962268,0.268387],[-0.826544,0.186609,-0.531039],[-0.561086,-0.198034,0.803720]] 2025-10-27T03:46:41.342Z,1761536801.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048022,0.962172,0.268175],[-0.825698,0.189320,-0.531395],[-0.562065,-0.195913,0.803555]] 2025-10-27T03:46:41.746Z,1761536801.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052209,0.961776,0.268816],[-0.824460,0.193406,-0.531846],[-0.563507,-0.193861,0.803043]] 2025-10-27T03:46:42.150Z,1761536802.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056355,0.960770,0.271559],[-0.823310,0.198581,-0.531721],[-0.564788,-0.193612,0.802203]] 2025-10-27T03:46:42.555Z,1761536802.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060811,0.959866,0.273788],[-0.821843,0.203815,-0.532009],[-0.566459,-0.192659,0.801253]] 2025-10-27T03:46:42.957Z,1761536802.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065382,0.958609,0.277117],[-0.820192,0.209800,-0.532231],[-0.568340,-0.192490,0.799960]] 2025-10-27T03:46:43.361Z,1761536803.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069520,0.956513,0.283283],[-0.818618,0.216989,-0.531771],[-0.570116,-0.194932,0.798104]] 2025-10-27T03:46:43.767Z,1761536803.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073102,0.953858,0.291225],[-0.816932,0.224770,-0.531132],[-0.572083,-0.199084,0.795668]] 2025-10-27T03:46:44.577Z,1761536804.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080771,0.947563,0.309194],[-0.812264,0.242361,-0.530554],[-0.577670,-0.208294,0.789247]] 2025-10-27T03:46:44.978Z,1761536804.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084749,0.945153,0.315443],[-0.809640,0.249849,-0.531092],[-0.580776,-0.210385,0.786408]] 2025-10-27T03:46:45.381Z,1761536805.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089010,0.943264,0.319890],[-0.807078,0.256513,-0.531813],[-0.583696,-0.210839,0.784121]] 2025-10-27T03:46:45.787Z,1761536805.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093038,0.941801,0.323039],[-0.804961,0.262099,-0.532299],[-0.585988,-0.210509,0.782499]] 2025-10-27T03:46:46.189Z,1761536806.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097213,0.940160,0.326572],[-0.803370,0.267814,-0.531857],[-0.587491,-0.210655,0.781331]] 2025-10-27T03:46:46.638Z,1761536806.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102384,0.937038,0.333882],[-0.802042,0.276308,-0.529512],[-0.588427,-0.213574,0.779833]] 2025-10-27T03:46:47.001Z,1761536807.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108116,0.933488,0.341922],[-0.801405,0.285360,-0.525660],[-0.588269,-0.217186,0.778955]] 2025-10-27T03:46:47.402Z,1761536807.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114673,0.929888,0.349512],[-0.801361,0.294519,-0.520653],[-0.587087,-0.220381,0.778949]] 2025-10-27T03:46:47.805Z,1761536807.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122086,0.926242,0.356611],[-0.801828,0.303799,-0.514566],[-0.584951,-0.223119,0.779776]] 2025-10-27T03:46:48.209Z,1761536808.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129679,0.923415,0.361231],[-0.802720,0.311632,-0.508454],[-0.582085,-0.224032,0.781656]] 2025-10-27T03:46:48.649Z,1761536808.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137678,0.920954,0.364537],[-0.803812,0.318935,-0.502163],[-0.578733,-0.223883,0.784184]] 2025-10-27T03:46:49.019Z,1761536809.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145752,0.918926,0.366514],[-0.805141,0.325457,-0.495808],[-0.574895,-0.222830,0.787301]] 2025-10-27T03:46:49.418Z,1761536809.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153249,0.917608,0.366756],[-0.807158,0.330349,-0.489249],[-0.570097,-0.221053,0.791281]] 2025-10-27T03:46:49.822Z,1761536809.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160349,0.916593,0.366258],[-0.809412,0.334472,-0.482682],[-0.564926,-0.219056,0.795533]] 2025-10-27T03:46:50.228Z,1761536810.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166744,0.915038,0.367290],[-0.812023,0.338739,-0.475263],[-0.559299,-0.219001,0.799515]] 2025-10-27T03:46:50.653Z,1761536810.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172327,0.914041,0.367197],[-0.814656,0.341805,-0.468513],[-0.553750,-0.218402,0.803531]] 2025-10-27T03:46:51.034Z,1761536811.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177968,0.913274,0.366412],[-0.816957,0.344696,-0.462348],[-0.548551,-0.217060,0.807451]] 2025-10-27T03:46:51.444Z,1761536811.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183318,0.913182,0.363995],[-0.818992,0.346668,-0.457246],[-0.543734,-0.214288,0.811439]] 2025-10-27T03:46:51.844Z,1761536811.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188451,0.914058,0.359145],[-0.820611,0.347460,-0.453728],[-0.539522,-0.209213,0.815565]] 2025-10-27T03:46:52.246Z,1761536812.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193608,0.916007,0.351351],[-0.821719,0.347062,-0.452025],[-0.535999,-0.201196,0.819894]] 2025-10-27T03:46:52.658Z,1761536812.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198481,0.917989,0.343369],[-0.822482,0.346539,-0.451037],[-0.533037,-0.192892,0.823811]] 2025-10-27T03:46:53.054Z,1761536813.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203336,0.919779,0.335651],[-0.822699,0.346372,-0.450769],[-0.530868,-0.184482,0.827131]] 2025-10-27T03:46:53.459Z,1761536813.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207931,0.921341,0.328476],[-0.822481,0.346448,-0.451107],[-0.529423,-0.176366,0.829823]] 2025-10-27T03:46:53.861Z,1761536813.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212765,0.921918,0.323726],[-0.821597,0.348128,-0.451426],[-0.528876,-0.169925,0.831514]] 2025-10-27T03:46:54.669Z,1761536814.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222521,0.921336,0.318787],[-0.820161,0.353688,-0.449712],[-0.527086,-0.161387,0.834346]] 2025-10-27T03:46:55.074Z,1761536815.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227920,0.919881,0.319172],[-0.819556,0.358232,-0.447211],[-0.525718,-0.159652,0.835543]] 2025-10-27T03:46:55.479Z,1761536815.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232873,0.918300,0.320148],[-0.819382,0.362584,-0.444012],[-0.523816,-0.158925,0.836875]] 2025-10-27T03:46:55.881Z,1761536815.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237830,0.916453,0.321795],[-0.819179,0.367267,-0.440523],[-0.521903,-0.158838,0.838086]] 2025-10-27T03:46:56.285Z,1761536816.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242760,0.914472,0.323742],[-0.818978,0.372066,-0.436854],[-0.519944,-0.159087,0.839256]] 2025-10-27T03:46:56.690Z,1761536816.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248191,0.911426,0.328183],[-0.818393,0.378542,-0.432365],[-0.518299,-0.161273,0.839855]] 2025-10-27T03:46:57.095Z,1761536817.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254368,0.907843,0.333344],[-0.817397,0.386033,-0.427599],[-0.516874,-0.163707,0.840262]] 2025-10-27T03:46:57.502Z,1761536817.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261444,0.903166,0.340498],[-0.815973,0.395247,-0.421862],[-0.515592,-0.167544,0.840294]] 2025-10-27T03:46:57.908Z,1761536817.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276911,0.894072,0.352073],[-0.812676,0.413415,-0.410665],[-0.512717,-0.172404,0.841070]] 2025-10-27T03:46:58.311Z,1761536818.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285970,0.889301,0.356883],[-0.810854,0.423040,-0.404417],[-0.510624,-0.173729,0.842070]] 2025-10-27T03:46:58.716Z,1761536818.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295197,0.884556,0.361135],[-0.809144,0.432452,-0.397833],[-0.508080,-0.174771,0.843392]] 2025-10-27T03:46:59.118Z,1761536819.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303924,0.878914,0.367616],[-0.807505,0.442411,-0.390138],[-0.505534,-0.178279,0.844187]] 2025-10-27T03:46:59.518Z,1761536819.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311459,0.873702,0.373682],[-0.806428,0.451035,-0.382414],[-0.502660,-0.182241,0.845057]] 2025-10-27T03:46:59.921Z,1761536819.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317112,0.869663,0.378320],[-0.806219,0.457275,-0.375380],[-0.499450,-0.185972,0.846147]] 2025-10-27T03:47:00.328Z,1761536820.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320563,0.866350,0.382985],[-0.806655,0.461627,-0.369064],[-0.496534,-0.190628,0.846826]] 2025-10-27T03:47:01.133Z,1761536821.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322700,0.860434,0.394359],[-0.807812,0.467503,-0.358999],[-0.493259,-0.202719,0.845932]] 2025-10-27T03:47:01.538Z,1761536821.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322359,0.854862,0.406564],[-0.808450,0.472047,-0.351541],[-0.492437,-0.215364,0.843282]] 2025-10-27T03:47:01.944Z,1761536821.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321633,0.848533,0.420172],[-0.809000,0.476846,-0.343711],[-0.492007,-0.229370,0.839832]] 2025-10-27T03:47:02.346Z,1761536822.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319819,0.842588,0.433315],[-0.810019,0.480398,-0.336286],[-0.491514,-0.243442,0.836152]] 2025-10-27T03:47:02.750Z,1761536822.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317945,0.836985,0.445385],[-0.810849,0.483500,-0.329774],[-0.491360,-0.256289,0.832395]] 2025-10-27T03:47:03.155Z,1761536823.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315922,0.831567,0.456825],[-0.811348,0.486379,-0.324268],[-0.491841,-0.268200,0.828349]] 2025-10-27T03:47:03.558Z,1761536823.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314490,0.827712,0.464747],[-0.811052,0.488690,-0.321522],[-0.493245,-0.275818,0.825005]] 2025-10-27T03:47:03.962Z,1761536823.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313838,0.827244,0.466018],[-0.809944,0.489380,-0.323261],[-0.495476,-0.275997,0.823608]] 2025-10-27T03:47:04.366Z,1761536824.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314331,0.830144,0.460496],[-0.808102,0.488538,-0.329091],[-0.498163,-0.268685,0.824404]] 2025-10-27T03:47:04.770Z,1761536824.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316747,0.834375,0.451099],[-0.805302,0.487847,-0.336888],[-0.501158,-0.256563,0.826448]] 2025-10-27T03:47:05.176Z,1761536825.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321270,0.838157,0.440771],[-0.801590,0.488515,-0.344682],[-0.504221,-0.242582,0.828803]] 2025-10-27T03:47:05.577Z,1761536825.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327165,0.840467,0.431947],[-0.797227,0.490902,-0.351345],[-0.507338,-0.229412,0.830649]] 2025-10-27T03:47:05.981Z,1761536825.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333831,0.842733,0.422324],[-0.792394,0.493547,-0.358500],[-0.510557,-0.214969,0.832538]] 2025-10-27T03:47:06.385Z,1761536826.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340066,0.843167,0.416443],[-0.787784,0.497261,-0.363495],[-0.513568,-0.204455,0.833335]] 2025-10-27T03:47:06.792Z,1761536826.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345371,0.842259,0.413906],[-0.783670,0.501487,-0.366567],[-0.516313,-0.197764,0.833253]] 2025-10-27T03:47:07.598Z,1761536827.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354131,0.836677,0.417808],[-0.776131,0.512181,-0.367820],[-0.521740,-0.194017,0.830750]] 2025-10-27T03:47:08.001Z,1761536828.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358562,0.833450,0.420469],[-0.772285,0.517873,-0.367944],[-0.524413,-0.192791,0.829351]] 2025-10-27T03:47:08.408Z,1761536828.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364088,0.828377,0.425713],[-0.767991,0.525614,-0.365951],[-0.526906,-0.193705,0.827555]] 2025-10-27T03:47:08.814Z,1761536828.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370959,0.822838,0.430497],[-0.763412,0.534161,-0.363145],[-0.528764,-0.193934,0.826316]] 2025-10-27T03:47:09.214Z,1761536829.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378049,0.815132,0.438907],[-0.758892,0.544395,-0.357377],[-0.530247,-0.197976,0.824405]] 2025-10-27T03:47:09.618Z,1761536829.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385496,0.804075,0.452610],[-0.754476,0.557068,-0.347046],[-0.531185,-0.207699,0.821403]] 2025-10-27T03:47:10.022Z,1761536830.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391590,0.796178,0.461256],[-0.751081,0.566161,-0.339615],[-0.531539,-0.213451,0.819698]] 2025-10-27T03:47:10.428Z,1761536830.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396411,0.792485,0.463493],[-0.748828,0.571183,-0.336166],[-0.531146,-0.213817,0.819858]] 2025-10-27T03:47:10.829Z,1761536830.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399111,0.787543,0.469559],[-0.748305,0.575710,-0.329543],[-0.529859,-0.219849,0.819095]] 2025-10-27T03:47:11.234Z,1761536831.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400339,0.781975,0.477749],[-0.748890,0.579645,-0.321210],[-0.528103,-0.229189,0.817667]] 2025-10-27T03:47:11.638Z,1761536831.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401003,0.774830,0.488707],[-0.749669,0.584165,-0.311043],[-0.526491,-0.241640,0.815118]] 2025-10-27T03:47:12.044Z,1761536832.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401780,0.769077,0.497085],[-0.749918,0.587861,-0.303385],[-0.525544,-0.250879,0.812935]] 2025-10-27T03:47:12.446Z,1761536832.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401831,0.766452,0.501082],[-0.750375,0.589241,-0.299553],[-0.524851,-0.255630,0.811902]] 2025-10-27T03:47:12.850Z,1761536832.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402533,0.767745,0.498533],[-0.750307,0.588702,-0.300782],[-0.524411,-0.252978,0.813016]] 2025-10-27T03:47:13.254Z,1761536833.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404748,0.770052,0.493153],[-0.749138,0.588495,-0.304083],[-0.524377,-0.246363,0.815067]] 2025-10-27T03:47:13.658Z,1761536833.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408500,0.768728,0.492123],[-0.746458,0.591642,-0.304565],[-0.525288,-0.242934,0.815509]] 2025-10-27T03:47:14.062Z,1761536834.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414977,0.769736,0.485078],[-0.742055,0.594831,-0.309079],[-0.526448,-0.231694,0.818028]] 2025-10-27T03:47:14.466Z,1761536834.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423230,0.769769,0.477842],[-0.736447,0.599491,-0.313457],[-0.527752,-0.219241,0.820617]] 2025-10-27T03:47:14.871Z,1761536834.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431767,0.767099,0.474486],[-0.730966,0.605778,-0.314202],[-0.528457,-0.211171,0.822277]] 2025-10-27T03:47:15.273Z,1761536835.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439681,0.763633,0.472806],[-0.726221,0.612011,-0.313122],[-0.528473,-0.205688,0.823656]] 2025-10-27T03:47:15.678Z,1761536835.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445233,0.759199,0.474747],[-0.723472,0.617414,-0.308851],[-0.527594,-0.205955,0.824152]] 2025-10-27T03:47:16.081Z,1761536836.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446768,0.757232,0.476443],[-0.723464,0.619077,-0.305522],[-0.526306,-0.208192,0.824414]] 2025-10-27T03:47:16.489Z,1761536836.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446027,0.756381,0.478486],[-0.723422,0.619450,-0.304866],[-0.526993,-0.210168,0.823473]] 2025-10-27T03:47:16.889Z,1761536836.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444990,0.753737,0.483595],[-0.721387,0.621677,-0.305153],[-0.530645,-0.213069,0.820376]] 2025-10-27T03:47:17.294Z,1761536837.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444724,0.751459,0.487370],[-0.717589,0.624564,-0.308196],[-0.535990,-0.212669,0.816998]] 2025-10-27T03:47:17.699Z,1761536837.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446002,0.753370,0.483235],[-0.713347,0.625293,-0.316456],[-0.540572,-0.203574,0.816296]] 2025-10-27T03:47:18.101Z,1761536838.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450107,0.756078,0.475132],[-0.708616,0.626198,-0.325176],[-0.543385,-0.190322,0.817625]] 2025-10-27T03:47:18.506Z,1761536838.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455604,0.755251,0.471191],[-0.705098,0.629279,-0.326872],[-0.543381,-0.183311,0.819228]] 2025-10-27T03:47:18.910Z,1761536838.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460129,0.752432,0.471304],[-0.704851,0.632359,-0.321415],[-0.539876,-0.184307,0.821319]] 2025-10-27T03:47:19.317Z,1761536839.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464640,0.744347,0.479643],[-0.706750,0.638071,-0.305565],[-0.533492,-0.197010,0.822541]] 2025-10-27T03:47:19.717Z,1761536839.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471110,0.730032,0.495084],[-0.707430,0.647963,-0.282289],[-0.526876,-0.217248,0.821709]] 2025-10-27T03:47:20.122Z,1761536840.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479719,0.709040,0.516847],[-0.705199,0.662061,-0.253712],[-0.522076,-0.242769,0.817618]] 2025-10-27T03:47:20.525Z,1761536840.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487911,0.689323,0.535515],[-0.702585,0.674188,-0.227696],[-0.517994,-0.265149,0.813252]] 2025-10-27T03:47:20.930Z,1761536840.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496773,0.680074,0.539181],[-0.699327,0.681585,-0.215367],[-0.513963,-0.270076,0.814187]] 2025-10-27T03:47:21.335Z,1761536841.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509602,0.679633,0.527641],[-0.694358,0.686991,-0.214266],[-0.508107,-0.257181,0.822001]] 2025-10-27T03:47:21.737Z,1761536841.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525009,0.686023,0.503724],[-0.688308,0.690355,-0.222804],[-0.500598,-0.229744,0.834638]] 2025-10-27T03:47:22.141Z,1761536842.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538576,0.692170,0.480455],[-0.683966,0.692157,-0.230453],[-0.492062,-0.204498,0.846200]] 2025-10-27T03:47:22.546Z,1761536842.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547774,0.695180,0.465477],[-0.683466,0.692717,-0.230256],[-0.482513,-0.192009,0.854584]] 2025-10-27T03:47:23.354Z,1761536843.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549105,0.690128,0.471388],[-0.690609,0.692333,-0.209130],[-0.470684,-0.210710,0.856772]] 2025-10-27T03:47:23.758Z,1761536843.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544822,0.681055,0.489217],[-0.693184,0.694082,-0.194282],[-0.471874,-0.233269,0.850248]] 2025-10-27T03:47:24.162Z,1761536844.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543495,0.673964,0.500385],[-0.692494,0.696901,-0.186495],[-0.474410,-0.245155,0.845479]] 2025-10-27T03:47:24.573Z,1761536844.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550922,0.672836,0.493738],[-0.687275,0.701394,-0.188944],[-0.473433,-0.235240,0.848837]] 2025-10-27T03:47:24.970Z,1761536844.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567445,0.673759,0.473344],[-0.679606,0.707797,-0.192767],[-0.464910,-0.212303,0.859527]] 2025-10-27T03:47:25.373Z,1761536845.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587803,0.674966,0.445992],[-0.674869,0.713117,-0.189778],[-0.446138,-0.189435,0.874686]] 2025-10-27T03:47:25.778Z,1761536845.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605076,0.675448,0.421490],[-0.678243,0.714560,-0.171438],[-0.416977,-0.182140,0.890480]] 2025-10-27T03:47:26.182Z,1761536846.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615966,0.670708,0.413204],[-0.686329,0.714376,-0.136451],[-0.386702,-0.199544,0.900358]] 2025-10-27T03:47:26.608Z,1761536846.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621689,0.654953,0.429580],[-0.690934,0.716900,-0.093091],[-0.368936,-0.238938,0.898218]] 2025-10-27T03:47:26.990Z,1761536846.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626183,0.634341,0.453329],[-0.691378,0.720530,-0.053234],[-0.360405,-0.280087,0.889752]] 2025-10-27T03:47:27.394Z,1761536847.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631704,0.621045,0.463954],[-0.690372,0.722924,-0.027713],[-0.352614,-0.302795,0.885426]] 2025-10-27T03:47:27.799Z,1761536847.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636803,0.618911,0.459816],[-0.690161,0.723433,-0.017930],[-0.343744,-0.305930,0.887833]] 2025-10-27T03:47:28.202Z,1761536848.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643585,0.618656,0.450626],[-0.685736,0.727588,-0.019522],[-0.339947,-0.296447,0.892499]] 2025-10-27T03:47:28.645Z,1761536848.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653148,0.615443,0.441166],[-0.673212,0.738677,-0.033791],[-0.346676,-0.274928,0.896789]] 2025-10-27T03:47:29.010Z,1761536849.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669235,0.619413,0.410429],[-0.662482,0.747542,-0.047953],[-0.336516,-0.239810,0.910631]] 2025-10-27T03:47:29.416Z,1761536849.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686714,0.632447,0.358378],[-0.662568,0.747375,-0.049335],[-0.299044,-0.203570,0.932272]] 2025-10-27T03:47:29.819Z,1761536849.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693293,0.628565,0.352491],[-0.662867,0.748123,-0.030307],[-0.282756,-0.212643,0.935324]] 2025-10-27T03:47:29.835Z,1761536849.835 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2025-10-27T03:47:29.835Z,1761536849.835 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2025-10-27T03:47:29.835Z,1761536849.835 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2025-10-27T03:47:30.653Z,1761536850.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715135,0.601108,0.356724],[-0.657727,0.751436,0.052335],[-0.236597,-0.272053,0.932743]] 2025-10-27T03:47:31.029Z,1761536851.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729169,0.612315,0.305587],[-0.660340,0.746764,0.079339],[-0.179621,-0.259642,0.948853]] 2025-10-27T03:47:31.437Z,1761536851.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732663,0.623137,0.273686],[-0.665254,0.740585,0.094710],[-0.143671,-0.251461,0.957145]] 2025-10-27T03:47:31.876Z,1761536851.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736643,0.637309,0.226261],[-0.664792,0.743807,0.069300],[-0.124129,-0.201466,0.971598]] 2025-10-27T03:47:32.288Z,1761536852.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758872,0.637355,0.133762],[-0.648722,0.757864,0.069293],[-0.057210,-0.139359,0.988588]] 2025-10-27T03:47:33.094Z,1761536853.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740859,0.671628,0.006528],[-0.667883,0.735629,0.113055],[0.071129,-0.088118,0.993567]] 2025-10-27T03:47:33.498Z,1761536853.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747664,0.663499,0.027719],[-0.658405,0.735188,0.161250],[0.086610,-0.138811,0.986524]] 2025-10-27T03:47:33.905Z,1761536853.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765498,0.640116,0.065301],[-0.641216,0.750487,0.160036],[0.053434,-0.164379,0.984949]] 2025-10-27T03:47:34.306Z,1761536854.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777168,0.625600,0.068071],[-0.629126,0.769912,0.106943],[0.014495,-0.125938,0.991932]] 2025-10-27T03:47:34.712Z,1761536854.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755044,0.655643,-0.006376],[-0.654408,0.754154,0.054792],[0.040732,-0.037198,0.998477]] 2025-10-27T03:47:35.113Z,1761536855.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754205,0.656562,0.010106],[-0.655746,0.752288,0.063717],[0.034232,-0.054682,0.997917]] 2025-10-27T03:47:35.922Z,1761536855.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741342,0.629683,0.232190],[-0.657273,0.751136,0.061532],[-0.135661,-0.198228,0.970722]] 2025-10-27T03:47:36.327Z,1761536856.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726728,0.657876,0.197650],[-0.675972,0.736075,0.035424],[-0.122181,-0.159350,0.979632]] 2025-10-27T03:47:36.730Z,1761536856.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723990,0.679729,0.117498],[-0.689055,0.720598,0.077089],[-0.032269,-0.136774,0.990077]] 2025-10-27T03:47:37.133Z,1761536857.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733620,0.679551,0.003638],[-0.673239,0.726056,0.139972],[0.092476,-0.105135,0.990149]] 2025-10-27T03:47:37.542Z,1761536857.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750045,0.661381,0.002666],[-0.657386,0.745060,0.112821],[0.072632,-0.086373,0.993612]] 2025-10-27T03:47:37.950Z,1761536857.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704535,0.706094,-0.071145],[-0.682409,0.701577,0.205202],[0.194805,-0.096022,0.976130]] 2025-10-27T03:47:38.352Z,1761536858.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689850,0.723952,-0.000280],[-0.699167,0.666332,0.259167],[0.187811,-0.178591,0.965833]] 2025-10-27T03:47:38.754Z,1761536858.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723037,0.680689,0.117812],[-0.685242,0.685096,0.247158],[0.087525,-0.259434,0.961787]] 2025-10-27T03:47:39.158Z,1761536859.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719724,0.684081,0.118452],[-0.693177,0.698538,0.177623],[0.038766,-0.209948,0.976944]] 2025-10-27T03:47:39.560Z,1761536859.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719657,0.693679,0.030059],[-0.691292,0.711790,0.124382],[0.064886,-0.110292,0.991779]] 2025-10-27T03:47:39.962Z,1761536859.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726454,0.686309,-0.035286],[-0.684820,0.727250,0.046144],[0.057331,-0.009357,0.998311]] 2025-10-27T03:47:40.366Z,1761536860.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724303,0.688194,-0.042122],[-0.688400,0.725237,0.011704],[0.038603,0.020520,0.999044]] 2025-10-27T03:47:40.770Z,1761536860.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720947,0.692658,-0.021478],[-0.690230,0.720493,0.066872],[0.061794,-0.033386,0.997530]] 2025-10-27T03:47:41.176Z,1761536861.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732800,0.679717,0.031457],[-0.677084,0.723812,0.132863],[0.067541,-0.118661,0.990635]] 2025-10-27T03:47:41.578Z,1761536861.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729505,0.675312,0.108522],[-0.683869,0.717345,0.133188],[0.012096,-0.171377,0.985131]] 2025-10-27T03:47:42.024Z,1761536862.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714728,0.690156,0.113351],[-0.698411,0.712906,0.063149],[-0.037226,-0.124300,0.991546]] 2025-10-27T03:47:42.386Z,1761536862.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720573,0.689847,0.069899],[-0.690518,0.723092,-0.017947],[-0.062924,-0.035334,0.997393]] 2025-10-27T03:47:42.791Z,1761536862.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715086,0.697736,0.042621],[-0.696821,0.716344,-0.035942],[-0.055609,-0.003998,0.998445]] 2025-10-27T03:47:43.195Z,1761536863.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737344,0.672686,0.061785],[-0.675036,0.737182,0.029818],[-0.025488,-0.063693,0.997644]] 2025-10-27T03:47:43.597Z,1761536863.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717281,0.691619,0.084682],[-0.696774,0.712606,0.081853],[-0.003734,-0.117716,0.993040]] 2025-10-27T03:47:44.002Z,1761536864.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696544,0.714204,0.068836],[-0.717113,0.689739,0.100046],[0.023974,-0.119050,0.992599]] 2025-10-27T03:47:44.406Z,1761536864.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735583,0.676340,0.038499],[-0.676547,0.730524,0.092838],[0.034665,-0.094337,0.994937]] 2025-10-27T03:47:44.523Z,1761536864.523 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T03:47:44.811Z,1761536864.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711550,0.700090,0.059745],[-0.701843,0.712211,0.013137],[-0.033354,-0.051279,0.998127]] 2025-10-27T03:47:45.214Z,1761536865.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702680,0.710646,0.034971],[-0.710681,0.703383,-0.013593],[-0.034258,-0.015302,0.999296]] 2025-10-27T03:47:45.527Z,1761536865.527 [DataOverHttps](INFO): Radio surface powered ON. 2025-10-27T03:47:45.527Z,1761536865.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T03:47:45.617Z,1761536865.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706939,0.704083,-0.067115],[-0.703137,0.709881,0.040830],[0.076391,0.018327,0.996909]] 2025-10-27T03:47:46.022Z,1761536866.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676252,0.733848,-0.064417],[-0.734200,0.678558,0.022572],[0.060275,0.032031,0.997668]] 2025-10-27T03:47:46.427Z,1761536866.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664311,0.747110,0.022743],[-0.745956,0.664597,-0.043123],[-0.047333,0.011682,0.998811]] 2025-10-27T03:47:46.830Z,1761536866.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673333,0.735480,0.075449],[-0.734320,0.677141,-0.047478],[-0.086009,-0.023435,0.996019]] 2025-10-27T03:47:47.234Z,1761536867.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695522,0.717775,0.032383],[-0.718298,0.695697,0.007329],[-0.017268,-0.028358,0.999449]] 2025-10-27T03:47:47.638Z,1761536867.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685717,0.727848,0.005348],[-0.727767,0.685726,-0.011657],[-0.012152,0.004102,0.999918]] 2025-10-27T03:47:47.646Z,1761536867.646 [NAL9602](INFO): SBD MO Status=0, MOMSN=3006, MT Status=0, MTMSN=0 2025-10-27T03:47:47.646Z,1761536867.646 [NAL9602](INFO): No messages in MT queue 2025-10-27T03:47:48.447Z,1761536868.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646836,0.755888,0.101177],[-0.762117,0.635826,0.122080],[0.027948,-0.156075,0.987350]] 2025-10-27T03:47:48.850Z,1761536868.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646111,0.742658,0.176067],[-0.763082,0.623820,0.168979],[0.015659,-0.243533,0.969766]] 2025-10-27T03:47:48.868Z,1761536868.868 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,034748.00,A,3646.75320,N,12151.62961,W,0.272,311.38,271025,,,A*74 2025-10-27T03:47:48.870Z,1761536868.870 [NAL9602](INFO): GPS fix at 20251027T034748: (36.779220, -121.860494) 2025-10-27T03:47:48.960Z,1761536868.960 [UniversalFixResidualReporter](INFO): Fix residual: 2.3 %DT, over the last 611.1 m. Residual distance 14.0 m at bearing -36.0 degrees. Fix at (36.7792, -121.8605) with 95.7 m made good. 2025-10-27T03:47:48.961Z,1761536868.961 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2025-10-27T03:47:48.961Z,1761536868.961 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2025-10-27T03:47:49.254Z,1761536869.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624486,0.759533,0.182005],[-0.778033,0.584544,0.230157],[0.068422,-0.285336,0.955982]] 2025-10-27T03:47:50.293Z,1761536870.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664695,0.720282,0.198429],[-0.745130,0.658468,0.105841],[-0.054423,-0.218208,0.974384]] 2025-10-27T03:47:50.698Z,1761536870.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653013,0.753506,0.076175],[-0.757150,0.651827,0.042970],[-0.017275,-0.085735,0.996168]] 2025-10-27T03:47:51.104Z,1761536871.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660956,0.750189,-0.018833],[-0.749805,0.661222,0.024041],[0.030488,-0.001769,0.999534]] 2025-10-27T03:47:51.506Z,1761536871.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685550,0.728025,-0.000925],[-0.727939,0.685449,-0.016243],[-0.011191,0.011809,0.999868]] 2025-10-27T03:47:51.910Z,1761536871.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684048,0.727954,0.046477],[-0.729242,0.683947,0.020533],[-0.016841,-0.047939,0.998708]] 2025-10-27T03:47:52.314Z,1761536872.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659602,0.746901,0.084047],[-0.751023,0.650515,0.113114],[0.029811,-0.137731,0.990021]] 2025-10-27T03:47:53.260Z,1761536873.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686374,0.726765,0.026523],[-0.727203,0.685465,0.036234],[0.008152,-0.044158,0.998991]] 2025-10-27T03:47:53.973Z,1761536873.973 [DataOverHttps](IMPORTANT): SBD MTMSN=20251027T034753 2025-10-27T03:47:53.976Z,1761536873.976 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003480 2025-10-27T03:47:55.461Z,1761536875.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618694,0.774967,0.129013],[-0.777314,0.627666,-0.042641],[-0.114023,-0.073902,0.990726]] 2025-10-27T03:47:55.858Z,1761536875.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617457,0.769828,0.161592],[-0.762547,0.636223,-0.117225],[-0.193052,-0.050840,0.979870]] 2025-10-27T03:47:56.262Z,1761536876.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609609,0.775555,0.163983],[-0.778291,0.624846,-0.061894],[-0.150466,-0.089895,0.984519]] 2025-10-27T03:47:56.666Z,1761536876.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584987,0.801113,0.126526],[-0.810441,0.583403,0.053164],[-0.031226,-0.133642,0.990538]] 2025-10-27T03:47:57.475Z,1761536877.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642132,0.759570,0.103539],[-0.765578,0.642357,0.035615],[-0.039457,-0.102137,0.993988]] 2025-10-27T03:47:57.878Z,1761536877.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613391,0.787142,0.064489],[-0.788523,0.614974,-0.006177],[-0.044521,-0.047062,0.997899]] 2025-10-27T03:47:57.889Z,1761536877.889 [NAL9602](INFO): SBD MO Status=1, MOMSN=3007, MT Status=0, MTMSN=0 2025-10-27T03:47:57.939Z,1761536877.939 [NAL9602](INFO): Sent 73 bytes from file Logs/20251027T031724/Courier0012.lzma 2025-10-27T03:47:57.940Z,1761536877.940 [NAL9602](INFO): Packets left to send: 0 2025-10-27T03:47:58.282Z,1761536878.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584181,0.805967,0.095651],[-0.805891,0.589995,-0.049456],[-0.096294,-0.048193,0.994186]] 2025-10-27T03:47:58.685Z,1761536878.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580771,0.807337,0.104459],[-0.811972,0.583687,0.003235],[-0.058360,-0.086697,0.994524]] 2025-10-27T03:47:59.091Z,1761536879.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592568,0.800886,0.086281],[-0.805427,0.590720,0.048342],[-0.012252,-0.098139,0.995097]] 2025-10-27T03:47:59.494Z,1761536879.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592902,0.798479,0.104396],[-0.803441,0.595303,0.009818],[-0.054308,-0.089697,0.994487]] 2025-10-27T03:47:59.897Z,1761536879.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607014,0.788205,0.101326],[-0.792441,0.609943,0.002591],[-0.059761,-0.081868,0.994850]] 2025-10-27T03:48:00.302Z,1761536880.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611278,0.790316,0.041714],[-0.791416,0.610360,0.033499],[0.001014,-0.053491,0.998568]] 2025-10-27T03:48:00.707Z,1761536880.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610302,0.791644,-0.028815],[-0.785889,0.609635,0.103556],[0.099546,-0.040555,0.994206]] 2025-10-27T03:48:01.110Z,1761536881.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601736,0.798324,-0.024340],[-0.787225,0.597965,0.150714],[0.134873,-0.071529,0.988278]] 2025-10-27T03:48:01.514Z,1761536881.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576531,0.817030,0.008583],[-0.807024,0.567764,0.162350],[0.127771,-0.100527,0.986696]] 2025-10-27T03:48:01.919Z,1761536881.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584677,0.810039,0.044603],[-0.807923,0.576402,0.122557],[0.073567,-0.107692,0.991459]] 2025-10-27T03:48:02.323Z,1761536882.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584998,0.805438,0.095112],[-0.810786,0.583685,0.044009],[-0.020069,-0.102861,0.994493]] 2025-10-27T03:48:03.130Z,1761536883.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572646,0.811628,0.115488],[-0.818389,0.574226,0.022420],[-0.048119,-0.107353,0.993056]] 2025-10-27T03:48:03.533Z,1761536883.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601358,0.794556,0.083961],[-0.797336,0.603536,-0.000707],[-0.051235,-0.066520,0.996469]] 2025-10-27T03:48:03.945Z,1761536883.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566955,0.817489,0.101358],[-0.809260,0.575726,-0.116779],[-0.153820,-0.015816,0.987972]] 2025-10-27T03:48:04.341Z,1761536884.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541109,0.834550,0.103577],[-0.828624,0.550129,-0.103639],[-0.143473,-0.029747,0.989207]] 2025-10-27T03:48:04.745Z,1761536884.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574651,0.814443,0.080360],[-0.818378,0.571171,0.063415],[0.005748,-0.102207,0.994747]] 2025-10-27T03:48:05.150Z,1761536885.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589214,0.800965,0.106221],[-0.807971,0.583577,0.081365],[0.003182,-0.133765,0.991008]] 2025-10-27T03:48:05.555Z,1761536885.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598081,0.796019,0.093019],[-0.800954,0.597705,0.034953],[-0.027774,-0.095409,0.995051]] 2025-10-27T03:48:05.958Z,1761536885.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593725,0.803991,0.032995],[-0.804576,0.592540,0.039412],[0.012136,-0.049947,0.998678]] 2025-10-27T03:48:06.023Z,1761536886.023 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20251027T032042/Courier0000.lzma 2025-10-27T03:48:06.025Z,1761536886.025 [DataOverHttps](INFO): Received command: restart logs;schedule resume